Vehicle steer-by-wire optimization method, device, equipment and storage medium

Abstract

The present invention discloses a vehicle steering-by-wire optimization method, device, equipment and storage medium. The method obtains the angle difference between the steering wheel actuator HWA and the front wheel actuator RWA of the current vehicle; determines whether the angle difference is greater than a preset angle threshold, and determines whether the current vehicle needs steering adjustment based on the judgment result; when the current vehicle needs steering adjustment, the steering adjustment is performed through the HWA according to the target alignment speed, thereby improving the accuracy of the vehicle steering control, reducing the adverse feelings caused to the driver when the steering-by-wire system performs alignment work, avoiding injuries caused by the driver accidentally touching the steering wheel, improving the driver's driving experience, and improving the speed and efficiency of the vehicle steering-by-wire optimization.

Description

Technical Field

[0001] The present invention relates to the field of vehicle steering control technology, and in particular to a vehicle steering-by-wire optimization method, device, equipment and storage medium. Background Art

[0002] Because steer-by-wire vehicles eliminate the mechanical physical connection, when the vehicle is powered off, external factors (such as the driver turning the steering wheel) may cause an angle difference between the steering wheel actuator (HWA) and the front wheel actuator (RWA).

[0003] The prior art comprises a steering operating shaft in which power transmission to and from the steering wheel is prohibited, and the steering operating shaft steers the steering wheel of the vehicle; a steering operating motor that generates a steering operating force, which is a torque applied to the steering operating shaft to steer the steering wheel; and a control device that controls the steering operating motor; when the rotational position of the steering wheel is different from the rotational position corresponding to the steering position of the steering wheel, the control device performs processing for correcting the steering position of the steering wheel to a position corresponding to the rotational position of the steering wheel through the steering operating motor.

[0004] Its defects are that the description is relatively general and lacks specific evaluation methods. In addition, the wire-controlled steering system brings a bad experience to the driver when the mechanical angle correspondence error caused by external force during repair in a non-working state. Summary of the Invention

[0005] The main purpose of the present invention is to provide a vehicle wire-controlled steering optimization method, device, equipment and storage medium, aiming to solve the technical problem in the prior art that when the wire-controlled steering system is repaired in a non-working state, the mechanical angle correspondence error caused by external force causes a bad experience or harm to the driver.

[0006] In a first aspect, the present invention provides a vehicle steer-by-wire optimization method, the vehicle steer-by-wire optimization method comprising the following steps:

[0007] Get the angle difference between the steering wheel actuator HWA and the front wheel actuator RWA of the current vehicle;

[0008] Determining whether the angle difference is greater than a preset angle threshold, and determining whether the current vehicle needs to perform steering adjustment based on the determination result;

[0009] When the current vehicle needs to perform steering adjustment, the steering adjustment is performed through HWA according to the target alignment speed.

[0010] Optionally, the vehicle steer-by-wire optimization method is characterized in that obtaining the angle difference between the steering wheel actuator HWA and the front wheel actuator RWA of the current vehicle includes:

[0011] Obtain the HWA angle signal of the steering wheel actuator HWA and the RWA angle signal of the front wheel actuator RWA of the current vehicle;

[0012] Obtain a current HWA angle from the HWA angle signal, and obtain a current RWA angle from the RWA angle signal;

[0013] A difference between the current HWA angle and the current RWA angle is calculated, and the difference is used as the angle difference between the HWA and RWA angles.

[0014] Optionally, the determining whether the angle difference is greater than a preset angle threshold, and determining whether the current vehicle needs to perform steering adjustment according to the determination result, includes:

[0015] Comparing the angle difference with a preset angle threshold, determining whether the angle difference is greater than the preset angle threshold, and generating a determination result;

[0016] When the judgment result is that the angle difference is greater than the preset angle threshold, determining that the current vehicle does not need to perform steering adjustment;

[0017] When the judgment result is that the angle difference is not greater than the preset angle threshold, it is determined that the current vehicle needs to perform steering adjustment.

[0018] Optionally, when the current vehicle needs to perform steering adjustment, performing steering adjustment through HWA according to the target alignment speed includes:

[0019] When the current vehicle needs to perform steering adjustment, obtaining a differential gear corresponding to the angle difference;

[0020] matching a corresponding HWA alignment closed-loop control tracking speed according to the differential gear, and using the HWA alignment closed-loop control tracking speed as a target alignment speed;

[0021] When the current vehicle needs to perform steering adjustment, straightening the steering wheel of the current vehicle according to the target alignment speed;

[0022] The steering wheel hand torque of the steering wheel is detected in real time, and the steering is adjusted through HWA according to the steering wheel hand torque.

[0023] Optionally, matching a corresponding HWA alignment closed-loop control tracking speed according to the differential gear, and using the HWA alignment closed-loop control tracking speed as a target alignment speed, includes:

[0024] According to the difference gear matching, the maximum error angle allowed for the current gear corresponding to the gear matching;

[0025] The corresponding HWA alignment closed-loop control tracking speed is calculated according to the maximum error angle and the angle difference using the following formula:

[0026] Δθ=θ1 2 / θ2

[0027] Among them, Δθ is the HWA alignment closed-loop control tracking speed, θ1 is the angle difference, and θ2 is the maximum error angle;

[0028] The HWA alignment closed-loop control tracking speed is used as the target alignment speed.

[0029] Optionally, the real-time detection of the steering wheel hand torque of the steering wheel and the steering adjustment through HWA according to the steering wheel hand torque include:

[0030] detecting a steering wheel hand torque of the steering wheel in real time, and comparing the steering wheel hand torque with a first preset torque;

[0031] When the steering wheel hand torque is greater than the first preset torque, stopping the HWA angle closed loop;

[0032] When the steering wheel hand torque is not greater than the first preset torque, executing the HWA angle closed loop and continuously monitoring whether the steering wheel hand torque is greater than the first preset torque;

[0033] Steering is adjusted by HWA according to the steering wheel hand torque.

[0034] Optionally, when the steering wheel hand torque is greater than the first preset torque, after stopping the HWA angle closed loop, the vehicle steer-by-wire optimization method further includes:

[0035] detecting a steering wheel hand torque of the steering wheel in real time, and comparing the steering wheel hand torque with a second preset torque, wherein the second preset torque is smaller than the first preset torque;

[0036] When the steering wheel hand torque is not less than the second preset torque, stopping the HWA angle closed loop;

[0037] When the steering wheel hand torque is less than the second preset torque, the steering adjustment is continued through HWA according to the steering wheel hand torque.

[0038] In a second aspect, to achieve the above-mentioned objectives, the present invention further provides a vehicle steer-by-wire optimization device, the vehicle steer-by-wire optimization device comprising:

[0039] The difference calculation module is used to obtain the angle difference between the steering wheel actuator HWA and the front wheel actuator RWA of the current vehicle;

[0040] a judgment module, configured to judge whether the angle difference is greater than a preset angle threshold, and determine whether the current vehicle needs to perform steering adjustment based on the judgment result;

[0041] The steering optimization module is configured to perform steering adjustment through HWA according to a target alignment speed when the current vehicle needs to perform steering adjustment.

[0042] On the third aspect, in order to achieve the above-mentioned purpose, the present invention also proposes a vehicle steering-by-wire optimization device, which includes: a memory, a processor, and a vehicle steering-by-wire optimization program stored on the memory and executable on the processor, and the vehicle steering-by-wire optimization program is configured to implement the steps of the vehicle steering-by-wire optimization method as described above.

[0043] In a fourth aspect, in order to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a vehicle-by-wire steering optimization program is stored. When the vehicle-by-wire steering optimization program is executed by a processor, the steps of the vehicle-by-wire steering optimization method described above are implemented.

[0044] The vehicle steer-by-wire optimization method proposed in the present invention obtains the angular difference between the steering wheel actuator HWA and the front wheel actuator RWA of the current vehicle; determines whether the angular difference is greater than a preset angle threshold, and determines whether the current vehicle needs steering adjustment based on the judgment result; when the current vehicle needs steering adjustment, the steering adjustment is performed through the HWA according to the target alignment speed, thereby improving the accuracy of the vehicle steering control, reducing the adverse experience caused to the driver when the steer-by-wire system performs the alignment work, avoiding injuries caused by the driver accidentally touching the steering wheel, improving the driver's driving experience, and improving the speed and efficiency of vehicle steer-by-wire optimization. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present invention;

[0046] Figure 2 This is a flow chart of a first embodiment of a vehicle steer-by-wire optimization method according to the present invention;

[0047] Figure 3 A schematic flow chart of a second embodiment of a vehicle steer-by-wire optimization method according to the present invention;

[0048] Figure 4 A schematic flow chart of a third embodiment of a vehicle steer-by-wire optimization method according to the present invention;

[0049] Figure 5 This is a flow chart of a fourth embodiment of a vehicle steer-by-wire optimization method according to the present invention;

[0050] Figure 6 Schematic diagram of the angle alignment process in the vehicle steer-by-wire optimization method of the present invention;

[0051] Figure 7 This is a functional module diagram of the first embodiment of the vehicle steer-by-wire optimization device of the present invention.

[0052] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0053] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0054] The solution of the embodiment of the present invention is mainly: by obtaining the angle difference between the steering wheel actuator HWA and the front wheel actuator RWA of the current vehicle; judging whether the angle difference is greater than a preset angle threshold, and determining whether the current vehicle needs to perform steering adjustment based on the judgment result; when the current vehicle needs to perform steering adjustment, steering adjustment is performed through HWA according to the target alignment speed, thereby improving the accuracy of vehicle steering control, reducing the adverse experience brought to the driver when the wire-controlled steering system performs alignment work, avoiding injuries caused by the driver accidentally touching the steering wheel, improving the driver's driving experience, and improving the speed and efficiency of the vehicle's wire-controlled steering optimization, and solving the technical problem in the prior art that the wire-controlled steering system causes adverse experience or injury to the driver when the mechanical angle correspondence error caused by external force in the non-working state is repaired.

[0055] Reference Figure 1 , Figure 1 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present invention.

[0056] like Figure 1As shown, the device may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the user interface 1003 may optionally include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed RAM memory or a stable memory (Non-Volatile Memory), such as a disk memory. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001.

[0057] Those skilled in the art will understand that Figure 1 The device structure shown in the figure does not constitute a limitation of the device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0058] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating device, a network communication module, a user interface module, and a vehicle steer-by-wire optimization program.

[0059] The device of the present invention calls the vehicle steer-by-wire optimization program stored in the memory 1005 through the processor 1001 and performs the following operations:

[0060] Get the angle difference between the steering wheel actuator HWA and the front wheel actuator RWA of the current vehicle;

[0061] Determining whether the angle difference is greater than a preset angle threshold, and determining whether the current vehicle needs to perform steering adjustment based on the determination result;

[0062] When the current vehicle needs to perform steering adjustment, the steering adjustment is performed through HWA according to the target alignment speed.

[0063] The device of the present invention calls the vehicle steer-by-wire optimization program stored in the memory 1005 through the processor 1001, and further performs the following operations:

[0064] Obtain the HWA angle signal of the steering wheel actuator HWA and the RWA angle signal of the front wheel actuator RWA of the current vehicle;

[0065] Obtain a current HWA angle from the HWA angle signal, and obtain a current RWA angle from the RWA angle signal;

[0066] A difference between the current HWA angle and the current RWA angle is calculated, and the difference is used as the angle difference between the HWA and RWA angles.

[0067] The device of the present invention calls the vehicle steer-by-wire optimization program stored in the memory 1005 through the processor 1001, and further performs the following operations:

[0068] Comparing the angle difference with a preset angle threshold, determining whether the angle difference is greater than the preset angle threshold, and generating a determination result;

[0069] When the judgment result is that the angle difference is greater than the preset angle threshold, determining that the current vehicle does not need to perform steering adjustment;

[0070] When the judgment result is that the angle difference is not greater than the preset angle threshold, it is determined that the current vehicle needs to perform steering adjustment.

[0071] The device of the present invention calls the vehicle steer-by-wire optimization program stored in the memory 1005 through the processor 1001, and further performs the following operations:

[0072] When the current vehicle needs to perform steering adjustment, obtaining a differential gear corresponding to the angle difference;

[0073] Matching a corresponding HWA alignment closed-loop control tracking speed according to the differential gear, and using the HWA alignment closed-loop control tracking speed as a target alignment speed;

[0074] When the current vehicle needs to perform steering adjustment, straightening the steering wheel of the current vehicle according to the target alignment speed;

[0075] The steering wheel hand torque of the steering wheel is detected in real time, and the steering is adjusted through HWA according to the steering wheel hand torque.

[0076] The device of the present invention calls the vehicle steer-by-wire optimization program stored in the memory 1005 through the processor 1001, and further performs the following operations:

[0077] According to the difference gear matching, the maximum error angle allowed for the current gear corresponding to the gear matching;

[0078] The corresponding HWA alignment closed-loop control tracking speed is calculated according to the maximum error angle and the angle difference using the following formula:

[0079] Δθ=θ1 2 / θ2

[0080] Among them, Δθ is the HWA alignment closed-loop control tracking speed, θ1 is the angle difference, and θ2 is the maximum error angle;

[0081] The HWA alignment closed-loop control tracking speed is used as the target alignment speed.

[0082] The device of the present invention calls the vehicle steer-by-wire optimization program stored in the memory 1005 through the processor 1001, and further performs the following operations:

[0083] detecting a steering wheel hand torque of the steering wheel in real time, and comparing the steering wheel hand torque with a first preset torque;

[0084] When the steering wheel hand torque is greater than the first preset torque, stopping the HWA angle closed loop;

[0085] When the steering wheel hand torque is not greater than the first preset torque, executing the HWA angle closed loop and continuously monitoring whether the steering wheel hand torque is greater than the first preset torque;

[0086] Steering is adjusted by HWA according to the steering wheel hand torque.

[0087] The device of the present invention calls the vehicle steer-by-wire optimization program stored in the memory 1005 through the processor 1001, and further performs the following operations:

[0088] detecting a steering wheel hand torque of the steering wheel in real time, and comparing the steering wheel hand torque with a second preset torque, wherein the second preset torque is smaller than the first preset torque;

[0089] When the steering wheel hand torque is not less than the second preset torque, stopping the HWA angle closed loop;

[0090] When the steering wheel hand torque is less than the second preset torque, the steering adjustment is continued through HWA according to the steering wheel hand torque.

[0091] This embodiment, through the above-described scheme, obtains the angular difference between the current vehicle's steering wheel actuator HWA and the front wheel actuator RWA; determines whether the angular difference is greater than a preset angle threshold, and determines whether the current vehicle requires steering adjustment based on the determination result; and when the current vehicle requires steering adjustment, performs steering adjustment based on the target alignment speed using HWA. This improves the accuracy of vehicle steering control, reduces the driver's discomfort caused by the steer-by-wire system performing alignment operations, avoids injuries caused by the driver accidentally touching the steering wheel, improves the driver's driving experience, and increases the speed and efficiency of vehicle steer-by-wire optimization.

[0092] Based on the above hardware structure, an embodiment of the vehicle steer-by-wire optimization method of the present invention is proposed.

[0093] Reference Figure 2 , Figure 2FIG. 1 is a flow chart of a first embodiment of a vehicle steer-by-wire optimization method according to the present invention.

[0094] In a first embodiment, the vehicle steer-by-wire optimization method comprises the following steps:

[0095] Step S10: Obtain the angle difference between the steering wheel actuator HWA and the front wheel actuator RWA of the current vehicle.

[0096] It should be noted that the steer-by-wire system consists of RWA and HWA. Because the RWA module is in direct contact with the road surface and other external environments, directly controlling RWA to follow the current angle of HWA will result in uncontrollable risks. Therefore, the control strategy adopts the method of HWA following the current angle of RWA for control. First, the angle difference between the steering wheel actuator HWA and the front wheel actuator RWA of the current vehicle can be obtained.

[0097] Step S20: Determine whether the angle difference is greater than a preset angle threshold, and determine whether the current vehicle needs to perform steering adjustment based on the determination result.

[0098] It can be understood that the preset angle threshold is a pre-set angle comparison value. By comparing the angle difference with the preset angle threshold, it can be determined whether the angle difference is greater than the preset angle threshold, and then a corresponding judgment result is generated, and then it is determined whether the current vehicle needs steering adjustment based on the judgment result.

[0099] Step S30: When the current vehicle needs to perform steering adjustment, perform steering adjustment through HWA according to the target alignment speed.

[0100] It should be understood that when the current vehicle needs to perform steering adjustment, the steering of the current vehicle can be adjusted through HWA according to the target alignment speed.

[0101] This embodiment, through the above-described scheme, obtains the angular difference between the current vehicle's steering wheel actuator HWA and the front wheel actuator RWA; determines whether the angular difference is greater than a preset angle threshold, and determines whether the current vehicle requires steering adjustment based on the determination result; and when the current vehicle requires steering adjustment, performs steering adjustment based on the target alignment speed using HWA. This improves the accuracy of vehicle steering control, reduces the driver's discomfort caused by the steer-by-wire system performing alignment operations, avoids injuries caused by the driver accidentally touching the steering wheel, improves the driver's driving experience, and increases the speed and efficiency of vehicle steer-by-wire optimization.

[0102] Furthermore, Figure 3 FIG. 1 is a flow chart of a second embodiment of the vehicle steer-by-wire optimization method of the present invention. Figure 3As shown, a second embodiment of the vehicle steer-by-wire optimization method of the present invention is proposed based on the first embodiment. In this embodiment, step S10 specifically includes the following steps:

[0103] Step S11: Acquire the HWA angle signal of the steering wheel actuator HWA and the RWA angle signal of the front wheel actuator RWA of the current vehicle.

[0104] It should be noted that when the wire control system is started, angle alignment works as the primary starting module, which can timely obtain the HWA angle signal of the steering wheel actuator HWA and the RWA angle signal of the front wheel actuator RWA of the current vehicle.

[0105] Step S12: Obtain a current HWA angle from the HWA angle signal, and obtain a current RWA angle from the RWA angle signal.

[0106] It can be understood that a corresponding angle can be obtained from the HWA angle signal as the current HWA angle, and a corresponding angle can be obtained from the RWA angle signal as the current RWA angle.

[0107] Step S13: Calculate the difference between the current HWA angle and the current RWA angle, and use the difference as the angle difference between HWA and RWA.

[0108] It should be understood that the difference between the current HWA angle and the current RWA angle may be calculated through angle difference calculation, and the difference may be used as the angle difference between HWA and RWA.

[0109] This embodiment uses the above solution to obtain the HWA angle signal of the current vehicle's steering wheel actuator HWA and the RWA angle signal of the front wheel actuator RWA; obtain the current HWA angle from the HWA angle signal, and obtain the current RWA angle from the RWA angle signal; calculate the difference between the current HWA angle and the current RWA angle, and use the difference as the angle difference between HWA and RWA. This can improve the accuracy of vehicle steering control and increase the speed and efficiency of vehicle wire-controlled steering optimization.

[0110] Furthermore, Figure 4 FIG. 1 is a flow chart of a third embodiment of the vehicle steer-by-wire optimization method of the present invention. Figure 4 As shown, a third embodiment of the vehicle steer-by-wire optimization method of the present invention is proposed based on the first embodiment. In this embodiment, step S20 specifically includes the following steps:

[0111] Step S21: Compare the angle difference with a preset angle threshold, determine whether the angle difference is greater than the preset angle threshold, and generate a determination result.

[0112] It should be noted that after comparing the angle difference with the preset angle threshold, it can be determined whether the angle difference is greater than the preset angle threshold to generate a determination result.

[0113] Step S22: When the judgment result is that the angle difference is greater than the preset angle threshold, it is determined that the current vehicle does not need to perform steering adjustment.

[0114] It can be understood that when the judgment result is that the angle difference is greater than the preset angle threshold, it can be determined that the current vehicle does not need to perform steering adjustment.

[0115] Step S23: When the judgment result is that the angle difference is not greater than the preset angle threshold, it is determined that the current vehicle needs to perform steering adjustment.

[0116] It should be understood that when the judgment result is that the angle difference is not greater than the preset angle threshold, it can be determined that the current vehicle needs to perform steering adjustment.

[0117] Through the above scheme, this embodiment compares the angle difference with a preset angle threshold to determine whether the angle difference is greater than the preset angle threshold, and generates a judgment result; when the judgment result is that the angle difference is greater than the preset angle threshold, it is determined that the current vehicle does not need to perform steering adjustment; when the judgment result is that the angle difference is not greater than the preset angle threshold, it is determined that the current vehicle needs to perform steering adjustment, which can improve the accuracy of vehicle steering control and improve the speed and efficiency of vehicle wire-controlled steering optimization.

[0118] Furthermore, Figure 5 FIG. 4 is a flow chart of a fourth embodiment of a vehicle steer-by-wire optimization method according to the present invention. Figure 5 As shown, a fourth embodiment of the vehicle steer-by-wire optimization method of the present invention is proposed based on the third embodiment. In this embodiment, step S30 specifically includes the following steps:

[0119] Step S31: When the current vehicle needs to perform steering adjustment, obtain the difference gear corresponding to the angle difference.

[0120] It should be noted that different angle differences correspond to different gears. When the current vehicle needs to perform steering adjustment, the differential gear corresponding to the angle difference can be obtained.

[0121] In the specific implementation, the HWA module calculates the angle difference based on the RWA angle signal and the HWA angle signal. To take into account the driver's experience, the angle difference is divided into three levels: zero to one-third of the maximum angle difference, one-third of the maximum angle difference to two-thirds of the maximum angle difference, and two-thirds of the maximum angle difference to the maximum angle difference.

[0122] Step S32: Matching a corresponding HWA alignment closed-loop control tracking speed according to the differential gear, and using the HWA alignment closed-loop control tracking speed as a target alignment speed.

[0123] It can be understood that the HWA alignment closed-loop control tracking speed is matched to the corresponding HWA alignment closed-loop control tracking speed according to the differential gear, and then the HWA alignment closed-loop control tracking speed is used as the target alignment speed.

[0124] Furthermore, the step S32 specifically includes the following steps:

[0125] According to the difference gear matching, the maximum error angle allowed for the current gear corresponding to the gear matching;

[0126] The corresponding HWA alignment closed-loop control tracking speed is calculated according to the maximum error angle and the angle difference using the following formula:

[0127] Δθ=θ1 2 / θ2

[0128] Among them, Δθ is the HWA alignment closed-loop control tracking speed, θ1 is the angle difference, and θ2 is the maximum error angle;

[0129] The HWA alignment closed-loop control tracking speed is used as the target alignment speed.

[0130] In the specific implementation, different return speed requirements can be set for the three gears above. For example, the first gear can complete the alignment within 1.5s, the second gear can complete the alignment within 2.5s, and the third gear can complete the alignment within 3.5s. Set the current error angle to θ1 and the maximum error angle to θ2. The HWA alignment closed-loop control tracking speed calculation is designed to be Δθ=θ1 2 / θ2, generally speaking, this value is not less than 10° / s.

[0131] Step S33: When the current vehicle needs to perform steering adjustment, the steering wheel of the current vehicle is corrected according to the target alignment speed.

[0132] It should be understood that when the current vehicle needs to perform steering adjustment, the steering wheel of the current vehicle can be corrected according to the target alignment speed.

[0133] Step S34: Detect the steering wheel hand torque of the steering wheel in real time, and perform steering adjustment through HWA according to the steering wheel hand torque.

[0134] It can be understood that the steering wheel hand torque of the steering wheel is detected in real time, and the steering is adjusted through HWA according to the steering wheel hand torque.

[0135] Furthermore, the step S34 specifically includes the following steps:

[0136] detecting a steering wheel hand torque of the steering wheel in real time, and comparing the steering wheel hand torque with a first preset torque;

[0137] When the steering wheel hand torque is greater than the first preset torque, stopping the HWA angle closed loop;

[0138] When the steering wheel hand torque is not greater than the first preset torque, executing the HWA angle closed loop and continuously monitoring whether the steering wheel hand torque is greater than the first preset torque;

[0139] Steering is adjusted by HWA according to the steering wheel hand torque.

[0140] It should be understood that after the steering wheel hand torque of the steering wheel is detected in real time, the steering wheel hand torque can be compared with the first preset torque, and corresponding steering adjustment operations can be taken according to different comparison results.

[0141] Furthermore, after stopping the HWA angle closed loop when the steering wheel hand torque is greater than the first preset torque, the vehicle steer-by-wire optimization method further includes the following steps:

[0142] detecting a steering wheel hand torque of the steering wheel in real time, and comparing the steering wheel hand torque with a second preset torque, wherein the second preset torque is smaller than the first preset torque;

[0143] When the steering wheel hand torque is not less than the second preset torque, stopping the HWA angle closed loop;

[0144] When the steering wheel hand torque is less than the second preset torque, the steering adjustment is continued through HWA according to the steering wheel hand torque.

[0145] It can be understood that by detecting the steering wheel hand torque of the steering wheel in real time, the steering wheel hand torque is compared with the second preset torque, and the second preset torque is less than the first preset torque; then when the steering wheel hand torque is not less than the second preset torque, the HWA angle closed loop is stopped; when the steering wheel hand torque is less than the second preset torque, the steering adjustment is continued through HWA according to the steering wheel hand torque.

[0146] It should be understood that Figure 6This is a schematic diagram of the angle alignment process in the vehicle steer-by-wire optimization method of the present invention, as shown in FIG. Figure 6 As shown, taking the preset angle threshold of 1°, the first preset torque of 3Nm, and the second preset torque of 0.5Nm as an example, after the vehicle system is powered on, it is first determined whether the difference between the HWA and RWA angles is greater than 1°. If so, the target alignment speed is calculated, and then it is determined whether the steering wheel hand torque is greater than 3Nm. If so, the HWA angle closed loop is stopped, the steering wheel hand torque is detected in real time, and it is determined whether the steering wheel hand torque is less than 0.5Nm. If so, the steering wheel hand torque is detected in real time and it is re-determined whether the steering wheel hand torque is greater than 3Nm. If not, the HWA angle closed loop is executed and the hand torque is continuously monitored to determine whether it is greater than 3Nm. When the HWA and RWA angle difference is no more than 1°, the power-on alignment is completed and the remaining modules of the wire control system can be started.

[0147] In the specific implementation, in order to ensure that when the wire-controlled steering system performs the alignment work, the driver accidentally interferes with the alignment work, the system will not bring a bad experience or harm to the driver; driver protection is set for the wire-controlled steering system alignment module. When the external force interferes with the steering wheel and the torque is greater than 3Nm, the system exits the work, stops alignment, and waits until the steering wheel torque decreases to below 0.5Nm before continuing the alignment work, thereby reducing the bad feeling brought to the driver when the wire-controlled steering system performs the alignment work, and avoiding injuries or bad feelings caused by the driver accidentally touching the steering wheel.

[0148] This embodiment adopts the above scheme, by obtaining the differential gear corresponding to the angle difference when the current vehicle needs to perform steering adjustment; matching the corresponding HWA alignment closed-loop control tracking speed according to the differential gear, and using the HWA alignment closed-loop control tracking speed as the target alignment speed; when the current vehicle needs to perform steering adjustment, aligning the steering wheel of the current vehicle according to the target alignment speed; detecting the steering wheel hand torque of the steering wheel in real time, and performing steering adjustment through HWA according to the steering wheel hand torque, which can improve the accuracy of vehicle steering control, reduce the negative experience brought to the driver when the wire-controlled steering system performs the alignment work, avoid damage caused by the driver accidentally touching the steering wheel, improve the driver's driving experience, and improve the speed and efficiency of vehicle wire-controlled steering optimization.

[0149] Accordingly, the present invention further provides a vehicle steer-by-wire optimization device.

[0150] Reference Figure 7 , Figure 7 This is a functional module diagram of the first embodiment of the vehicle steer-by-wire optimization device of the present invention.

[0151] In a first embodiment of the vehicle steer-by-wire optimization device of the present invention, the vehicle steer-by-wire optimization device comprises:

[0152] The difference calculation module 10 is used to obtain the angle difference between the steering wheel actuator HWA and the front wheel actuator RWA of the current vehicle.

[0153] The judgment module 20 is used to judge whether the angle difference is greater than a preset angle threshold, and determine whether the current vehicle needs to perform steering adjustment based on the judgment result.

[0154] The steering optimization module 30 is configured to perform steering adjustment through HWA according to a target alignment speed when the current vehicle needs to perform steering adjustment.

[0155] The difference calculation module 10 is further configured to obtain an HWA angle signal of the steering wheel actuator HWA and an RWA angle signal of the front wheel actuator RWA of the current vehicle; obtain a current HWA angle from the HWA angle signal, and obtain a current RWA angle from the RWA angle signal; and calculate a difference between the current HWA angle and the current RWA angle, using the difference as an angle difference between the HWA and RWA angles.

[0156] The judgment module 20 is further used to compare the angle difference with a preset angle threshold, determine whether the angle difference is greater than the preset angle threshold, and generate a judgment result; when the judgment result is that the angle difference is greater than the preset angle threshold, it is determined that the current vehicle does not need to perform steering adjustment; when the judgment result is that the angle difference is not greater than the preset angle threshold, it is determined that the current vehicle needs to perform steering adjustment.

[0157] The steering optimization module 30 is further configured to, when the current vehicle requires steering adjustment, obtain a differential gear corresponding to the angle difference; match a corresponding HWA alignment closed-loop control tracking speed according to the differential gear, and use the HWA alignment closed-loop control tracking speed as a target alignment speed; when the current vehicle requires steering adjustment, align the steering wheel of the current vehicle according to the target alignment speed; and detect the steering wheel hand torque of the steering wheel in real time, and perform steering adjustment through the HWA according to the steering wheel hand torque.

[0158] The steering optimization module 30 is further configured to match the maximum error angle allowed by the current gear position according to the differential gear position;

[0159] The corresponding HWA alignment closed-loop control tracking speed is calculated according to the maximum error angle and the angle difference using the following formula:

[0160] Δθ=θ1 2 / θ2

[0161] Among them, Δθ is the HWA alignment closed-loop control tracking speed, θ1 is the angle difference, and θ2 is the maximum error angle;

[0162] The HWA alignment closed-loop control tracking speed is used as the target alignment speed.

[0163] The steering optimization module 30 is further configured to detect the steering wheel hand torque of the steering wheel in real time and compare the steering wheel hand torque with a first preset torque; when the steering wheel hand torque is greater than the first preset torque, stop the HWA angle closed loop; when the steering wheel hand torque is not greater than the first preset torque, execute the HWA angle closed loop and continuously monitor whether the steering wheel hand torque is greater than the first preset torque; and perform steering adjustment through HWA according to the steering wheel hand torque.

[0164] The steering optimization module 30 is further configured to detect the steering wheel hand torque of the steering wheel in real time, compare the steering wheel hand torque with a second preset torque, and where the second preset torque is smaller than the first preset torque; when the steering wheel hand torque is not smaller than the second preset torque, stop the HWA angle closed loop; and when the steering wheel hand torque is smaller than the second preset torque, continue to perform steering adjustment through HWA according to the steering wheel hand torque.

[0165] Among them, the steps implemented by each functional module of the vehicle steering-by-wire optimization device can refer to the various embodiments of the vehicle steering-by-wire optimization method of the present invention, and will not be repeated here.

[0166] In addition, an embodiment of the present invention further provides a storage medium, wherein a vehicle steer-by-wire optimization program is stored on the storage medium. When the vehicle steer-by-wire optimization program is executed by a processor, the following operations are implemented:

[0167] Get the angle difference between the steering wheel actuator HWA and the front wheel actuator RWA of the current vehicle;

[0168] Determining whether the angle difference is greater than a preset angle threshold, and determining whether the current vehicle needs to perform steering adjustment based on the determination result;

[0169] When the current vehicle needs to perform steering adjustment, the steering adjustment is performed through HWA according to the target alignment speed.

[0170] Furthermore, when the vehicle steer-by-wire optimization program is executed by the processor, the following operations are also implemented:

[0171] Obtain the HWA angle signal of the steering wheel actuator HWA and the RWA angle signal of the front wheel actuator RWA of the current vehicle;

[0172] Obtain a current HWA angle from the HWA angle signal, and obtain a current RWA angle from the RWA angle signal;

[0173] A difference between the current HWA angle and the current RWA angle is calculated, and the difference is used as the angle difference between the HWA and RWA angles.

[0174] Furthermore, when the vehicle steer-by-wire optimization program is executed by the processor, the following operations are also implemented:

[0175] Comparing the angle difference with a preset angle threshold, determining whether the angle difference is greater than the preset angle threshold, and generating a determination result;

[0176] When the judgment result is that the angle difference is greater than the preset angle threshold, determining that the current vehicle does not need to perform steering adjustment;

[0177] When the judgment result is that the angle difference is not greater than the preset angle threshold, it is determined that the current vehicle needs to perform steering adjustment.

[0178] Furthermore, when the vehicle steer-by-wire optimization program is executed by the processor, the following operations are also implemented:

[0179] When the current vehicle needs to perform steering adjustment, obtaining a differential gear corresponding to the angle difference;

[0180] Matching a corresponding HWA alignment closed-loop control tracking speed according to the differential gear, and using the HWA alignment closed-loop control tracking speed as a target alignment speed;

[0181] When the current vehicle needs to perform steering adjustment, straightening the steering wheel of the current vehicle according to the target alignment speed;

[0182] The steering wheel hand torque of the steering wheel is detected in real time, and the steering is adjusted through HWA according to the steering wheel hand torque.

[0183] Furthermore, when the vehicle steer-by-wire optimization program is executed by the processor, the following operations are also implemented:

[0184] According to the difference gear matching, the maximum error angle allowed for the current gear corresponding to the gear matching;

[0185] The corresponding HWA alignment closed-loop control tracking speed is calculated according to the maximum error angle and the angle difference using the following formula:

[0186] Δθ=θ1 2 / θ2

[0187] Among them, Δθ is the HWA alignment closed-loop control tracking speed, θ1 is the angle difference, and θ2 is the maximum error angle;

[0188] The HWA alignment closed-loop control tracking speed is used as the target alignment speed.

[0189] Furthermore, when the vehicle steer-by-wire optimization program is executed by the processor, the following operations are also implemented:

[0190] detecting a steering wheel hand torque of the steering wheel in real time, and comparing the steering wheel hand torque with a first preset torque;

[0191] When the steering wheel hand torque is greater than the first preset torque, stopping the HWA angle closed loop;

[0192] When the steering wheel hand torque is not greater than the first preset torque, executing the HWA angle closed loop and continuously monitoring whether the steering wheel hand torque is greater than the first preset torque;

[0193] Steering is adjusted by HWA according to the steering wheel hand torque.

[0194] Furthermore, when the vehicle steer-by-wire optimization program is executed by the processor, the following operations are also implemented:

[0195] detecting a steering wheel hand torque of the steering wheel in real time, and comparing the steering wheel hand torque with a second preset torque, wherein the second preset torque is smaller than the first preset torque;

[0196] When the steering wheel hand torque is not less than the second preset torque, stopping the HWA angle closed loop;

[0197] When the steering wheel hand torque is less than the second preset torque, the steering adjustment is continued through HWA according to the steering wheel hand torque.

[0198] Those skilled in the art will understand that all or part of the steps in the above-mentioned implementation method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions for enabling a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application; and the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0199] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0200] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0201] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A vehicle steer-by-wire optimization method, characterized in that: The vehicle steer-by-wire optimization method comprises: Get the angle difference between the steering wheel actuator HWA and the front wheel actuator RWA of the current vehicle; Determining whether the angle difference is greater than a preset angle threshold, and determining whether the current vehicle needs to perform steering adjustment based on the determination result; When the current vehicle needs to perform steering adjustment, perform steering adjustment through HWA according to the target alignment speed; When the current vehicle needs to perform steering adjustment, performing steering adjustment through HWA according to the target alignment speed includes: When the current vehicle needs to perform steering adjustment, obtaining a differential gear corresponding to the angle difference; matching a corresponding HWA alignment closed-loop control tracking speed according to the differential gear, and using the HWA alignment closed-loop control tracking speed as a target alignment speed; When the current vehicle needs to perform steering adjustment, straightening the steering wheel of the current vehicle according to the target alignment speed; The steering wheel hand torque of the steering wheel is detected in real time, and the steering is adjusted through HWA according to the steering wheel hand torque.

2. The vehicle steer-by-wire optimization method according to claim 1, wherein: The vehicle steer-by-wire optimization method is characterized in that obtaining the angle difference between the steering wheel actuator HWA and the front wheel actuator RWA of the current vehicle includes: Obtain the HWA angle signal of the steering wheel actuator HWA and the RWA angle signal of the front wheel actuator RWA of the current vehicle; Obtain a current HWA angle from the HWA angle signal, and obtain a current RWA angle from the RWA angle signal; A difference between the current HWA angle and the current RWA angle is calculated, and the difference is used as the angle difference between the HWA and RWA angles.

3. The vehicle steer-by-wire optimization method according to claim 1, wherein: The determining whether the angle difference is greater than a preset angle threshold, and determining whether the current vehicle needs to perform steering adjustment according to the determination result, includes: Comparing the angle difference with a preset angle threshold, determining whether the angle difference is greater than the preset angle threshold, and generating a determination result; When the judgment result is that the angle difference is greater than the preset angle threshold, determining that the current vehicle does not need to perform steering adjustment; When the judgment result is that the angle difference is not greater than the preset angle threshold, it is determined that the current vehicle needs to perform steering adjustment.

4. The vehicle steer-by-wire optimization method according to claim 1, wherein: The step of matching a corresponding HWA alignment closed-loop control tracking speed according to the differential gear, and using the HWA alignment closed-loop control tracking speed as a target alignment speed, includes: According to the difference gear matching, the maximum error angle allowed for the current gear corresponding to the gear matching; The corresponding HWA alignment closed-loop control tracking speed is calculated according to the maximum error angle and the angle difference using the following formula: in, Align the closed-loop control tracking speed for HWA, is the angle difference, is the maximum error angle; The HWA alignment closed-loop control tracking speed is used as the target alignment speed.

5. The vehicle steer-by-wire optimization method according to claim 1, wherein: The real-time detection of the steering wheel hand torque of the steering wheel and the steering adjustment through HWA according to the steering wheel hand torque include: detecting a steering wheel hand torque of the steering wheel in real time, and comparing the steering wheel hand torque with a first preset torque; When the steering wheel hand torque is greater than the first preset torque, stopping the HWA angle closed loop; When the steering wheel hand torque is not greater than the first preset torque, executing the HWA angle closed loop and continuously monitoring whether the steering wheel hand torque is greater than the first preset torque; Steering is adjusted by HWA according to the steering wheel hand torque.

6. The vehicle steer-by-wire optimization method according to claim 5, wherein: After stopping the HWA angle closed loop when the steering wheel hand torque is greater than the first preset torque, the vehicle steer-by-wire optimization method further includes: detecting a steering wheel hand torque of the steering wheel in real time, and comparing the steering wheel hand torque with a second preset torque, wherein the second preset torque is smaller than the first preset torque; When the steering wheel hand torque is not less than the second preset torque, stopping the HWA angle closed loop; When the steering wheel hand torque is less than the second preset torque, the steering adjustment is continued through HWA according to the steering wheel hand torque.

7. A vehicle steer-by-wire optimization device, characterized in that: The vehicle steer-by-wire optimization device comprises: The difference calculation module is used to obtain the angle difference between the steering wheel actuator HWA and the front wheel actuator RWA of the current vehicle; a judgment module, configured to judge whether the angle difference is greater than a preset angle threshold, and determine whether the current vehicle needs to perform steering adjustment based on the judgment result; a steering optimization module, configured to perform steering adjustment through HWA according to a target alignment speed when the current vehicle needs steering adjustment; The steering optimization module is configured to obtain a differential gear corresponding to the angle difference when the current vehicle requires steering adjustment; match a corresponding HWA alignment closed-loop control tracking speed according to the differential gear, and use the HWA alignment closed-loop control tracking speed as a target alignment speed; correct the steering wheel of the current vehicle according to the target alignment speed when the current vehicle requires steering adjustment; detect the steering wheel hand torque of the steering wheel in real time, and perform steering adjustment through the HWA according to the steering wheel hand torque.

8. A vehicle steer-by-wire optimization device, characterized in that: The vehicle steer-by-wire optimization device includes: a memory, a processor, and a vehicle steer-by-wire optimization program stored in the memory and executable on the processor. The vehicle steer-by-wire optimization program is configured to implement the steps of the vehicle steer-by-wire optimization method as described in any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium stores a vehicle steer-by-wire optimization program, which, when executed by a processor, implements the steps of the vehicle steer-by-wire optimization method according to any one of claims 1 to 6.

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