Method and apparatus for compensating EPS system

Abstract

The invention provides a method and device for compensating EPS and a computer readable storage medium. The method includes determining that the EPS system begins to respond to a current force of a plurality of requested forces during a current lateral control of the vehicle, where other forces of the plurality of forces are requested from the EPS system prior to the current force; a force compensation value for the EPS system is determined based on the current force, where the force compensation value is used to compensate for a force ready to be requested from the EPS system in a subsequent lateral control process, where the subsequent lateral control process and the current lateral control process correspond to the same type of lateral control.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and more specifically, to a method, device, and computer-readable storage medium for compensating an Electronic Power Steering (EPS) system. Background Art

[0002] The EPS system is developed on the basis of the traditional mechanical steering system, which uses the power generated by the electric motor to assist the vehicle's directional control. Due to its many advantages such as energy saving, environmental protection, and operational stability, the EPS system has been widely used in the vehicle field. The response performance of the EPS system is closely related to the vehicle's directional control. Therefore, how to improve the response performance of the EPS system has become one of the problems that need to be solved. Summary of the invention

[0003] In view of the need for improvement in the prior art, embodiments of the present disclosure provide a method, an apparatus, and a computer-readable storage medium for compensating for EPS.

[0004] On the one hand, an embodiment of the present disclosure provides a method for compensating an EPS system, comprising: determining that the EPS system begins to respond to a current force among a plurality of requested forces during a current lateral control process of a vehicle, wherein other forces among the plurality of forces are requested from the EPS system before the current force; based on the current force, determining a force compensation value for the EPS system, wherein the force compensation value is used to compensate for a force to be requested from the EPS system in a subsequent lateral control process, wherein the subsequent lateral control process and the current lateral control process correspond to the same type of lateral control.

[0005] On the other hand, an embodiment of the present disclosure provides a device for compensating an EPS system, comprising: a response determination unit, configured to: determine that the EPS system begins to respond to a current force among a plurality of requested forces during a current lateral control process of a vehicle, wherein other forces among the plurality of forces are requested from the EPS system before the current force; a compensation determination unit, configured to: determine a force compensation value for the EPS system based on the current force, wherein the force compensation value is used to compensate for a force to be requested from the EPS system in a subsequent lateral control process, wherein the subsequent lateral control process and the current lateral control process correspond to the same type of lateral control.

[0006] On the other hand, an embodiment of the present disclosure provides a device for compensating an EPS system, comprising: at least one processor; a memory communicating with the at least one processor, on which executable code is stored, and when the executable code is executed by the at least one processor, the at least one processor executes the above method.

[0007] On the other hand, an embodiment of the present disclosure provides a computer-readable storage medium storing executable codes, which implement the above method when executed. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The above and other objects, features and advantages of embodiments of the present disclosure will become more apparent through a more detailed description of embodiments of the present disclosure in conjunction with the accompanying drawings, wherein like reference numerals generally represent like elements throughout the various drawings.

[0009] Figure 1 is a schematic flow chart of a method for compensating an EPS system according to some embodiments.

[0010] Figure 2A is a schematic diagram of one example of a scenario to which embodiments of the present disclosure may be applied.

[0011] Figure 2B is a schematic diagram of another example of a scenario to which embodiments of the present disclosure may be applied.

[0012] Figure 3 is a schematic diagram of an apparatus for compensating an EPS system according to some embodiments.

[0013] Figure 4 is a schematic block diagram of an apparatus for compensating an EPS system according to some embodiments. DETAILED DESCRIPTION

[0014] The subject matter described herein will now be discussed with reference to various embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and are not intended to limit the scope of protection, applicability or examples set forth in the claims.

[0015] Lateral control is one of the important aspects of vehicle technology. Lateral control usually controls the lateral driving direction of the vehicle so that the vehicle can travel on the desired trajectory. At present, the lateral control of the vehicle is usually achieved in combination with the EPS system. Therefore, the response performance of the EPS system is very important for the lateral control of the vehicle. However, in actual applications, the EPS system may have problems such as response dead zone and long response time, which may reduce the response performance of the EPS system and thus reduce the lateral control performance of the vehicle.

[0016] In view of this, an embodiment of the present disclosure provides a technical solution for compensating an EPS system, which will be described below in conjunction with specific embodiments.

[0017] Figure 1 is a schematic flow chart of a method for compensating an EPS system according to some embodiments.

[0018] like Figure 1 As shown, in step 102, it can be determined that the EPS system begins to respond to the current force of the requested multiple forces during the current lateral control of the vehicle. Other forces of the multiple forces may be requested to the EPS system before the current force.

[0019] For example, at the beginning of the current lateral control process, in order to achieve the desired lateral control, a force may be requested from the EPS system. For ease of description, this force is referred to as the first force here. If the EPS system does not respond after requesting the first force, a second force may be requested from the EPS system, such as the second force may be greater than the first force (for example, in terms of its absolute value). And so on, until the EPS system responds and completes the desired lateral control of the current lateral control process. Since the EPS system does not respond to one or more forces, this means that the EPS system has a response dead zone, and the current force at which the EPS system starts to respond can be considered as the boundary of the response dead zone.

[0020] In step 104, a force compensation value for the EPS system may be determined based on the current force. The force compensation value may be used to compensate for the force to be requested from the EPS system in a subsequent lateral control process. The subsequent lateral control process and the current lateral control process may correspond to the same or similar lateral control.

[0021] For example, as mentioned above, the EPS system has a response dead zone, a long response time, etc., which may reduce the lateral control performance of the vehicle and even affect the driving performance of the entire vehicle. Therefore, in step 104, a force compensation value can be determined to compensate for the force to be requested from the EPS system in the subsequent lateral control process, thereby improving the response performance of the EPS system.

[0022] It can be seen that in the embodiments of the present disclosure, by determining the force at which the EPS system begins to respond during the current lateral control process, and then determining the force compensation value used in the subsequent lateral control process based on the force, the response performance of the EPS system can be effectively improved, thereby improving the lateral control performance of the vehicle.

[0023] In some embodiments, in step 102, the response of the EPS system may be monitored based on various applicable parameters. For example, the response of the EPS system may be monitored by monitoring the rotation parameters of the steering wheel. For example, in the current lateral control process, if it is determined that the rotation parameters of the steering wheel are less than a preset threshold for other forces among the above-mentioned multiple forces, and the rotation parameters of the steering wheel are greater than or equal to the preset threshold for the current force, then this may indicate that the EPS system begins to respond to the current force.

[0024] In some embodiments, the steering wheel rotation parameters may include a turning angle and an angular rate. Accordingly, the preset threshold may include two thresholds, namely, a turning angle threshold corresponding to the turning angle and an angular rate threshold corresponding to the turning angle rate. In other words, the response of the EPS system can be monitored by monitoring the turning angle and the angular rate of the steering wheel. For example, if the turning angle is less than the turning angle threshold and the turning angle rate is less than the turning angle rate threshold for other forces among the above-mentioned multiple forces, and the turning angle is greater than or equal to the turning angle threshold and the turning angle rate is greater than or equal to the turning angle rate threshold for the current force, then it can be said that the EPS system begins to respond to the current force. The preset threshold can be set according to various factors such as actual application scenarios and business needs, which is not limited in this article.

[0025] In order to compensate the EPS system in a targeted and effective manner, the subsequent lateral control process and the current lateral control process may correspond to the same type of lateral control. Specifically, corresponding force compensation values ​​may be determined for different types of lateral control, so that different types of lateral control performance can be optimized in a more targeted manner.

[0026] For example, in terms of the directionality of lateral control, lateral control may include left lateral control and right lateral control. In this case, the subsequent lateral control process and the current lateral control process may both correspond to left lateral control, or both correspond to right lateral control. In this way, a corresponding force compensation value may be determined for the left lateral control, and then the force compensation value may be used in the subsequent left lateral control process to compensate for the force to be requested from the EPS system. Similarly, a corresponding force compensation value may be determined for the right lateral control, and then the force compensation value may be used in the subsequent right lateral control process to compensate for the force to be requested from the EPS system. It can be seen that in this way, the performance of the left lateral control and the right lateral control can be optimized more specifically.

[0027] In addition, for some vehicles, there may be a certain asymmetry in the left and right steering control components. In this case, the response performance of the EPS system for left or right lateral control may be different. In this way, by determining the respective force compensation values ​​for left lateral control and right lateral control, the impact of this left-right asymmetry can be effectively reduced or even eliminated, thereby improving the overall response performance of the EPS system and the lateral control performance of the vehicle.

[0028] In some cases, there is a correlation between the speed of the vehicle and the responsiveness of the EPS system. Therefore, in order to better optimize the responsiveness of the EPS system, the speed can be taken into account when determining the force compensation value. For example, the force compensation value can be determined for a specific speed. In some embodiments, the current lateral control process and the subsequent lateral control process can correspond to the same type of lateral control, and the vehicle can have the same speed in the current lateral control process and the subsequent lateral control process. For example, in the current lateral control process, the vehicle is traveling at a specific speed, then the force compensation value determined in the current lateral control process can correspond to the specific speed. In this way, for the subsequent lateral control process where the same type of lateral control is required and the vehicle is traveling at the specific speed, the force compensation value can be used to compensate for the force requested from the EPS system, thereby more effectively optimizing the responsiveness of the EPS system at a specific speed.

[0029] Regarding determining the force compensation value in step 104 , various approaches may be adopted.

[0030] For example, in some embodiments, in step 104, the current force can be directly used as the force compensation value. For example, as previously described, during the current lateral control process, the EPS system begins to respond to the current force, so the current force can be considered as the boundary value of the response dead zone of the EPS system. Then, the current force can be directly used as the force compensation value to compensate the EPS system in subsequent lateral control processes that require the same type of lateral control. This approach can more dynamically adjust the response performance of the EPS system.

[0031] In some embodiments, in step 104, the force compensation value to be used subsequently can be determined in combination with the force compensation values ​​determined in multiple lateral control processes. For example, in step 104, a target driving interval can be defined. The target driving interval can include multiple lateral control processes, and these lateral control processes can include the above-mentioned current lateral control process. These lateral control processes can all correspond to the same type of lateral control, such as all corresponding to left lateral control or all corresponding to right lateral control. A force compensation value can be determined in each lateral control process, such as in the manner described for the above-mentioned current lateral control process, each force compensation value can be the force at which the EPS system begins to respond in the corresponding lateral control process. For ease of description, the force compensation value corresponding to each lateral control process is referred to as an initial force compensation value here. Then, the above-mentioned force compensation value can be determined based on multiple initial force compensation values. It can be understood that the above-mentioned subsequent lateral control process can occur after the target driving interval.

[0032] In such an embodiment, a force compensation value can be determined based on the target driving interval, and then the force compensation value can be used to compensate the EPS system during the lateral control process after the target driving interval. This approach can not only dynamically optimize the response performance of the EPS system, but also maintain the relative stability of the compensation.

[0033] The target driving interval can be set according to various factors such as actual application scenarios, business requirements, etc. For example, in some embodiments, the target driving interval can be defined by a preset driving mileage, such as a target driving interval of 50 kilometers, 100 kilometers, etc. In some embodiments, the target driving interval can be defined by a preset driving duration, such as a target driving interval of 1 hour, 2 hours, etc.

[0034] As mentioned above, the speed of the vehicle is related to the responsiveness of the EPS, so the speed can also be taken into account when determining the force compensation value based on the target driving range. For example, the vehicle can have the same speed in the target driving range. In this way, the force compensation value determined based on the target driving range can correspond to the speed, thereby being able to more effectively compensate the EPS system for a specific speed.

[0035] In the case of taking speed into consideration, the target driving section may be a single continuous driving section, for example, the vehicle always drives at a certain speed in the target driving section.

[0036] In some cases, the target driving interval may be composed of a plurality of discontinuous driving sub-intervals. In each driving sub-interval, the vehicle may be traveling at the same speed. For example, assuming that the vehicle travels 200 kilometers, 200 kilometers are divided into four sections, each section is 50 kilometers. If the vehicle travels at a speed of 60 kilometers per hour in the first section, 80 kilometers per hour in the second section, 60 kilometers per hour in the third section, and 70 kilometers in the fourth section. In addition, assuming that the target driving interval is defined as 100 kilometers, then for a speed of 60 kilometers per hour, the target driving interval may include two sub-intervals, the first sub-interval may correspond to the first section, and the second sub-interval may correspond to the third section. In this case, the force compensation value may be determined for the same type of lateral control process occurring in the first section and the third section.

[0037] In some embodiments, after step 104 , in a subsequent lateral control process, the force compensation value may be added to the force to be requested from the EPS system to obtain a final force actually requested from the EPS system.

[0038] It can be seen that in the technical solution of the present disclosure, the force compensation value is dynamically determined during the driving process of the vehicle, and can be distinguished in terms of lateral control type, vehicle speed, etc. In addition, since the force compensation value is determined during the actual driving process, the obtained force compensation value actually also takes into account the characteristics of the vehicle. Therefore, the technical solution of the present disclosure can effectively realize the compensation of the EPS system under different conditions, thereby improving the overall response performance of the EPS system, and then improving the lateral control performance of the vehicle.

[0039] The embodiments of the present disclosure can be applied to various scenarios. For example, smart cars equipped with advanced driver assistance systems (ADAS) are becoming more and more common. ADAS can perform lateral control on the vehicle. As mentioned above, lateral control can generally include left and right steering control of the vehicle. For example, ADAS can control the vehicle to travel within the lane line through the lateral control function. In some implementations, ADAS can implement the lateral control function by interacting with the EPS system. For example, ADAS can obtain relevant information such as the position of the center line of the lane and the position of the vehicle in real time, and determine the force required to complete the lateral control based on the relevant information. Then, ADAS can request the determined force from the EPS system so that the EPS system provides an output corresponding to the force, thereby achieving lateral control of the vehicle. However, as mentioned above, the EPS system may have a response dead zone, a long response time, or the left and right steering control components of the vehicle itself are asymmetric, etc., which may affect the lateral control performance of the vehicle. In view of this, the technical solution of the present disclosure can be combined with ADAS for application, which can effectively alleviate the above problems, thereby improving the lateral control performance of the vehicle.

[0040] Figure 2A is a schematic diagram of one example of a scenario to which embodiments of the present disclosure may be applied.

[0041] exist Figure 2A In the example of FIG. 2 , a compensation device 202A, an ADAS 204A, and an EPS system 206A are shown. The compensation device 202A may interact with the ADAS 204A, and the ADAS 204A may interact with the EPS system 206A.

[0042] The compensation device 202A executes the method provided by the embodiment of the present disclosure to determine the force compensation value for the EPS system 206A. For example, the compensation device 202A can determine the corresponding force compensation values ​​for left lateral control, right lateral control, different speeds, etc. The compensation device 202A can provide the force compensation value to ADAS204A. In some implementations, the compensation device 202A can obtain relevant information from ADAS204A or other control systems of the vehicle when determining the force compensation value, which is not limited herein.

[0043] ADAS 204A can determine the required force based on the lateral control requirements, and then use the force compensation value to compensate the force to obtain the actual force requested from EPS system 206A. ADAS 204A can output a signal indicating the actual requested force to EPS system 206A. EPS system 206A can provide an output (such as torque, etc.) corresponding to the force after receiving the signal.

[0044] Figure 2B is a schematic diagram of another example of a scenario to which embodiments of the present disclosure may be applied.

[0045] exist Figure 2B In the example of FIG. 2 , a compensation device 202B, an ADAS 204B, and an EPS system 206B are shown. The ADAS 204B can interact with the compensation device 202B, and the compensation device 202B can interact with the EPS system 206B.

[0046] ADAS 204B may determine the force to be requested from EPS system 206B based on the lateral control requirement. ADAS 204B may output a signal indicative of the force to compensation device 202B.

[0047] The compensation device 202B executes the method provided by the embodiment of the present disclosure to determine the force compensation value for the EPS system 206B. In some implementations, the compensation device 202A can obtain relevant information from the ADAS 204B or other control systems of the vehicle when determining the force compensation value, which is not limited herein.

[0048] After receiving the signal indicating the force from ADAS 204B, the compensation device 202B can compensate the force using an appropriate force compensation value to obtain a compensated force. In this case, ADAS 204B can also provide some additional information to the compensation device 202B, such as whether the current lateral control process is for left or right lateral control, the speed of the vehicle, etc. The compensation device 202B can use this information to select an appropriate force compensation value. Then, the compensation device 202B can output a signal indicating the compensated force to the EPS system 206B.

[0049] The EPS system 206B may provide an output (eg, torque, etc.) corresponding to the force upon receiving the signal indicative of the compensated force.

[0050] Although in Figure 2A and Figure 2B In the embodiment, the ADAS and the compensation device are separated, but in some implementations, the compensation device can be integrated into the ADAS. This document does not limit this.

[0051] Figure 3 is a schematic diagram of an apparatus for compensating an EPS system according to some embodiments. For example, Figure 3 The device 300 may correspond to Figure 2A The compensation device 202A or Figure 2B The compensation device 202B in.

[0052] like Figure 3As shown, the apparatus 300 may include a response determination unit 302 and a compensation determination unit 304 .

[0053] The response determination unit 302 may determine that the EPS system begins to respond to a current force of the requested plurality of forces during the current lateral control of the vehicle, wherein other forces of the plurality of forces were requested from the EPS system before the current force.

[0054] The compensation determination unit 304 may determine a force compensation value for the EPS system based on the current force. The force compensation value may be used to compensate for the force to be requested from the EPS system in a subsequent lateral control process. The subsequent lateral control process and the current lateral control process may correspond to the same type of lateral control.

[0055] Each unit of the device 300 can execute the specific process described above with respect to the method embodiment. Therefore, for the sake of brevity of description, the specific operations and functions of each unit of the device 300 are not repeated here.

[0056] Figure 4 is a schematic block diagram of an apparatus for compensating an EPS system according to some embodiments.

[0057] like Figure 4 As shown, the apparatus 400 may include a processor 402, a memory 404, an input interface 406, and an output interface 408, and these modules may be coupled together via a bus 410. However, it should be understood that Figure 4 This is only an example and does not limit the scope of the present disclosure. For example, in different application scenarios, the device 400 may include more or fewer modules, which is not limited herein.

[0058] The memory 404 may be used to store various information related to the function or operation of the device 400 (such as the force requested from the EPS system, the force compensation value, etc. mentioned above), executable instructions or codes, etc. For example, the memory 404 may include, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a flash memory, a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a register, a hard disk, and the like.

[0059] The processor 402 may be used to execute or implement various functions or operations of the apparatus 400, such as the various operations described herein. For example, the processor 402 may execute executable instructions or codes stored in the memory 404, thereby implementing the various processes described above with respect to the method embodiment. The processor 402 may include various applicable processors, such as a general-purpose processor (such as a central processing unit (CPU)), a special-purpose processor (such as a digital signal processor, a special-purpose integrated circuit, etc.).

[0060] The input interface 406 may receive various forms of signals, such as a signal indicating a force requested from the EPS system, a rotation parameter of a steering wheel, and the like.

[0061] The output interface 408 may output various forms of signals, etc. For example, the output interface 408 may output a force compensation value, a signal indicating a compensated force, etc.

[0062] The embodiments of the present disclosure further provide a computer-readable storage medium. The computer-readable storage medium may store executable codes, and when the executable codes are executed, the specific processes described above with respect to the method embodiments are implemented.

[0063] For example, computer-readable storage media may include, but are not limited to, RAM, ROM, Electrically-Erasable Programmable Read-Only Memory (EEPROM), Static Random Access Memory (SRAM), hard disk, flash memory, and the like.

[0064] Specific embodiments of the present disclosure are described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0065] Not all steps and units in the above processes and system structure diagrams are necessary, and some steps or units may be omitted according to actual needs. The device structure described in the above embodiments may be a physical structure or a logical structure, that is, some units may be implemented by the same physical entity, some units may be implemented by multiple physical entities, or may be implemented by some components in multiple independent devices.

[0066] The optional implementation modes of the embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the embodiments of the present disclosure are not limited to the specific details in the above implementation modes. Within the technical concept of the embodiments of the present disclosure, various modifications can be made to the technical solutions of the embodiments of the present disclosure, and these modifications all belong to the protection scope of the embodiments of the present disclosure.

Claims

1. A method for compensating an electric power steering (EPS) system, comprising: determining that an EPS system begins to respond to a current force of a plurality of requested forces during a current lateral control of the vehicle, wherein other forces of the plurality of forces were requested from the EPS system prior to the current force; Based on the current force, a force compensation value for the EPS system is determined, wherein the force compensation value is used to compensate for the force to be requested from the EPS system in a subsequent lateral control process, wherein the subsequent lateral control process and the current lateral control process correspond to the same type of lateral control.

2. The method according to claim 1, wherein: Determining that the EPS system begins to respond to the current force during the current lateral control process includes: It is determined that a rotation parameter of the steering wheel is less than a preset threshold for other forces among the plurality of forces, and that the rotation parameter is greater than or equal to the preset threshold for the current force.

3. The method according to claim 2, wherein: The rotation parameters include a rotation angle and a rotation angle rate of the steering wheel, and the preset thresholds include a rotation angle threshold corresponding to the rotation angle and a rotation angle rate threshold corresponding to the rotation angle rate.

4. The method according to claim 1, wherein: Determining the force compensation value comprises: The current force is determined as the force compensation value.

5. The method according to claim 1, wherein: Determining the force compensation value comprises: determining a plurality of initial force compensation values ​​within a target driving interval of the vehicle, wherein the target driving interval includes a plurality of lateral control processes, the plurality of lateral control processes include the current lateral control process, the plurality of lateral control processes correspond to the same type of lateral control, and each initial force compensation value corresponds to a lateral control process and is a force at which the EPS system begins to respond in the lateral control process; The force compensation value is determined based on the plurality of initial force compensation values, wherein the subsequent lateral control process occurs after the target driving interval.

6. The method according to claim 5, wherein: Determining the force compensation value based on the plurality of initial force compensation values ​​comprises: The multiple initial force compensation values ​​are averaged to obtain the force compensation value.

7. The method according to claim 5, wherein: The target driving range is specified by a preset driving mileage or a preset driving duration.

8. The method according to claim 5, wherein: The vehicles have the same speed within the target driving interval.

9. The method according to claim 8, wherein: The target driving section is a single continuous driving section; or The target driving interval is composed of a plurality of discontinuous driving sub-intervals, wherein the vehicle has the speed in each driving sub-interval.

10. The method according to claim 1, wherein: The subsequent lateral control process and the current lateral control process are both leftward lateral control processes, or the subsequent lateral control process and the current lateral control process are both rightward lateral control processes.

11. The method according to claim 1, wherein: The vehicle has the same speed in the current lateral control process and in the subsequent lateral control process.

12. The method according to claim 1, further comprising: In the subsequent lateral control process, the force compensation value is added to the force to be requested from the EPS system to obtain the force actually requested from the EPS system.

13. A device for compensating an EPS system, comprising: a response determination unit configured to: determine that the EPS system begins to respond to a current force among the requested multiple forces during a current lateral control process of the vehicle, wherein other forces among the multiple forces are requested from the EPS system before the current force; A compensation determination unit is configured to: determine a force compensation value for the EPS system based on the current force, wherein the force compensation value is used to compensate for the force to be requested from the EPS system in a subsequent lateral control process, wherein the subsequent lateral control process and the current lateral control process correspond to the same type of lateral control.

14. A device for compensating an EPS system, comprising: at least one processor; A memory in communication with the at least one processor, having executable codes stored thereon, which, when executed by the at least one processor, cause the at least one processor to perform the method according to any one of claims 1 to 12.

15. A computer-readable storage medium storing executable codes, wherein the executable codes implement the method according to any one of claims 1 to 12 when executed.

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