Steer-by-wire road feeling motor feedback torque determination method and device

Abstract

The invention provides a steering-by-wire road feeling motor feedback torque determination method and device, and relates to the technical field of vehicle control, and the method comprises the steps that a vehicle processor calculates the return force of a road feeling motor after target basic counterforce compensation; calculating the force of the feedback torque value of the steering actuator after being acted by the BPF; steering reaction force calculated through angle error feedback of the steering execution mechanism is obtained; and according to the aligning force, the force of the feedback torque value of the steering actuator after the action of the BPF and the steering reaction force, the feedback torque of the steering road feeling motor is calculated, and the determined feedback torque of the road feeling motor is more reliable.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method and device for determining feedback torque of a steer-by-wire road-sensing motor. Background Art

[0002] As an important form of modern transportation, the road feel feedback control technology of steer-by-wire vehicles is of great significance for improving the driver's control experience and driving safety. Steer-by-wire is the development trend of electronic steering, which eliminates the physical connection between the steering wheel and the steering gear. It is mainly used in manned and unmanned driving scenarios. When used in manned driving conditions, when the driver holds the steering wheel to provide steering needs, a more reasonable road feel feedback is required. The road feel feedback here refers to the force sense of the steering gear along the rack direction, the force sense from the steering actuator to the tire structure system friction, and the road to the tire along the steering gear direction. The driver needs to input the appropriate steering demand (i.e. torque input) by feeling the appropriate road feel (steering resistance). In the steer-by-wire, the establishment of this road feel requires an additional motor and a reduction device to provide reverse torque. The torque of this road feel motor restores the real road feel to the maximum extent to ensure that the driver can make accurate steering judgments.

[0003] In the steer-by-wire control method, the analysis of road feel force can be expressed by establishing a dynamic model. During the modeling process, the force transmission path and the model refinement need to be fully considered. Usually, the dynamic equation of the tire being stimulated by the road surface and transmitted to the lateral tie rod of the steering gear can be simplified. Alternatively, starting from the hardware, a rack force sensor can be added, which can directly measure the road feel feedback force.

[0004] The currently implemented steer-by-wire road feel feedback function is relatively basic and has relatively simple functions, such as only realizing basic road feel feedback and return torque functions. However, the reaction force of the vehicle is different at different speeds, and the control effect in low-speed and high-speed areas and the switching smoothness and responsiveness between high and low speed sections are different. Therefore, the basic steer-by-wire road feel feedback function alone cannot provide reliable road feel feedback torque. Summary of the invention

[0005] The present application provides a method and device for determining the feedback torque of a wire-controlled steering road sense motor, which can solve the problem in the prior art that the wire-controlled steering road sense feedback function is relatively basic and cannot provide reliable road sense feedback torque.

[0006] According to a first aspect of the present application, a method for determining a steer-by-wire road sense motor feedback torque is provided, the method comprising:

[0007] Calculate the return force after compensation of the target basic reaction force of the road sense motor;

[0008] Calculate the force of the steering actuator feedback torque value after the BPF acts on it;

[0009] Obtaining the steering reaction force calculated by the angle error feedback of the steering actuator;

[0010] The steering road sense motor feedback torque is calculated based on the return force, the force of the steering actuator feedback torque value after the BPF acts on it, and the steering reaction force.

[0011] In some implementations, the step of calculating the return force of the target basic reaction force of the road sensing motor after compensation includes:

[0012] According to the steering wheel angle and vehicle speed, the steering wheel friction torque and the steering angle with friction are calculated;

[0013] Calculating the basic reaction force of the road sensing motor according to the vehicle speed and the steering angle with friction;

[0014] Calculating a target basic reaction force of the road sensing motor according to the basic reaction force, the steering execution motor feedback torque, the vehicle speed and the steering angle with friction force;

[0015] The return force after the target basic reaction force is compensated is calculated according to the target basic reaction force, the friction torque, the vehicle speed, the steering wheel angular velocity and the steering wheel angular velocity input.

[0016] In some embodiments, the step of calculating the steering wheel friction torque and the steering angle with friction according to the steering wheel angle and the vehicle speed comprises:

[0017] calculating a steering wheel angular velocity according to the steering wheel angle;

[0018] Solving the steering wheel angular velocity according to the hyperbolic tangent function to obtain the friction torque;

[0019] The steering angle with friction is calculated based on the friction torque, the steering wheel angle and the static friction stiffness.

[0020] In some implementations, the step of calculating the basic reaction force of the road sensing motor according to the vehicle speed and the steering angle with friction force includes:

[0021] According to the vehicle speed and the absolute value of the steering angle with friction, searching for a matching torque value from a preset table;

[0022] The basic reaction force of the road sensing motor is determined according to the positive or negative value of the steering angle with friction and the torque value.

[0023] In some implementations, the step of calculating the target basic reaction force of the road sensing motor according to the basic reaction force, the steering execution motor feedback torque, the vehicle speed and the steering angle with friction force includes:

[0024] Calculating a steering wheel angle according to the steering execution motor feedback torque;

[0025] Querying the reaction moment and torque ratio corresponding to the steering wheel angle from a preset table;

[0026] The target basic reaction force of the road sensing motor is calculated according to the reaction torque, the torque ratio and the basic reaction force.

[0027] In some embodiments, the step of calculating the steering road sensing motor feedback torque based on the return force, the steering actuator steering mechanism feedback torque and the steering reaction force includes:

[0028] The sum of the return force, the steering actuator feedback torque value after the BPF acts on it, and the steering reaction force is determined as the steering road sense motor feedback torque.

[0029] According to a second aspect of the present application, a device for determining a steer-by-wire road-sensing motor feedback torque is provided, the device comprising:

[0030] A return force calculation module, used to calculate the return force after the target basic reaction force of the road sensor motor is compensated;

[0031] Steering mechanism reaction force calculation module, used to calculate the force of the steering actuator feedback torque value after the BPF acts;

[0032] A steering reaction force calculation module is used to obtain the steering reaction force calculated by the angle error feedback of the steering actuator;

[0033] The target feedback torque calculation module is used to calculate the steering road sense motor feedback torque according to the return force, the force of the steering actuator feedback torque value after the BPF acts on it, and the steering reaction force.

[0034] In some embodiments, the return force calculation module includes:

[0035] The steering angle calculation submodule is used to calculate the steering wheel friction torque and the steering angle with friction according to the steering wheel angle and vehicle speed;

[0036] A first reaction force calculation submodule, used for calculating the basic reaction force of the road sensing motor according to the vehicle speed and the steering angle with friction;

[0037] A second reaction force calculation submodule, configured to calculate a target basic reaction force of the road sensing motor according to the basic reaction force, the steering execution motor feedback torque, the vehicle speed and the steering angle with friction force;

[0038] The target calculation submodule is used to calculate the return force after the target basic reaction force is compensated according to the target basic reaction force, the friction torque, the vehicle speed, the steering wheel angular velocity and the steering wheel angular velocity input.

[0039] In some embodiments, the steering angle calculation submodule includes:

[0040] A first unit is used to calculate a steering wheel angular velocity according to the steering wheel angle;

[0041] The second unit is used to solve the steering wheel angular velocity according to the hyperbolic tangent function to obtain the friction torque;

[0042] The third unit is used to calculate the steering angle with friction according to the friction torque, the steering wheel angle and the static friction stiffness.

[0043] In some embodiments, the first reaction force calculation submodule includes:

[0044] A fourth unit is used to search for a matching torque value from a preset table according to the vehicle speed and the absolute value of the steering angle with friction;

[0045] The fifth unit is used to determine the basic reaction force of the road sensing motor according to the positive and negative properties of the steering angle with friction and the torque value.

[0046] In some embodiments, the second reaction force calculation submodule includes:

[0047] A sixth unit, configured to calculate a steering wheel angle according to the steering execution motor feedback torque;

[0048] A seventh unit is used to query the reaction moment and torque ratio corresponding to the steering wheel angle from a preset table;

[0049] The eighth unit is used to calculate the target basic reaction force of the road sensing motor according to the reaction torque, the torque ratio and the basic reaction force.

[0050] In some implementations, the target feedback torque calculation module is specifically used to:

[0051] The sum of the return force, the steering actuator feedback torque value after the BPF acts on it, and the steering reaction force is determined as the steering road sense motor feedback torque.

[0052] According to a third aspect of the present application, a vehicle is provided, comprising the device for determining the feedback torque of a steer-by-wire road sensing motor according to any one of the embodiments of the present application.

[0053] According to a fourth aspect of the present application, there is provided an electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; the memory is used to store computer programs; and the processor is used to implement any of the above-mentioned methods for determining the feedback torque of a steering-by-wire road sense motor when executing the program stored in the memory.

[0054] According to a fifth aspect of the present application, a computer storage medium is provided, on which computer program instructions are stored. When the computer program instructions are executed by a processor, any of the above-mentioned methods for determining the feedback torque of a steer-by-wire road sense motor is implemented.

[0055] In summary, the method and device for determining the feedback torque of the steer-by-wire road sensing motor provided in the present application have at least the following features:

[0056] Beneficial effects:

[0057] The method for determining the feedback torque of the road sense motor of the steer-by-wire control provided in the present application includes: the vehicle processor calculates the return force after the target basic reaction force of the road sense motor is compensated; calculates the force of the steering actuator feedback torque value after the BPF acts on it; obtains the steering reaction force calculated by the steering actuator angle error feedback; and calculates the steering road sense motor feedback torque based on the return force, the force of the steering actuator feedback torque value after the BPF acts on it, and the steering reaction force. The method for determining the feedback torque of the road sense motor of the steer-by-wire control provided in the present application obtains the desired high-reliability total road sense feedback torque that matches the actual road condition and vehicle condition through multi-dimensional information such as the return force, the force of the steering actuator feedback torque after the BPF acts on it, and the steering reaction force, and then executes it by the road sense motor, which can accurately realize the simulated feedback of the road sense of the actual road. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0059] Figure 1 is a flowchart showing the steps of a method for determining a steer-by-wire road sensing motor feedback torque according to an embodiment of the present application;

[0060] Figure 2is a flowchart showing another method for determining the feedback torque of a steer-by-wire road sensing motor according to an embodiment of the present application;

[0061] Figure 3 is a schematic diagram showing the principle of calculating the return force after the target basic reaction force is compensated in an embodiment of the present application;

[0062] Figure 4 is a schematic diagram showing the principle of determining the feedback torque of the road sensing motor of the steer-by-wire control embodiment of the present application;

[0063] Figure 5 is a structural block diagram showing a device for determining a steer-by-wire road sensing motor feedback torque according to an embodiment of the present application;

[0064] Figure 6 It is a structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0065] In order to make the above and other features and advantages of the present application more clear, the present application is further described below in conjunction with the accompanying drawings. It should be understood that the specific embodiments given herein are for the purpose of explaining to those skilled in the art and are only exemplary and not restrictive.

[0066] In the following description, many specific details are set forth to provide a thorough understanding of the present application. However, it is apparent to those skilled in the art that specific details need not be adopted to practice the present application. In other cases, well-known steps or operations are not described in detail to avoid blurring the present application.

[0067] The method for determining the feedback torque of a steer-by-wire road sense motor provided in the embodiment of the present application may be performed by the device for determining the feedback torque of a steer-by-wire road sense motor provided in the embodiment of the present application, and the device may be configured in an electronic device of a vehicle.

[0068] A method for determining the feedback torque of a steer-by-wire road sense motor is provided in an embodiment of the present application. The method calculates the friction torque, resistance torque, inertia torque, active self-aligning torque and dynamic compensation torque through information such as the steering wheel angle, angular velocity and vehicle speed to obtain the desired total road sense feedback torque, which is then executed by the road sense motor to accurately realize the simulated feedback of the actual road feel.

[0069] The following, in conjunction with the accompanying drawings, describes in detail the solution for determining the feedback torque of the steer-by-wire road sensing motor provided in the embodiment of the present application through specific embodiments and their application scenarios.

[0070] As attached Figure 1 As shown, the method for determining the feedback torque of the steer-by-wire road sensing motor provided in the embodiment of the present application includes the following steps:

[0071] Step 101: Calculate the return force of the target basic reaction force of the road sensor motor after compensation.

[0072] An exemplary method of calculating the return force after compensation for the target basic reaction force may be: calculating the steering wheel friction torque and the steering angle with friction based on the steering wheel angle and vehicle speed; calculating the basic reaction force of the road sense motor based on the vehicle speed and the steering angle with friction; calculating the target basic reaction force of the road sense motor based on the basic reaction force, the feedback torque of the steering actuator motor, the vehicle speed and the steering angle with friction; calculating the return force after compensation for the target basic reaction force based on the target basic reaction force, the friction torque, the vehicle speed, the steering wheel angular velocity and the steering wheel angular velocity input.

[0073] Step 102: Calculate the force of the steering actuator feedback torque value after the BPF acts on it.

[0074] The force after the steering actuator feedback torque value is acted upon by the BPF is the torque after the steering actuator feedback torque value is filtered by the BPF (band-pass filter).

[0075] Step 103: Obtain the steering reaction force calculated by the steering actuator angle error feedback.

[0076] Steering reaction force refers to the reaction force in the process of steering the steering wheel. In the actual implementation process, the steering reaction force can be increased according to the difference between the target steering angle and the actual steering angle.

[0077] In order to avoid a large error in the relative steering angle, an increase in the steering reaction force, and vibration when the fluctuation is large, the steering reaction force calculated by the pinion angular velocity and angle error calculated by the steering execution motor is damped; wherein, the damping value matching the pinion angular velocity and angle error in the preset table can be determined as the steering reaction force damping. The steering wheel angle input calculates the pinion angle of the front wheel steering mechanism, and the pinion angle of the front wheel steering mechanism is calculated by the steering execution motor. The difference between the two is searched in the preset table to obtain a part of the steering reaction force. The calculated steering reaction force damping value is added to the obtained part of the steering reaction force to obtain the final steering reaction force.

[0078] Step 104: Calculate the steering road feel motor feedback torque based on the return force, the force of the steering actuator feedback torque value after the BPF acts on it, and the steering reaction force.

[0079] The method for determining the feedback torque of the road sense motor of the steer-by-wire provided in the embodiment of the present application calculates the return force after the target basic reaction force of the road sense motor is compensated; calculates the force of the steering actuator feedback torque value after the BPF acts on it; obtains the steering reaction force calculated by the steering actuator angle error feedback; and calculates the steering road sense motor feedback torque based on the return force, the force of the steering actuator feedback torque value after the BPF acts on it, and the steering reaction force. The method for determining the feedback torque of the road sense motor of the steer-by-wire provided in the present application obtains the desired high-reliability total road sense feedback torque that matches the actual road condition and vehicle condition through multi-dimensional information such as the return force, the force of the steering actuator feedback torque after the BPF acts on it, and the steering reaction force, and then executes it by the road sense motor, which can accurately realize the simulated feedback of the actual road feel.

[0080] As attached Figure 2 As shown, a method for determining the feedback torque of a steer-by-wire road sensing motor provided in another embodiment of the present application includes the following steps:

[0081] Step 201: Calculate the steering wheel friction torque and the steering angle with friction according to the steering wheel angle and the vehicle speed.

[0082] The method for determining the feedback torque of a steer-by-wire road sense motor provided in the embodiment of the present application can be applied to an electronic device, wherein a computer program related to determining the feedback torque of a steer-by-wire road sense motor is stored on the electronic device, and a processor of the electronic device executes the computer program to determine the feedback torque of the steer-by-wire road sense motor. The electronic device is disposed on a vehicle, and specifically, the electronic device can be a vehicle processor.

[0083] Friction acts as a hysteresis in steering, adding the friction torque component to the steering reaction torque, that is, the steering target reaction force is equal to the basic steering torque plus the friction torque. The steering angle with friction is obtained based on the friction torque and the steering wheel angle.

[0084] In an optional embodiment, the steering wheel friction torque and the steering angle with friction are calculated based on the steering wheel angle and the vehicle speed. The method can be as follows: the steering wheel angular velocity is calculated based on the steering wheel angle; the steering wheel angular velocity is solved according to the hyperbolic tangent function to obtain the friction torque; and the steering angle with friction is calculated based on the friction torque, the steering wheel angle and the static friction stiffness.

[0085] The calculation formula of friction torque can be as follows:

[0086] Tfric=tanh[d(θ)],

[0087] Where Tfric is the friction torque, tanh is the hyperbolic tangent function, θ is the steering wheel angle, and d(θ) is the steering wheel angular velocity.

[0088] Step 202: Calculate the basic reaction force of the road sensing motor according to the vehicle speed and the steering angle with friction.

[0089] The basic reaction torque (i.e., basic reaction force) of the road sense motor is based on the absolute value of the vehicle speed and the steering wheel angle considering friction as input, and the basic reaction force is obtained by querying the MAP (a preset table in the system). If the steering wheel angle after calculation is less than 0, the basic reaction torque is negative; if the steering wheel angle after calculation is greater than 0, the basic reaction torque is positive.

[0090] In an optional embodiment, the basic reaction force of the road sensing motor may be calculated according to the vehicle speed and the steering angle with friction as follows:

[0091] According to the vehicle speed and the absolute value of the steering angle with friction, the matching torque value is found from the preset table; according to the positive and negative value and torque value of the steering angle with friction, the basic reaction force of the road sense motor is determined.

[0092] The preset table is an existing table, which includes the correspondence between vehicle speed, steering angle and torque. The specific content contained therein can refer to the existing relevant technology and will not be repeated here. The method of obtaining the basic reaction force of the induction motor by querying the preset table provided in the embodiment of the present application has a small amount of calculation and a high accuracy of the result.

[0093] Step 203: Calculate the target basic reaction force of the road feel motor according to the basic reaction force, the steering execution motor feedback torque, the vehicle speed and the steering angle with friction.

[0094] In order to reflect the change of the friction coefficient of the road surface, feedback control is performed according to the torque of the steering execution motor (i.e., the motor of the steering execution controller). Specifically, the basic reaction force calculated by the steering execution motor feedback torque, the current steering wheel steering angle considering friction (i.e., with friction), the steering wheel angle, and the vehicle speed can be used to obtain the corresponding target basic reaction force and torque ratio. In order to reflect the change of the friction coefficient of the road surface, feedback control is performed according to the motor torque of the steering execution controller.

[0095] Since the steering actuator motor feedback torque includes the friction torque of the steering system, the target basic reaction force needs to compensate for the friction torque. In the actual implementation process, the lateral torque around the front wheel kingpin can be calculated based on the steering actuator motor feedback torque, and the lateral acceleration can be calculated based on the lateral torque. The lateral acceleration is divided by the maximum lateral acceleration to obtain the corresponding calculated steering wheel angle. Using the currently calculated steering wheel angle, the reaction torque and torque ratio corresponding to the currently calculated steering wheel angle can be obtained by searching the preset table.

[0096] Basic feedback torque (i.e. target basic reaction force) = reaction torque before torque coefficient calculation * torque ratio + basic reaction force * (1-torque ratio).

[0097] An alternative method of calculating the target basic reaction force of the road sense motor based on the basic reaction force and the steering execution motor feedback torque may be as follows:

[0098] The steering wheel angle is calculated based on the feedback torque of the steering execution motor; the reaction torque and torque ratio corresponding to the steering wheel angle are queried from the preset table; the target basic reaction force of the road sense motor is calculated based on the reaction torque, torque ratio and basic reaction force.

[0099] Step 204: Calculate the return force after the target basic reaction force is compensated according to the target basic reaction force, the friction torque, the vehicle speed, the steering wheel angular velocity and the steering wheel angular velocity input.

[0100] In the actual implementation process, a method for calculating the return force after the target basic reaction force is compensated can be as follows:

[0101] Calculate the steering wheel angle to set the upper and lower limit value area, the range is [-30°, 30°]; calculate the steering wheel angle speed to set the upper and lower limit value area [-30° / s, 30° / s]; the current steering wheel angle / upper and lower limit value area range = [-1,1]; the current steering wheel angle speed / upper and lower limit value area range = [-1,1];, where the return control is to manipulate the vehicle steering wheel, whether the steering wheel is released or not, the steering wheel will always have the effect of returning to the center.

[0102] The schematic diagram of the calculation principle of the return force after the target basic reaction force compensation is as follows: Figure 3 As shown. The positive and negative of the steering wheel angular velocity can determine the positive and negative of the steering wheel rotation speed. When the steering wheel angle and the steering wheel rotation speed have different signs, the return control takes effect; when the steering wheel angle and the steering wheel rotation speed have the same sign, the return force = the basic reaction force calculated by the steering wheel steering angle considering the friction force (i.e. the target basic reaction force) + the friction torque.

[0103] Step 205: Determine the actuator steering mechanism feedback torque according to the steering actuator motor feedback torque.

[0104] The actuator steering mechanism feedback torque is the torque after the steering actuator feedback torque value is filtered by BPF (band-pass filter). This step is to calculate the force of the steering actuator feedback torque value after the BPF acts.

[0105] Among them: BPF can be expressed by (LPF×HPF), as the CutOff frequency f1 (Hz) of LPF, the CutOff frequency f2 (Hz) of HPF, and only the frequencies between f1 and f2 are used, among which f1 can be set to 20 Hz and f2 can be set to 40 Hz.

[0106] The calculation formula of the steering mechanism feedback torque can be as follows:

[0107]

[0108] Step 206: Based on the actuator steering actuator angle error feedback, the steering reaction force is calculated.

[0109] In this step, the vehicle processor obtains the steering reaction force calculated by the steering actuator angle error feedback. The steering reaction force refers to the reaction force in the process of manipulating the steering wheel. In the actual implementation process, the steering reaction force can be increased according to the difference between the target steering angle and the actual steering angle.

[0110] In order to avoid a large error in the relative steering angle, an increase in the steering reaction force, and vibration when the fluctuation is large, the steering reaction force calculated by the pinion angular velocity and angle error calculated by the steering execution motor is damped; wherein, the damping value matching the pinion angular velocity and angle error in the preset table can be determined as the steering reaction force damping. The steering wheel angle input calculates the pinion angle of the front wheel steering mechanism, and the pinion angle of the front wheel steering mechanism is calculated by the steering execution motor. The difference between the two is searched in the preset table to obtain a part of the steering reaction force. The calculated steering reaction force damping value is added to the obtained part of the steering reaction force to obtain the final steering reaction force.

[0111] Step 207: Calculate the steering road feel motor feedback torque based on the return force, the steering actuator feedback torque value after the BPF acts on it, and the steering reaction force.

[0112] In an optional embodiment, when the steering road sense motor feedback torque is calculated based on the return force, the force of the steering actuator feedback torque value after the action of BPF and the steering reaction force, the sum of the return force, the force of the steering actuator feedback torque value after the action of BPF and the steering reaction force can be determined as the steering road sense motor feedback torque.

[0113] Of course, it is not limited to this, and the sum of the three weighted sums can also be determined as the steering road sense motor feedback torque. The sum of the weighted coefficients of the three is 1, and the specific weighted coefficients of the three can be flexibly set by those skilled in the art, and are not specifically limited in the embodiments of the present application.

[0114] The method for determining the feedback torque of the road sense motor of the wire-controlled steering of the present application calculates the steering wheel friction torque and the steering angle with friction according to the steering wheel angle and vehicle speed; calculates the basic reaction force of the road sense motor according to the vehicle speed and the steering angle with friction; calculates the target basic reaction force of the road sense motor according to the basic reaction force and the feedback torque of the steering actuator motor; calculates the return force after compensation of the target basic reaction force according to the target basic reaction force, friction torque, vehicle speed and steering wheel angular velocity; determines the feedback torque of the actuator steering mechanism according to the feedback torque of the steering actuator motor; calculates the steering reaction force based on the feedback of the actuator steering actuator angle error; calculates the steering road sense motor feedback torque according to the return force, the force after the BPF acts on the steering actuator feedback torque value and the steering reaction force. This method obtains the desired high-reliability total road sense feedback torque that matches the actual road conditions and vehicle conditions through multi-dimensional information, and then executes it by the road sense motor, which can accurately realize the simulated feedback of the road sense of the actual road.

[0115] Refer to the following Figure 4 The principle of the method for determining the feedback torque of the road sensing motor of the steer-by-wire control embodiment of the present application is explained with a specific example.

[0116] The method for determining the steer-by-wire road feel feedback torque provided in this specific example uses information from existing vehicle sensors (such as vehicle speed and steering wheel angle) and actuators (steering motor, etc.) to comprehensively analyze various factors that actually affect the road feel feedback torque, and considers the dynamic changes of vehicle speed and steering wheel angle during actual vehicle control to determine the steer-by-wire road feel motor feedback torque. Figure 4 As shown, it mainly includes the calculation of 6 parts of values:

[0117] 1) Calculation of friction force (i.e. friction torque);

[0118] 2) Basic reaction force calculated based on the steering wheel angle taking into account friction;

[0119] That is, the basic reaction force of the road sensing motor described in the aforementioned embodiment.

[0120] 3) Calculation of target basic reaction force;

[0121] That is, the target basic reaction force of the road sensing motor described in the aforementioned embodiment.

[0122] 4) Calculation of the return force after compensation of the target basic reaction force;

[0123] This positive force is calculated based on the target basic reaction force, friction torque, vehicle speed and steering wheel angular velocity.

[0124] 5) Calculation of steering mechanism feedback torque;

[0125] That is, the actuator steering mechanism feedback torque described in the aforementioned embodiment.

[0126] 6) Steering reaction force calculated by steering actuator angle error feedback.

[0127] The calculation method of the above-mentioned specific parameters 1)-6) can be referred to the relevant description in the previous embodiment, which will not be repeated here.

[0128] The feedback torque of the steer-by-wire road sense motor = the return force after compensation of the target basic reaction force + the feedback torque of the steering actuator + the steering reaction force calculated by the angle error feedback of the steering actuator.

[0129] The method for determining the feedback torque of the steer-by-wire road feel motor provided in this specific example calculates the friction force through information such as the steering wheel angle, angular velocity and vehicle speed, the basic reaction force calculated by the steering wheel steering angle considering the friction force, the target basic reaction force, the return force after the basic reaction force is compensated, the steering mechanism feedback torque, the steering reaction force calculated by the steering mechanism angle error feedback, etc., to obtain the desired road feel feedback torque, which is then executed by the road feel motor to accurately realize the road feel simulation feedback of the actual road.

[0130] Figure 5 A structural block diagram of a device for determining a road-sensing motor feedback torque for steer-by-wire control in an embodiment of the present application.

[0131] The device for determining the feedback torque of a road-sensing motor for steering-by-wire provided in the embodiment of the present application includes the following functional modules:

[0132] A return force calculation module 301, used to calculate the return force after the target basic reaction force of the road sensing motor is compensated;

[0133] A steering mechanism reaction force calculation module 302 is used to calculate the force of the steering actuator feedback torque value after the BPF acts on it;

[0134] A steering reaction force calculation module 303 is used to calculate the steering reaction force calculated by the steering actuator angle error feedback;

[0135] The target feedback torque calculation module 304 is used to calculate the steering road feel motor feedback torque according to the return force, the force of the steering actuator feedback torque value after the BPF acts on it, and the steering reaction force.

[0136] In some embodiments, the return force calculation module includes:

[0137] The steering angle calculation submodule is used to calculate the steering wheel friction torque and the steering angle with friction according to the steering wheel angle and vehicle speed;

[0138] A first reaction force calculation submodule, used for calculating the basic reaction force of the road sensing motor according to the vehicle speed and the steering angle with friction;

[0139] A second reaction force calculation submodule, for calculating a target basic reaction force of the road sensing motor according to the basic reaction force, the feedback torque of the steering execution motor, the vehicle speed and the steering angle with friction;

[0140] The target calculation submodule is used to calculate the return force after the target basic reaction force is compensated according to the target basic reaction force, the friction torque, the vehicle speed, the steering wheel angular velocity and the steering wheel angular velocity.

[0141] In some embodiments, the steering angle calculation submodule includes:

[0142] A first unit is used to calculate a steering wheel angular velocity according to the steering wheel angle;

[0143] The second unit is used to solve the steering wheel angular velocity according to the hyperbolic tangent function to obtain the friction torque;

[0144] The third unit is used to calculate the steering angle with friction according to the friction torque, the steering wheel angle and the static friction stiffness.

[0145] In some embodiments, the first reaction force calculation submodule includes:

[0146] A fourth unit is used to search for a matching torque value from a preset table according to the vehicle speed and the absolute value of the steering angle with friction;

[0147] The fifth unit is used to determine the basic reaction force of the road sensing motor according to the positive and negative properties of the steering angle with friction and the torque value.

[0148] In some embodiments, the second reaction force calculation submodule includes:

[0149] A sixth unit, configured to calculate a steering wheel angle according to the steering execution motor feedback torque;

[0150] A seventh unit is used to query the reaction moment and torque ratio corresponding to the steering wheel angle from a preset table;

[0151] The eighth unit is used to calculate the target basic reaction force of the road sensing motor according to the reaction torque, the torque ratio and the basic reaction force.

[0152] In some implementations, the target feedback torque calculation module is specifically used to:

[0153] The sum of the return force, the steering actuator feedback torque value after the BPF acts on it, and the steering reaction force is determined as the steering road sense motor feedback torque.

[0154] The device for determining the feedback torque of the steer-by-wire road feel motor of the present application calculates the return force, the force of the steering actuator feedback torque value after the action of the BPF, the steering reaction force and other multi-dimensional information through information such as the steering wheel angle, angular velocity and vehicle speed, and obtains the desired high-reliability total road feel feedback torque that matches the actual road condition and vehicle condition, which is then executed by the road feel motor to accurately realize the simulated feedback of the actual road feel.

[0155] It should be understood that the specific features, operations and details described hereinabove with respect to the method of the present application may also be similarly applied to the device and system of the present application, or vice versa. In addition, each step of the method of the present application described above may be performed by a corresponding component or unit of the device or system of the present application.

[0156] It should be understood that each module / unit of the device of the present application can be implemented in whole or in part by software, hardware, firmware or a combination thereof. Each module / unit can be embedded in the processor of the electronic device or independent of the processor in the form of hardware or firmware, or can be stored in the memory of the electronic device in the form of software for the processor to call to perform the operation of each module / unit. Each module / unit can be implemented as an independent component or module, or two or more modules / units can be implemented as a single component or module.

[0157] An embodiment of the present application also provides a vehicle, comprising the device for determining the feedback torque of a steer-by-wire road sensing motor as described in any embodiment of the present application.

[0158] like Figure 6 As shown, the present application provides an electronic device 400, which includes a processor 401 and a memory 402 storing computer program instructions. When the processor 401 executes the computer program instructions, each step of the above-mentioned method for determining the feedback torque of the steering-by-wire road sense motor is implemented. The electronic device 400 can be generally a server, a terminal, or any other electronic device with necessary computing and / or processing capabilities.

[0159] In one embodiment, the electronic device 400 may include a processor, a memory, a network interface, a communication interface, etc. connected through a system bus. The processor of the electronic device 400 may be used to provide necessary computing, processing and / or control capabilities. The memory of the electronic device 400 may include a non-volatile storage medium and an internal memory. The non-volatile storage medium may store an operating system, a computer program, etc. The internal memory may provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the electronic device 400 may be used to connect and communicate with external devices through a network. When the computer program is executed by the processor, the steps of the method of the present application are executed.

[0160] The present application provides a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the above-mentioned method for determining feedback torque of a road sensing motor for steer-by-wire is implemented.

[0161] Those skilled in the art will appreciate that the method steps of the present application can be completed by instructing related hardware such as the electronic device 400 or a processor through a computer program, and the computer program can be stored in a non-temporary computer-readable storage medium, and the computer program causes the steps of the present application to be executed when it is executed. Depending on the circumstances, any reference to memory, storage, or other media herein may include non-volatile or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0162] The various technical features described above can be combined arbitrarily. Although all possible combinations of these technical features are not described, any combination of these technical features should be considered to be covered by this specification as long as there is no contradiction in such combination.

[0163] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for determining the feedback torque of a steer-by-wire road-sensing motor, characterized in that: The method comprises: Calculate the return force after compensation of the target basic reaction force of the road sense motor; Calculate the force of the steering actuator feedback torque value after the BPF acts on it; Obtaining a steering reaction force calculated by feedback of an angle error of a steering actuator; The steering road sense motor feedback torque is calculated based on the return force, the force of the steering actuator feedback torque value after the BPF acts on it, and the steering reaction force.

2. The method for determining the feedback torque of the steer-by-wire road sensing motor according to claim 1, characterized in that: The step of calculating the return force after the target basic reaction force of the road sense motor is compensated comprises: According to the steering wheel angle and vehicle speed, the steering wheel friction torque and the steering angle with friction are calculated; Calculating the basic reaction force of the road sensing motor according to the vehicle speed and the steering angle with friction; Calculating a target basic reaction force of the road sensing motor according to the basic reaction force, the steering execution motor feedback torque, the vehicle speed and the steering angle with friction force; The return force after the target basic reaction force is compensated is calculated according to the target basic reaction force, the friction torque, the vehicle speed, the steering wheel angular velocity and the steering wheel angular velocity input.

3. The method for determining the feedback torque of the steer-by-wire road sensing motor according to claim 2, characterized in that: The step of calculating the steering wheel friction torque and the steering angle with friction according to the steering wheel angle and the vehicle speed comprises: Calculating a steering wheel angle velocity according to the steering wheel angle; Solving the steering wheel angular velocity according to the hyperbolic tangent function to obtain the friction torque; The steering angle with friction is calculated based on the friction torque, the steering wheel angle and the static friction stiffness.

4. The method for determining the feedback torque of the steer-by-wire road sensing motor according to claim 2, characterized in that: The step of calculating the basic reaction force of the road sensing motor according to the vehicle speed and the steering angle with friction force comprises: According to the vehicle speed and the absolute value of the steering angle with friction, searching for a matching torque value from a preset table; The basic reaction force of the road sensing motor is determined according to the positive or negative value of the steering angle with friction and the torque value.

5. The method for determining the feedback torque of the steer-by-wire road sensing motor according to claim 2, characterized in that: The step of calculating the target basic reaction force of the road sensing motor according to the basic reaction force, the steering execution motor feedback torque, the vehicle speed and the steering angle with friction force comprises: Calculating a steering wheel angle according to the steering execution motor feedback torque; Querying the reaction moment and torque ratio corresponding to the steering wheel angle from a preset table; The target basic reaction force of the road sensing motor is calculated according to the reaction torque, the torque ratio and the basic reaction force.

6. The method for determining the feedback torque of the steer-by-wire road sensing motor according to claim 1, characterized in that: The step of calculating the steering road sense motor feedback torque according to the return force, the force of the steering actuator feedback torque value after the BPF acts on it, and the steering reaction force comprises: The sum of the return force, the steering actuator feedback torque value after the BPF acts on it, and the steering reaction force is determined as the steering road sense motor feedback torque.

7. A device for determining the feedback torque of a steer-by-wire road-sensing motor, characterized in that: The device comprises: A return force calculation module, used to calculate the return force after the target basic reaction force of the road sensor motor is compensated; Steering mechanism reaction force calculation module, used to calculate the force of the steering actuator feedback torque value after the BPF acts; A steering reaction force calculation module is used to obtain the steering reaction force calculated by the angle error feedback of the steering actuator; The target feedback torque calculation module is used to calculate the steering road sense motor feedback torque according to the return force, the force of the steering actuator feedback torque value after the BPF acts on it, and the steering reaction force.

8. The device according to claim 7, characterized in that The return force calculation module includes: The steering angle calculation submodule is used to calculate the steering wheel friction torque and the steering angle with friction according to the steering wheel angle and vehicle speed; A first reaction force calculation submodule, used for calculating the basic reaction force of the road sensing motor according to the vehicle speed and the steering angle with friction; A second reaction force calculation submodule, configured to calculate a target basic reaction force of the road sensing motor according to the basic reaction force, the steering execution motor feedback torque, the vehicle speed and the steering angle with friction force; The target calculation submodule is used to calculate the return force after the target basic reaction force is compensated according to the target basic reaction force, the friction torque, the vehicle speed, the steering wheel angular velocity and the steering wheel angular velocity input.

9. The device for determining the feedback torque of a steer-by-wire road-sensing motor according to claim 8, characterized in that: The steering angle calculation submodule includes: A first unit is used to calculate a steering wheel angular velocity according to the steering wheel angle; The second unit is used to solve the steering wheel angular velocity according to the hyperbolic tangent function to obtain the friction torque; The third unit is used to calculate the steering angle with friction according to the friction torque, the steering wheel angle and the static friction stiffness.

10. The device for determining the feedback torque of a steer-by-wire road-sensing motor according to claim 8, characterized in that: The first reaction force calculation submodule includes: A fourth unit is used to search for a matching torque value from a preset table according to the vehicle speed and the absolute value of the steering angle with friction; The fifth unit is used to determine the basic reaction force of the road sensing motor according to the positive and negative properties of the steering angle with friction and the torque value.

11. The device for determining the feedback torque of a steer-by-wire road-sensing motor according to claim 8, characterized in that: The second reaction force calculation submodule includes: A sixth unit, configured to calculate a steering wheel angle according to the steering execution motor feedback torque; A seventh unit is used to query the reaction moment and torque ratio corresponding to the steering wheel angle from a preset table; The eighth unit is used to calculate the target basic reaction force of the road sensing motor according to the reaction torque, the torque ratio and the basic reaction force.

12. The device for determining the feedback torque of a steer-by-wire road sensing motor according to claim 7, characterized in that: The target feedback torque calculation module is specifically used for: The sum of the return force, the steering actuator feedback torque value after the BPF acts on it, and the steering reaction force is determined as the steering road sense motor feedback torque.

13. A vehicle, characterized in that: It comprises the device for determining the feedback torque of a steer-by-wire road sensing motor as claimed in any one of claims 7 to 12.

14. An electronic device, characterized in that: The device comprises a processor and a memory, wherein the memory stores a computer program, and when the processor executes the computer program, the steps in the method for determining the feedback torque of a steer-by-wire motor according to any one of claims 1 to 6 are implemented.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the method for determining the feedback torque of a steer-by-wire motor according to any one of claims 1 to 6 are implemented.

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