Steering control method and device based on driving intention, equipment and medium

Abstract

The invention discloses a steering control method, device and equipment based on a driving intention and a medium, and relates to the technical field of vehicle control, and the method comprises the following steps: obtaining a vehicle running speed, a steering state quantity and an expected steering angle, and obtaining a steering wheel rotation angle, steering wheel rotation time and a road vertical excitation signal according to the steering state quantity and the expected steering angle; and according to the vehicle running speed, the vehicle running working condition is obtained, based on the vehicle running working condition, the steering transmission ratio correction is obtained according to at least one of the steering wheel rotation angle, the steering wheel rotation time and the road vertical excitation signal, and vehicle steering is adjusted according to the steering transmission ratio correction. According to the vehicle speed, the steering state and the expected steering angle, the rotation angle, time and road excitation of the steering wheel are comprehensively analyzed, the steering transmission ratio correction is determined, intelligent steering control is achieved, the steering adjustment accuracy is improved, and the driving safety is enhanced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a steering control method, device, equipment and medium based on driving intention. Background Art

[0002] With the development of the automobile industry, the performance requirements of the vehicle steering system, as an important part of the automobile chassis, have evolved from the initial single function to the direction of intelligence and automation. With the advancement of information technology, modern steering systems not only need to meet basic steering functions, but also need to have higher safety and comfort, and be able to make corresponding adjustments according to the driving environment and the driver's operating intentions. In addition, the development of autonomous driving technology has also brought new challenges to the steering system, requiring the steering system to accurately execute the predetermined steering instructions without human intervention.

[0003] Traditional steering control mainly relies on mechanical structure to realize steering function, and its performance is relatively fixed, which makes it difficult to adapt to complex and changing driving environments. With the development of technology, semi-active steering systems and active steering systems have emerged. These systems can adjust parameters such as steering ratio according to the driving state of the vehicle and the driver's operation through electronic controllers, thereby improving steering accuracy and response speed. However, these systems still have certain limitations, especially in the face of complex driving environments, such as different road conditions, different vehicle speeds, and different operating habits of drivers. The adaptability and flexibility of the system still needs to be improved.

[0004] Although existing steering control methods have achieved the adjustability of steering ratio to a certain extent, most of them can only work under specific working conditions and lack the ability to fully cover multiple working conditions. In addition, existing steering systems often ignore the actual intentions of the driver and cannot adapt well to the driver's operating habits, which limits the performance of the system to a certain extent. In addition, the response speed and accuracy of existing systems in dealing with emergencies (such as emergency avoidance) also need to be improved, especially in extreme working conditions, the system's active intervention capability is particularly important. Therefore, there is an urgent need for a steering control method based on driving intention and working condition adjustment to improve vehicle safety. Summary of the invention

[0005] The main purpose of the present application is to provide a steering control method, device, equipment and medium based on driving intention, aiming to solve the technical problem of how to perform steering control according to the adjustment of driving intention and working conditions.

[0006] To achieve the above objectives, the present application proposes a steering control method based on driving intention, the method comprising:

[0007] Obtain vehicle speed, steering state and expected steering angle;

[0008] According to the steering state quantity and the expected steering angle, a steering wheel rotation angle, a steering wheel rotation time and a road vertical excitation signal are obtained;

[0009] According to the vehicle speed, a vehicle driving condition is obtained;

[0010] Obtaining a steering gear ratio correction value based on the vehicle driving condition according to at least one of the steering wheel rotation angle, the steering wheel rotation time and the road vertical excitation signal;

[0011] The vehicle steering is adjusted according to the steering transmission ratio correction amount.

[0012] In one embodiment, the step of obtaining the steering gear ratio correction value based on the vehicle driving condition according to at least one of the steering wheel rotation angle, the steering wheel rotation time and the road vertical excitation signal comprises:

[0013] When the driving condition is a starting condition and the steering wheel rotation angle belongs to a first response range, the steering transmission ratio correction amount is a preset value;

[0014] When the driving condition is a starting condition and the steering wheel rotation angle belongs to a second response range, the steering transmission ratio correction amount is obtained according to a functional relationship between the steering wheel rotation angle, the steering wheel rotation time and the steering transmission ratio correction amount.

[0015] In one embodiment, the step of obtaining the steering gear ratio correction value based on the vehicle driving condition according to at least one of the steering wheel rotation angle, the steering wheel rotation time and the road vertical excitation signal further includes:

[0016] When the driving condition is an operating condition and the steering wheel rotation angle belongs to a first response range, a steering transmission ratio correction amount is obtained according to a functional relationship between the vehicle driving speed and the steering transmission ratio correction amount;

[0017] When the driving condition is an operating condition and the steering wheel rotation angle belongs to a second response range, a steering transmission ratio correction amount is obtained according to a functional relationship among the steering wheel rotation angle, the steering wheel rotation time, the road vertical excitation signal and the steering transmission ratio correction amount.

[0018] In one embodiment, the step of obtaining the steering gear ratio correction value based on the vehicle driving condition according to at least one of the steering wheel rotation angle, the steering wheel rotation time and the road vertical excitation signal further includes:

[0019] When the driving condition is an extreme condition and the steering wheel rotation angle belongs to a first response range, a steering transmission ratio correction amount is obtained according to a functional relationship between the vehicle driving speed and the steering transmission ratio correction amount;

[0020] When the driving condition is an extreme condition and the steering wheel rotation angle belongs to a second response range, the steering transmission ratio correction amount is obtained according to the functional relationship between the steering wheel rotation angle, the steering wheel rotation time, the road vertical excitation signal and the steering transmission ratio correction amount.

[0021] In one embodiment, the step of obtaining the steering gear ratio correction value based on the vehicle driving condition according to at least one of the steering wheel rotation angle, the steering wheel rotation time and the road vertical excitation signal further includes:

[0022] When the steering wheel rotation angle belongs to the third response range, the steering transmission ratio correction amount is obtained according to any one of the steering wheel rotation time and the road vertical excitation signal in combination with the driving condition.

[0023] In one embodiment, when the steering wheel rotation angle belongs to the third response range, the step of obtaining the steering transmission ratio correction value according to any one of the steering wheel rotation time and the road vertical excitation signal comprises:

[0024] When the driving condition is a starting condition, a steering gear ratio correction amount is obtained according to the steering wheel rotation time;

[0025] When the driving condition is an operating condition, a steering transmission ratio correction value is obtained according to the steering wheel rotation time and the road vertical excitation signal;

[0026] When the driving condition is an extreme condition, a steering transmission ratio correction amount is obtained according to the steering wheel rotation time and the road vertical excitation signal.

[0027] In one embodiment, the step of obtaining the vehicle driving condition according to the vehicle driving speed includes:

[0028] When the vehicle speed does not exceed the first preset speed threshold, determining that the vehicle driving condition at this time is a starting condition;

[0029] When the vehicle speed exceeds a first preset speed threshold and the vehicle speed does not exceed a second preset speed threshold, determining that the vehicle driving condition at this time is a driving condition;

[0030] When the vehicle speed exceeds a second preset speed threshold, it is determined that the vehicle driving condition at this time is a limit condition, wherein the second preset speed threshold is greater than the first preset speed threshold.

[0031] In addition, to achieve the above-mentioned purpose, the present application also proposes a steering control device based on driving intention, and the steering control device based on driving intention includes:

[0032] An acquisition module is used to acquire the vehicle speed, steering state and expected steering angle;

[0033] The acquisition module is further used to obtain a steering wheel rotation angle, a steering wheel rotation time and a road vertical excitation signal according to the steering state quantity and the expected steering angle;

[0034] A judgment module, used for obtaining a vehicle driving condition according to the vehicle driving speed;

[0035] A calculation module, configured to obtain a steering gear ratio correction value according to at least one of the steering wheel rotation angle, the steering wheel rotation time and the road vertical excitation signal based on the vehicle driving condition;

[0036] The execution module is used to adjust the vehicle steering according to the steering transmission ratio correction amount.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a medium, which is a computer-readable medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the steering control method based on driving intention as described above are implemented.

[0038] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the steering control method based on driving intention as described above are implemented.

[0039] The present application obtains the vehicle speed, steering state and expected steering angle, obtains the steering wheel rotation angle, steering wheel rotation time and road vertical excitation signal according to the steering state and expected steering angle, obtains the vehicle driving condition according to the vehicle speed, obtains the steering transmission ratio correction amount according to at least one of the steering wheel rotation angle, steering wheel rotation time and road vertical excitation signal based on the vehicle driving condition, and adjusts the vehicle steering according to the steering transmission ratio correction amount. By comprehensively analyzing the steering wheel rotation angle, time and road excitation according to the vehicle speed, steering state and expected steering angle, the steering transmission ratio correction amount is determined, and intelligent steering control is realized, the accuracy of steering adjustment is improved, and driving safety is enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0041] Figure 1 This is a flow chart of a first embodiment of a steering control method based on driving intention of the present application;

[0042] Figure 2 A schematic diagram of a steering control flow chart of a first embodiment of a steering control method based on driving intention of the present application;

[0043] Figure 3 This is a flow chart of a second embodiment of a steering control method based on driving intention of the present application;

[0044] Figure 4 This is a schematic diagram of the module structure of a steering control device based on driving intention according to an embodiment of the present application;

[0045] Figure 5 Schematic diagram of the device structure of the hardware operating environment involved in the steering control method based on driving intention in the embodiment of the present application.

[0046] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0048] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0049] The main solution of the embodiment of the present application is: obtaining the vehicle speed, steering state and expected steering angle, obtaining the steering wheel rotation angle, steering wheel rotation time and road vertical excitation signal according to the steering state and the expected steering angle, obtaining the vehicle driving condition according to the vehicle speed, obtaining the steering transmission ratio correction according to at least one of the steering wheel rotation angle, steering wheel rotation time and road vertical excitation signal based on the vehicle driving condition, and adjusting the vehicle steering according to the steering transmission ratio correction.

[0050] Based on this, the embodiment of the present application provides a steering control method based on driving intention, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the steering control method based on driving intention of the present application.

[0051] In this embodiment, the steering control method based on driving intention includes steps S10 to S50:

[0052] Step S10, obtaining the vehicle speed, steering state and expected steering angle.

[0053] It should be noted that obtaining the vehicle's speed, steering state and expected steering angle is the basis for achieving precise steering control. The vehicle's speed refers to the vehicle's current speed, which is one of the key parameters for determining what operating condition the vehicle is in (such as starting, running or extreme operating conditions). By real-time monitoring of the vehicle's speed, it is possible to identify whether the vehicle is currently in a low-speed starting condition, a normal driving condition or a high-speed extreme driving condition.

[0054] Steering state refers to various parameters that describe the current state of the vehicle's steering system. These parameters are used to reflect the dynamic characteristics of the vehicle during the steering process and the driver's operating intentions.

[0055] The expected steering angle is the steering angle that the vehicle is predicted to reach based on the current driving state and the driver's operating intention. This expected steering angle is calculated by analyzing the vehicle's current speed, steering wheel angle, and other relevant factors. By comparing the actual steering angle with the expected steering angle, the response efficiency and accuracy of the steering system can be evaluated, so that the steering system can be dynamically adjusted to ensure that the vehicle turns smoothly and safely according to the driver's intention.

[0056] Step S20, obtaining a steering wheel rotation angle, a steering wheel rotation time and a road vertical excitation signal according to the steering state quantity and the expected steering angle.

[0057] It should be noted that the steering state and expected steering angle are key data sources. These data can be used to accurately calculate the steering wheel angle, steering wheel turning time and road vertical excitation signal. The steering wheel angle reflects the driver's specific needs for vehicle steering. It is not only a direct reflection of the driver's intention, but also the main basis for the response of the steering system. [-δ1, δ1] is the dead zone range, (δ1, δ2] or [-δ2, -δ1) is the normal response range of the system, and (δ2, δ3] or [-δ3, -δ2) is the abnormal response range of the system, where δ3>δ2>δ1>0. The steering wheel turning time records the driver's operation of the steering wheel within a certain period of time. The steering wheel angle changes from greater than the upper limit angle δ1 of the dead zone range to multiple continuous time steps Δt until it is less than δ1. Among them, [0, t1] is the transient working condition demand range, (t1, t2] is the short-term working condition demand range, (t2, t3] is the long-term working condition demand range; among them, t3>t2>t1, which is a large value sufficient to cover the actual demand. The road vertical excitation signal refers to the impact and vibration in the vertical direction of the road surface that the vehicle is subjected to during driving. This excitation will affect the stability of the vehicle and the response of the steering system. The input variable road vertical excitation signal has different level intervals during use: [0, q1] is the first-level road condition range, (q1, q2] is the second-level road condition range, and (q2,∞] is the third-level road condition range; among them, q2>q1>0.

[0058] Step S30, obtaining the vehicle driving condition according to the vehicle driving speed.

[0059] It should be noted that, according to the vehicle's driving speed, the vehicle's driving conditions can be divided into starting conditions, driving conditions and extreme conditions.

[0060] When the vehicle speed does not exceed the first preset speed threshold, the vehicle driving condition is determined to be the starting condition. Under the starting condition, the vehicle speed is usually between 0 and 20 kilometers per hour. At this time, the vehicle is in a low-speed driving state. The driver may need a larger steering assist to overcome the inertia and resistance of the system. Therefore, the system will increase the steering sensitivity by increasing the transmission ratio to help the driver easily complete the steering operation. When the vehicle speed exceeds the first preset speed threshold and the vehicle speed does not exceed the second preset speed threshold, the vehicle driving condition is determined to be the driving condition. Under the operating condition, the vehicle speed is between 20 and 100 kilometers per hour, the vehicle is in a normal driving state, and the system needs to balance the steering sensitivity and stability, and adjust the transmission ratio to adapt to different vehicle speeds and road conditions to ensure smooth driving of the vehicle. When the vehicle speed exceeds the second preset speed threshold and the vehicle speed does not exceed the third preset speed threshold, the vehicle driving condition is determined to be the extreme condition. Under extreme conditions, when the vehicle speed exceeds 100 km / h and the vehicle is in a high-speed driving state, the system needs to prioritize the stability and safety of the vehicle, reduce the steering sensitivity by reducing the transmission ratio, prevent the risk of loss of control due to oversteering, and enhance the anti-interference ability of the system to ensure that the driver's operating intention can be accurately communicated and executed. In this embodiment, the second preset speed threshold is 100 km / h and the first preset speed threshold is 20 km / h.

[0061] Step S40, obtaining a steering gear ratio correction value based on the vehicle driving condition according to at least one of a steering wheel rotation angle, a steering wheel rotation time and a road vertical excitation signal.

[0062] It should be noted that based on the vehicle driving conditions, combined with one or more items of the steering wheel turning angle, steering wheel turning time and road vertical excitation signal, the steering gear ratio correction can be dynamically calculated. Under the starting condition, the vehicle speed is low, and the system increases the gear ratio to improve the steering sensitivity, helping the driver to easily complete the steering operation. For example, when the steering wheel angle is in the normal response range, the system adjusts the gear ratio correction according to the steering wheel turning time to meet the driver's steering needs. Under the operating condition, the vehicle speed is high, and the system needs to balance the steering sensitivity and stability. By comprehensively considering the steering wheel angle, turning time and road vertical excitation signal, the gear ratio correction is dynamically adjusted to ensure the stability and controllability of the vehicle when driving at high speed. Under extreme conditions, the vehicle speed is extremely high, and the system reduces the steering sensitivity by reducing the gear ratio to prevent oversteering, while enhancing the system's anti-interference ability to ensure that the driver's operating intention can be accurately conveyed and executed, and to ensure the stability and safety of the vehicle.

[0063] Further, when the driving condition is the starting condition and the steering wheel rotation angle belongs to the first response range, the steering transmission ratio correction is a preset value. Specifically, under the starting condition, the vehicle speed is usually between 0 and 20 kilometers per hour, and the vehicle is in a low-speed driving state. At this time, the driver may need a larger steering assist to overcome the inertia and resistance of the system. When the steering wheel rotation angle is in the first response range (i.e., within the dead zone range [-δ1, δ1]), it means that the driver's operation amplitude is small and belongs to a slight steering adjustment. In this case, the system will set the steering transmission ratio correction to a preset value, which is 0 in this embodiment, indicating that the steering system does not need additional adjustment. The purpose of this is to avoid overreacting to slight vibrations of small amplitudes, maintaining the stability of the system and the comfort of the driver. When the driving condition is the starting condition and the steering wheel rotation angle belongs to the second response range, the steering transmission ratio correction is obtained according to the functional relationship between the steering wheel rotation angle, the steering wheel rotation time and the steering transmission ratio correction. Specifically, when the driving condition is the starting condition and the steering wheel rotation angle δ belongs to the second response range (i.e., the normal response range (δ1, δ2] or [-δ2, -δ1)), the system will dynamically calculate the steering gear ratio correction value i according to the functional relationship between the steering wheel rotation angle, the steering wheel rotation time and the steering gear ratio correction value. * The specific formula is:

[0064]

[0065] In the formula, δ cmax is the maximum value of the vehicle steering angle, δ ct1 and δ ct2 are the actual values ​​of the vehicle steering angle when time reaches t1 and t2, respectively, s is the actual transmission ratio corresponding to the mechanical structure of the system. Under starting conditions, the vehicle speed is low, and the driver may need greater steering assistance to overcome the inertia and resistance of the system. When the steering wheel angle is in the normal response range, the system will adjust the transmission ratio correction according to the steering wheel turning time to adapt to the driver's steering needs. Specifically, if the steering wheel turning time t is short, it means that the driver wants the vehicle to complete the steering quickly, and the system will appropriately increase the transmission ratio correction to improve the steering sensitivity; if the steering wheel turning time is long, it means that the driver is performing a gentle steering operation, and the system will appropriately reduce the transmission ratio correction to maintain the smoothness of the steering.

[0066] Furthermore, when the driving condition is the operating condition and the steering wheel rotation angle belongs to the first response range, the steering gear ratio correction amount is obtained according to the functional relationship between the vehicle driving speed and the steering gear ratio correction amount. Specifically, when the driving condition is the driving condition and the steering wheel rotation angle belongs to the first response range (i.e., the dead zone range [-δ1, δ1]), the system will dynamically calculate the steering gear ratio correction amount according to the functional relationship between the vehicle driving speed and the steering gear ratio correction amount. The specific formula is:

[0067] i*=-4×10 -8 v 4 +10 -5 v 3 -0.0012v 2 +0.0628v-0.8361

[0068] Among them, i * is the steering transmission ratio correction, and v represents the vehicle speed. When the steering wheel angle is in the dead zone, it indicates that the driver's operation amplitude is very small, just a slight adjustment or vibration. When the driving condition is the operating condition and the steering wheel rotation angle belongs to the second response range, the steering transmission ratio correction is obtained according to the functional relationship between the steering wheel rotation angle, the steering wheel rotation time, the road vertical excitation signal and the steering transmission ratio correction. Specifically, when the driving condition is the operating condition and the steering wheel rotation angle belongs to the second response range (that is, within the normal response range (δ1, δ2] or [-δ2, -δ1)), the system will dynamically calculate the steering transmission ratio correction according to the functional relationship between the steering wheel rotation angle, the steering wheel rotation time, the road vertical excitation signal and the steering transmission ratio correction. The specific formula is:

[0069]

[0070] In the formula, δ cmax is the maximum value of the vehicle steering angle, and are the actual values ​​of the vehicle steering angle when time reaches t1 and t2, respectively, s is the actual transmission ratio corresponding to the mechanical structure of the system. When the steering wheel angle is in the normal response range, the system needs to adjust the transmission ratio correction according to the steering wheel turning time and the road vertical excitation signal. If the steering wheel turning time is short, it means that the driver wants the vehicle to complete the steering quickly. The system will appropriately increase the transmission ratio correction to improve the steering sensitivity; if the steering wheel turning time is long, it means that the driver is performing a gentle steering operation. The system will appropriately reduce the transmission ratio correction to maintain the smoothness of the steering. At the same time, if the road vertical excitation signal is strong, it means that the road conditions are poor. The system will further adjust the transmission ratio correction to enhance the stability and anti-interference ability of the steering system.

[0071] Furthermore, when the driving condition is an extreme condition and the steering wheel rotation angle belongs to the first response range, the steering gear ratio correction amount is obtained according to the functional relationship between the vehicle driving speed and the steering gear ratio correction amount. Specifically, when the driving condition is an extreme condition and the steering wheel rotation angle belongs to the first response range (i.e., the dead zone range [-δ1, δ1]), the system will dynamically calculate the steering gear ratio correction amount according to the functional relationship between the vehicle driving speed and the steering gear ratio correction amount. The specific formula is:

[0072] i*=-4×10 -8 v 4 +2×10 -5 v 3 -0.0053v 2 +0.5555v-21.625

[0073] Among them, i * is the steering ratio correction, and v represents the vehicle speed. Under extreme conditions, the vehicle speed usually exceeds 100 km / h and the vehicle is in a high-speed driving state. When the steering wheel angle is in the dead zone, it indicates that the driver's operation amplitude is very small, which may be a slight adjustment or vibration. In order to ensure stability and safety during high-speed driving, the system will adjust the steering ratio correction according to the current vehicle speed. When the driving condition is an extreme condition and the steering wheel turning angle belongs to the second response range, the steering ratio correction is obtained according to the functional relationship between the steering wheel turning angle, the steering wheel turning time, the road vertical excitation signal and the steering ratio correction. Specifically, when the driving condition is an extreme condition and the steering wheel turning angle belongs to the second response range (that is, within the normal response range (δ1, δ2] or [-δ2, -δ1)), the steering ratio correction is dynamically calculated according to the functional relationship between the steering wheel turning angle, the steering wheel turning time, the road vertical excitation signal and the steering ratio correction. The specific formula is:

[0074]

[0075] In the formula, δ cmax is the maximum value of the vehicle steering angle, and are the actual values ​​of the vehicle steering angle when time reaches t1 and t2, respectively, sis the actual transmission ratio corresponding to the mechanical structure of the system. Under extreme working conditions, when the steering wheel angle is in the normal response range, it is necessary to comprehensively consider the steering wheel turning time and the road vertical excitation signal to adjust the transmission ratio correction. Specifically, if the steering wheel turning time is short, it means that the driver wants the vehicle to complete the steering quickly. The system will appropriately reduce the transmission ratio correction to reduce the steering sensitivity and prevent the risk of loss of control caused by rapid steering at high speed. If the steering wheel turning time is long, it means that the driver is performing a gentle steering operation. The system will further reduce the transmission ratio correction to maintain the smoothness of the steering and the stability of the vehicle. At the same time, if the road vertical excitation signal is strong, it means that the road conditions are poor, and the transmission ratio correction is further adjusted to enhance the anti-interference ability and stability of the steering system.

[0076] Step S50, adjusting the vehicle steering according to the steering transmission ratio correction amount.

[0077] It should be noted that once the appropriate steering ratio correction is calculated, the system will apply it to the steering system actuator to adjust the actual transmission ratio of the steering system. Specifically, when the steering ratio correction increases, the steering system ratio decreases and the steering sensitivity decreases, which helps to maintain the stability and safety of the vehicle at high speeds or in complex road conditions. On the contrary, when the steering ratio correction decreases, the steering system ratio increases and the steering sensitivity increases, which helps to provide better handling when driving at low speeds or when quick steering is required. By adjusting the transmission ratio in real time, the system can dynamically adapt to different driving conditions and the driver's operating intentions to ensure that the vehicle always steers in the expected manner. In addition, the system will further optimize the steering control strategy based on parameters such as the road vertical excitation signal and the steering wheel turning time, reduce the impact of external interference on the steering system, and improve driving comfort and safety.

[0078] like Figure 2The steering control flow diagram shown in FIG. 1 shows the process of dynamically adjusting the steering transmission ratio correction according to different driving conditions and steering wheel rotation conditions. First, determine whether the current driving condition is a starting condition. If so, calculate the corresponding steering transmission ratio correction according to the steering wheel rotation time. If not, continue to determine whether it is an operating condition. If it is an operating condition, calculate the steering transmission ratio correction according to the steering wheel rotation time t and the road vertical excitation signal. Finally, if it is neither a starting condition nor an operating condition, it defaults to an extreme condition, and calculates the steering transmission ratio correction again according to the steering wheel rotation time and the road vertical excitation signal. In this process, each branch contains specific calculation formulas, which can be adjusted and optimized according to actual conditions. For example, under the starting condition, a simple linear model can be used to represent the relationship between the steering transmission ratio correction and the steering wheel rotation time; while under the operating condition and the extreme condition, a more complex mathematical model is required to capture more variable influencing factors and obtain the transmission ratio correction value.

[0079] This embodiment provides a steering control method based on driving intention, by acquiring the vehicle speed, steering state and expected steering angle, obtaining the steering wheel rotation angle, steering wheel rotation time and road vertical excitation signal according to the steering state and expected steering angle, obtaining the vehicle driving condition according to the vehicle speed, obtaining the steering transmission ratio correction amount according to at least one of the steering wheel rotation angle, steering wheel rotation time and road vertical excitation signal based on the vehicle driving condition, and adjusting the vehicle steering according to the steering transmission ratio correction amount. By comprehensively analyzing the steering wheel rotation angle, time and road excitation according to the vehicle speed, steering state and expected steering angle, the steering transmission ratio correction amount is determined, and intelligent steering control is realized, the accuracy of steering adjustment is improved, and driving safety is enhanced.

[0080] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 3 The steering control method based on driving intention step S20 also includes, when the steering wheel rotation angle belongs to the third response range, combining the driving condition basis, the steering wheel rotation time and any one of the road vertical excitation signals, obtaining the steering transmission ratio correction amount, specifically steps S201 to S203:

[0081] When the steering wheel turning angle belongs to the third response range (i.e., the abnormal response interval (δ2, δ3] or [-δ3, -δ2)), the system will dynamically calculate the steering transmission ratio correction amount based on the driving conditions and one or more of the steering wheel turning time and the road vertical excitation signal.

[0082] Step S201, when the driving condition is the starting condition, a steering gear ratio correction value is obtained according to the steering wheel rotation time.

[0083] It should be noted that when the driving condition is the starting condition, the vehicle speed is usually between 0 and 20 km / h, and the vehicle is in a low-speed driving state. In this case, if the steering wheel rotation angle is in the third response range, it means that the driver has made a large-scale steering operation, and the system needs to respond quickly to help the driver complete the steering smoothly. According to the steering wheel rotation time, the system will further adjust the steering gear ratio correction. The specific formula is:

[0084]

[0085] in, and The time it takes for the steering wheel angle to reach δ2 and δ3 respectively. If the steering wheel rotation time is short, it means that the driver wants the vehicle to complete the steering quickly. The system will significantly increase the transmission ratio correction to improve the steering sensitivity and help the driver easily complete the large-angle steering operation. On the contrary, if the steering wheel rotation time is long, it means that the driver is performing a smooth large-angle steering operation. The system will moderately reduce the transmission ratio correction to maintain the smoothness of the steering and the stability of the vehicle.

[0086] Step S202: when the driving condition is the operating condition, a steering gear ratio correction value is obtained according to the steering wheel rotation time and the road vertical excitation signal.

[0087] It should be noted that when the steering wheel turning angle belongs to the third response range (i.e., the abnormal response interval (δ2, δ3] or [-δ3, -δ2)) and the driving condition is the operating condition, the system will dynamically calculate the steering transmission ratio correction amount based on the steering wheel turning time and the road vertical excitation signal.

[0088] Furthermore, when the steering wheel turning time is within the transient operating condition requirement range (i.e., the steering wheel turning time t is within [0, t1]), it indicates that the driver has a target demand for vehicle operation in a short period of time, so the system needs to meet the driver's demand in a timely manner. However, since the driving speed is high at this time, in order to ensure the safety and stability of the system, it is necessary to increase the steering system transmission ratio and reduce the steering sensitivity to ensure the reliability of the operation process. At this time, the calculation formula is:

[0089]

[0090] Furthermore, when the steering wheel is turned t is within the range of short-term and long-term working condition requirements (i.e., the steering wheel turning time t belongs to (t1, t2] or (t2, t3]), it indicates that the vehicle has a need to change the initial intention for a long time in the high-speed driving condition. However, since the working condition is relatively special at this time, and the long-term, large-angle, and continuous steering indicates that the vehicle is in an abnormal driving state, the steering system at this time needs to increase the transmission ratio to ensure the stability and safety of the actual driving of the vehicle. In this case, the transmission ratio correction value corresponds to the following calculation equation:

[0091]

[0092] Step S203, when the driving condition is an extreme condition, a steering gear ratio correction value is obtained according to the steering wheel rotation time and the road vertical excitation signal.

[0093] It should be noted that when the steering wheel rotation angle belongs to the third response range (i.e., the abnormal response interval (δ2, δ3] or [-δ3, -δ2)), and the driving condition is an extreme condition, the system will dynamically calculate the steering gear ratio correction according to the steering wheel rotation time and the road vertical excitation signal. The specific formula is:

[0094]

[0095] In this embodiment, when the driving condition is the starting condition, the steering gear ratio correction amount is obtained according to the steering wheel turning time; when the driving condition is the running condition, the steering gear ratio correction amount is obtained according to the steering wheel turning time and the road vertical excitation signal; when the driving condition is the extreme condition, the steering gear ratio correction amount is obtained according to the steering wheel turning time and the road vertical excitation signal. The steering gear ratio correction amount is dynamically adjusted according to different driving conditions, steering wheel turning time and road vertical excitation signal, thereby improving the response speed and safety of the steering system.

[0096] This application also provides a steering control device based on driving intention, please refer to Figure 4 , the device comprises:

[0097] The acquisition module 10 is used to acquire the vehicle speed, steering state and expected steering angle.

[0098] The acquisition module 10 is further used to obtain the steering wheel rotation angle, the steering wheel rotation time and the road vertical excitation signal according to the steering state quantity and the expected steering angle.

[0099] The judgment module 20 is used to obtain the vehicle driving condition according to the vehicle driving speed.

[0100] The calculation module 30 is used to obtain a steering gear ratio correction value based on the vehicle driving condition according to at least one of a steering wheel rotation angle, a steering wheel rotation time and a road vertical excitation signal.

[0101] The execution module 40 is used to adjust the vehicle steering according to the steering transmission ratio correction amount.

[0102] The steering control device based on driving intention provided by the present application adopts the steering control method based on driving intention in the above-mentioned embodiment, and can solve the technical problem of how to perform steering control according to the adjustment of driving intention and working conditions. Compared with the prior art, the beneficial effects of the steering control device based on driving intention provided by the present application are the same as the beneficial effects of the steering control method based on driving intention provided by the above-mentioned embodiment, and the other technical features of the steering control device based on driving intention are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0103] In one embodiment, the calculation module 30 is also used to obtain a steering transmission ratio correction amount as a preset value when the driving condition is a starting condition and the steering wheel rotation angle belongs to a first response range; when the driving condition is a starting condition and the steering wheel rotation angle belongs to a second response range, the steering transmission ratio correction amount is obtained according to the functional relationship between the steering wheel rotation angle and the steering wheel rotation time and the steering transmission ratio correction amount.

[0104] In one embodiment, the calculation module 30 is also used to obtain the steering transmission ratio correction amount according to the functional relationship between the vehicle driving speed and the steering transmission ratio correction amount when the driving condition is an operating condition and the steering wheel rotation angle belongs to the first response range; when the driving condition is an operating condition and the steering wheel rotation angle belongs to the second response range, the steering transmission ratio correction amount is obtained according to the functional relationship between the steering wheel rotation angle, the steering wheel rotation time, the road vertical excitation signal and the steering transmission ratio correction amount.

[0105] In one embodiment, the calculation module 30 is also used to obtain the steering transmission ratio correction amount according to the functional relationship between the vehicle driving speed and the steering transmission ratio correction amount when the driving condition is an extreme condition and the steering wheel turning angle belongs to the first response range; when the driving condition is an extreme condition and the steering wheel turning angle belongs to the second response range, the steering transmission ratio correction amount is obtained according to the functional relationship between the steering wheel turning angle, the steering wheel turning time, the road vertical excitation signal and the steering transmission ratio correction amount.

[0106] In one embodiment, the calculation module 30 is further used to obtain a steering gear ratio correction value according to any one of the steering wheel turning time and the road vertical excitation signal in combination with the driving condition when the steering wheel turning angle belongs to the third response range.

[0107] In one embodiment, the calculation module 30 is also used to obtain a steering transmission ratio correction amount based on the steering wheel rotation time when the driving condition is a starting condition; to obtain a steering transmission ratio correction amount based on the steering wheel rotation time and a road vertical excitation signal when the driving condition is an operating condition; and to obtain a steering transmission ratio correction amount based on the steering wheel rotation time and a road vertical excitation signal when the driving condition is an extreme condition.

[0108] In one embodiment, the judgment module 20 is also used to determine that the vehicle's driving condition is a starting condition when the vehicle's driving speed does not exceed a first preset speed threshold; to determine that the vehicle's driving condition is an operating condition when the vehicle's driving speed exceeds the first preset speed threshold and the vehicle's driving speed does not exceed a second preset speed threshold; and to determine that the vehicle's driving condition is an extreme condition when the vehicle's driving speed exceeds the second preset speed threshold, wherein the second preset speed threshold is greater than the first preset speed threshold.

[0109] The present application provides a steering control device based on driving intention, and the steering control device based on driving intention includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the steering control method based on driving intention in the above-mentioned embodiment one.

[0110] Reference below Figure 5 , which shows a schematic diagram of the structure of a steering control device based on driving intention suitable for implementing an embodiment of the present application. The steering control device based on driving intention in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The steering control device based on driving intention shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0111] like Figure 5As shown, the steering control device based on driving intention may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the steering control device based on driving intention are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the steering control device based on driving intention to communicate with other devices wirelessly or by wire to exchange data. Although the steering control device based on driving intention with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0112] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0113] The steering control device based on driving intention provided by the present application adopts the steering control method based on driving intention in the above-mentioned embodiment, which can solve the technical problem of how to perform steering control according to the adjustment of driving intention and working conditions. Compared with the prior art, the beneficial effects of the steering control device based on driving intention provided by the present application are the same as the beneficial effects of the steering control method based on driving intention provided by the above-mentioned embodiment, and the other technical features in the steering control device based on driving intention are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0114] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0115] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0116] The present application provides a computer-readable medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the steering control method based on driving intention in the above-mentioned embodiment.

[0117] The computer-readable medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0118] The computer-readable medium may be included in the steering control device based on driving intention; or may exist independently without being assembled into the steering control device based on driving intention.

[0119] The computer-readable medium carries one or more programs. When the one or more programs are executed by the steering control device based on driving intention, the steering control device based on driving intention can be written in one or more programming languages ​​or a combination thereof to perform computer program codes for the operation of the present application. The programming languages ​​include object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0120] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0121] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0122] The readable medium provided by the present application is a computer-readable medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned steering control method based on driving intention, and can solve the technical problem of how to perform steering control according to the adjustment of driving intention and working conditions. Compared with the prior art, the beneficial effects of the computer-readable medium provided by the present application are the same as the beneficial effects of the steering control method based on driving intention provided by the above-mentioned embodiment, and will not be repeated here.

[0123] The present application also provides a computer program product, including a computer program, which implements the steps of the steering control method based on driving intention as described above when executed by a processor.

[0124] The computer program product provided by the present application can solve the technical problem of how to perform steering control according to the adjustment of driving intention and working conditions. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the steering control method based on driving intention provided by the above-mentioned embodiment, which will not be repeated here.

[0125] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A steering control method based on driving intention, characterized in that: The method comprises: Obtain vehicle speed, steering state and expected steering angle; According to the steering state quantity and the expected steering angle, a steering wheel rotation angle, a steering wheel rotation time and a road vertical excitation signal are obtained; According to the vehicle speed, a vehicle driving condition is obtained; Obtaining a steering gear ratio correction value based on the vehicle driving condition according to at least one of the steering wheel rotation angle, the steering wheel rotation time and the road vertical excitation signal; The vehicle steering is adjusted according to the steering transmission ratio correction amount.

2. The method according to claim 1, characterized in that The step of obtaining the steering transmission ratio correction value based on the vehicle driving condition according to at least one of the steering wheel rotation angle, the steering wheel rotation time and the road vertical excitation signal comprises: When the driving condition is a starting condition and the steering wheel rotation angle belongs to a first response range, the steering transmission ratio correction amount is a preset value; When the driving condition is a starting condition and the steering wheel rotation angle belongs to a second response range, the steering transmission ratio correction amount is obtained according to a functional relationship between the steering wheel rotation angle, the steering wheel rotation time and the steering transmission ratio correction amount.

3. The method according to claim 1, characterized in that The step of obtaining the steering transmission ratio correction value based on the vehicle driving condition according to at least one of the steering wheel rotation angle, the steering wheel rotation time and the road vertical excitation signal further includes: When the driving condition is an operating condition and the steering wheel rotation angle belongs to a first response range, a steering transmission ratio correction amount is obtained according to a functional relationship between the vehicle driving speed and the steering transmission ratio correction amount; When the driving condition is an operating condition and the steering wheel rotation angle belongs to a second response range, a steering transmission ratio correction amount is obtained according to a functional relationship among the steering wheel rotation angle, the steering wheel rotation time, the road vertical excitation signal and the steering transmission ratio correction amount.

4. The method according to claim 1, characterized in that The step of obtaining the steering transmission ratio correction value based on the vehicle driving condition according to at least one of the steering wheel rotation angle, the steering wheel rotation time and the road vertical excitation signal further includes: When the driving condition is an extreme condition and the steering wheel rotation angle belongs to a first response range, a steering transmission ratio correction amount is obtained according to a functional relationship between the vehicle driving speed and the steering transmission ratio correction amount; When the driving condition is an extreme condition and the steering wheel rotation angle belongs to a second response range, the steering transmission ratio correction amount is obtained according to the functional relationship between the steering wheel rotation angle, the steering wheel rotation time, the road vertical excitation signal and the steering transmission ratio correction amount.

5. The method according to claim 1, characterized in that The step of obtaining the steering transmission ratio correction value based on the vehicle driving condition according to at least one of the steering wheel rotation angle, the steering wheel rotation time and the road vertical excitation signal further includes: When the steering wheel rotation angle belongs to the third response range, the steering transmission ratio correction amount is obtained according to any one of the steering wheel rotation time and the road vertical excitation signal in combination with the driving condition.

6. The method according to claim 5, characterized in that The step of obtaining a steering transmission ratio correction value according to any one of the steering wheel rotation time and the road vertical excitation signal when the steering wheel rotation angle belongs to the third response range comprises: When the driving condition is a starting condition, a steering gear ratio correction amount is obtained according to the steering wheel rotation time; When the driving condition is an operating condition, a steering transmission ratio correction value is obtained according to the steering wheel rotation time and the road vertical excitation signal; When the driving condition is an extreme condition, a steering transmission ratio correction amount is obtained according to the steering wheel rotation time and the road vertical excitation signal.

7. The method according to claim 1, characterized in that The step of obtaining the vehicle driving condition according to the vehicle driving speed comprises: When the vehicle speed does not exceed the first preset speed threshold, determining that the vehicle driving condition at this time is a starting condition; When the vehicle speed exceeds a first preset speed threshold and the vehicle speed does not exceed a second preset speed threshold, determining that the vehicle driving condition at this time is a running condition; When the vehicle speed exceeds a second preset speed threshold, it is determined that the vehicle driving condition at this time is a limit condition, wherein the second preset speed threshold is greater than the first preset speed threshold.

8. A steering control device based on driving intention, characterized in that: The device comprises: An acquisition module is used to acquire the vehicle speed, steering state and expected steering angle; The acquisition module is further used to obtain a steering wheel rotation angle, a steering wheel rotation time and a road vertical excitation signal according to the steering state quantity and the expected steering angle; A judgment module, used for obtaining a vehicle driving condition according to the vehicle driving speed; A calculation module, configured to obtain a steering gear ratio correction value according to at least one of the steering wheel rotation angle, the steering wheel rotation time and the road vertical excitation signal based on the vehicle driving condition; The execution module is used to adjust the vehicle steering according to the steering transmission ratio correction amount.

9. A steering control device based on driving intention, characterized in that: The device includes: a memory, a processor, and a driving intention-based steering control program stored in the memory and executable on the processor, wherein the driving intention-based steering control program is configured to implement the steps of the driving intention-based steering control method as described in any one of claims 1 to 7.

10. A medium, characterized in that The medium stores a steering control program based on driving intention, and when the steering control program based on driving intention is executed by the processor, the steps of the steering control method based on driving intention as described in any one of claims 1 to 7 are implemented.

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