Recognition method and compensation method for steering wheel return blocking, vehicle and storage medium

Abstract

The invention relates to the field of automobiles, in particular to a steering wheel return blocking identification method, a compensation method, a vehicle and a storage medium. The method comprises the steps that the actual steering wheel rotation angle of a vehicle under the turning working condition is obtained, and actual rotation angle data are determined based on the actual steering wheel rotation angle; and based on the actual turning angle data and the ideal turning angle data, determining whether the returning of the steering wheel of the vehicle is blocked or not.

Description

Technical Field

[0001] The present disclosure relates to the automotive field, and more specifically, to a steering wheel return obstruction identification method, a compensation method, a vehicle and a storage medium. Background Art

[0002] Torque steer usually refers to unexpected vehicle steering caused by uneven distribution of driving torque on the left and right wheels of the vehicle. The load transfer when the vehicle is turning at high speed increases the adhesion of the outer tires of the vehicle while reducing the adhesion of the inner tires or even causing slippage, resulting in the driving force on the outer wheels of the vehicle being greater than that on the inner wheels. At this time, the uneven distribution of driving force on the inner and outer wheels will cause unexpected torque steer on the vehicle, and at the same time cause the steering wheel of the vehicle to be blocked from returning to the center position during cornering.

[0003] At present, when a vehicle is identifying torque steering, it usually relies on observations such as the change in accelerator pedal depth, the vehicle's real-time yaw rate, and the change in vehicle slip rate to determine whether the vehicle is in torque steering. Although these observations can indirectly reflect whether the vehicle is in a torque steering condition, they are also affected by other vehicle states or the external environment, and often result in misidentification of torque steering conditions. Moreover, these indirect observations have a nonlinear relationship with the steering wheel's return to center, making it difficult to timely reflect whether the vehicle is experiencing resistance to return to center under cornering conditions. Summary of the invention

[0004] One object of the present disclosure is to solve the problem of untimely and inaccurate detection of the vehicle steering wheel being blocked from returning to center.

[0005] According to a first aspect of the present disclosure, a method for processing a steering wheel that is blocked from returning to the center position is provided, the method comprising:

[0006] Acquiring an actual steering wheel angle of the vehicle under a turning condition, and determining actual steering angle data based on the actual steering wheel angle;

[0007] Based on the actual turning angle data and the ideal turning angle data, it is determined whether the steering wheel of the vehicle is blocked from returning to the center position.

[0008] Optionally, the turning condition includes a turning phase, a turning phase and a turning phase. Before determining whether the steering wheel of the vehicle is blocked from returning to the center position based on the actual turning angle data and the ideal turning angle data, the method further includes:

[0009] Based on the actual turning angle data in the turning phase and / or the turning phase, the ideal turning angle data matching the current turning condition is determined.

[0010] Optionally, the actual turning angle data includes corresponding data of an actual steering wheel angle and a time of entering a turning condition, and the ideal turning angle data includes corresponding data of an ideal steering wheel angle and a time of entering a turning condition.

[0011] The determining, based on the actual turning angle data and the ideal turning angle data, whether the steering wheel of the vehicle is blocked from returning to the center position comprises:

[0012] Determine the absolute value of the difference between the ideal steering wheel angle and the actual steering wheel angle at the same time under the turning condition;

[0013] When the absolute value of the difference between the ideal steering wheel angle and the actual steering wheel angle is greater than a preset angle threshold, it is determined that the steering wheel is in a return-to-centering blocked state.

[0014] Optionally, the actual turning angle data includes an actual slope of a curve of a relationship between an actual steering wheel turning angle and a time of entering a turning condition, and the ideal turning angle data includes an ideal slope of a curve of a relationship between an ideal steering wheel turning angle and a time of entering a turning condition;

[0015] The determining, based on the actual turning angle data and the ideal turning angle data, whether the steering wheel of the vehicle is blocked from returning to the center position comprises:

[0016] Determine the difference between the ideal slope and the actual slope at the same time under turning conditions;

[0017] When the time during which the difference is greater than the preset slope threshold exceeds the preset time threshold, it is determined that the steering wheel is in a state of being blocked from returning to the center.

[0018] According to a second aspect of the present disclosure, a method for compensating for steering wheel return resistance is provided, the method comprising:

[0019] According to any one of the methods for identifying a steering wheel returning to center is blocked according to the first aspect, determining whether the steering wheel is in a state of being blocked from returning to center;

[0020] When the steering wheel is in a state of being blocked from returning to the center, a compensating torque is applied to eliminate the blocking of the steering wheel from returning to the center.

[0021] Optionally, applying a compensating torque to eliminate resistance to returning the steering wheel includes:

[0022] A compensating torque is applied through at least one of the rear wheel steering system, the driving system and the braking system of the vehicle to eliminate the resistance to returning the steering wheel.

[0023] Optionally, a compensating torque is applied by a rear wheel steering system of the vehicle, comprising:

[0024] Determining an adjustment amount of a drive motor of the rear-wheel steering system according to a vehicle speed, a steering wheel angle, a front axle drive torque, and a rear axle drive torque of the vehicle;

[0025] The drive motor is adjusted according to the adjustment amount of the drive motor to apply the compensation torque.

[0026] Optionally, determining the adjustment amount of the drive motor of the rear-wheel steering system according to the vehicle speed, steering wheel angle, front axle drive torque and rear axle drive torque of the vehicle includes:

[0027] determining a target rear wheel steering angle according to the vehicle speed, steering wheel angle, front axle drive torque and rear axle drive torque of the vehicle;

[0028] An adjustment amount of the drive motor is determined according to the target steering angle.

[0029] Optionally, determining the adjustment amount of the drive motor according to the target steering angle includes:

[0030] The difference between the target steering angle and the actual rear wheel steering angle is determined, and the adjustment amount of the drive motor is determined according to the difference between the target steering angle and the actual rear wheel steering angle.

[0031] Optionally, a compensating torque is applied by a drive system of the vehicle, comprising:

[0032] Determining the driving force of the front axle drive motor and the rear axle drive motor of the drive system according to the vehicle speed, steering wheel angle, accelerator pedal depth and rear wheel real-time steering angle of the vehicle;

[0033] The front axle drive motor and the rear axle drive motor are adjusted according to the driving forces of the front axle drive motor and the rear axle drive motor of the drive system to apply the compensation torque.

[0034] Optionally, determining the driving force of the front axle drive motor and the rear axle drive motor of the drive system according to the vehicle speed, steering wheel angle, accelerator pedal depth and rear wheel real-time steering angle includes:

[0035] Determining the front and rear wheel torque distribution ratio of the vehicle according to the vehicle speed, steering wheel angle, accelerator pedal depth and rear wheel real-time steering angle;

[0036] The driving force of the front axle drive motor and the rear axle drive motor of the drive system is determined according to the front and rear wheel torque distribution ratio.

[0037] Optionally, applying a compensating torque via a braking system of the vehicle comprises:

[0038] Determine the braking force of each wheel of the vehicle according to the vehicle speed, steering wheel angle, brake pedal depth, single wheel braking force and rear wheel real-time steering angle;

[0039] Braking is performed according to the braking force of each wheel to apply the compensation torque.

[0040] Optionally, determining the braking force of each wheel of the vehicle according to the vehicle speed, steering wheel angle, brake pedal depth, single wheel braking force and rear wheel real-time steering angle includes:

[0041] Determining the braking force on the left side and the right side of the vehicle according to the vehicle speed, the steering wheel angle, the brake pedal depth, the single wheel braking force and the real-time rear wheel angle;

[0042] The braking force of each wheel is determined according to the braking force of the left side and the right side of the vehicle.

[0043] Optionally, applying a compensating torque to eliminate the resistance to returning the steering wheel to the center position through at least one of a rear wheel steering system, a driving system and a braking system of the vehicle comprises:

[0044] When the absolute value is less than or equal to a first angle threshold, applying a compensation torque through the rear-wheel steering system;

[0045] When the absolute value is greater than a first angle threshold and less than or equal to a second angle threshold, applying a compensation torque through a rear wheel steering system and a drive system;

[0046] When the absolute value is greater than the second angle threshold, a compensation torque is applied via the rear wheel steering system, the drive system and the brake system.

[0047] According to a third aspect of the present disclosure, a vehicle is provided, comprising a processor and a memory, wherein the memory stores computer instructions, and when the computer instructions are executed by the processor, the steps of the method described in any one of the first aspect and the second aspect are implemented.

[0048] According to a fourth aspect of the present disclosure, a storage medium is provided, on which computer instructions are stored, and when the computer instructions are executed by a processor, the steps of the method described in any one of the first aspect and the second aspect are implemented.

[0049] One technical effect of the present disclosure is that a method for identifying a steering wheel return obstruction is provided, which can obtain the actual steering wheel angle of a vehicle under a turning condition, determine the actual angle data based on the steering wheel, and determine whether the steering wheel return is obstructed based on the actual angle data and the ideal angle data. In this way, it is possible to timely, directly and accurately determine whether the vehicle is in a situation where the steering wheel return is obstructed through the steering wheel angle data, thereby solving the problem of slow speed and low accuracy in determining the steering wheel return obstruction through other observations.

[0050] Other features and advantages of the embodiments of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings, which constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.

[0052] Figure 1 is a flow chart of a method for identifying a steering wheel that is blocked from returning to the center position according to one embodiment;

[0053] Figure 2 is a schematic diagram of a curve showing a relationship between a steering wheel angle and a time of entering a turning condition according to an embodiment;

[0054] Figure 3 is a flow chart of a method for compensating for steering wheel return resistance according to one embodiment;

[0055] Figure 4 is a schematic structural diagram of a vehicle according to an embodiment; DETAILED DESCRIPTION

[0056] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0057] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0058] Techniques and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the techniques and equipment should be considered part of the specification.

[0059] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0060] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0061] The present application embodiment discloses a method for identifying a steering wheel that is blocked from returning to the correct position. Figure 1 As shown, it includes step S11 to step S12.

[0062] Step S11, obtaining an actual steering wheel angle of the vehicle under a turning condition, and determining actual angle data based on the actual steering wheel angle.

[0063] In this embodiment, a steering wheel angle sensor may be provided in the vehicle to read the actual steering wheel angle of the vehicle in real time.

[0064] In this application, the turning condition of a vehicle includes the turning phase, the turning phase and the turning phase. Figure 2 As shown, the cornering phase is when the vehicle enters a curve and the driver increases the steering wheel angle in order to smoothly pass the curve. The cornering phase is when the driver maintains or adjusts the steering wheel angle 302. The cornering phase is when the steering wheel returns to normal.

[0065] In an embodiment of the present application, before obtaining the steering wheel angle of the vehicle under turning conditions, the vehicle speed, four-wheel speed and steering wheel angle can be obtained in advance, and it can be determined whether the vehicle is slipping. When slipping occurs, step S11 is executed.

[0066] In one example, the tire slip ratio is calculated by the vehicle speed and wheel speed, and then the vehicle is judged whether it is slipping based on the calculated tire slip ratio. If the vehicle is slipping, it means that the vehicle has torque steering, or it can be determined that the vehicle has entered a turning condition. It is then further judged whether the steering wheel is blocked from returning to the center position.

[0067] In an example of this embodiment, the real-time curve of the steering wheel angle and the ideal curve of the steering wheel angle are curves that characterize the relationship between the steering wheel angle and the time of entering a turning condition.

[0068] In an example of this embodiment, the actual turning angle data includes corresponding data of the actual steering wheel angle and the time of entering the turning condition, and the ideal turning angle data includes corresponding data of the ideal steering wheel angle and the time of entering the turning condition.

[0069] In an example of this embodiment, the actual turning angle data includes the actual slope of the curve of the relationship between the actual steering wheel angle and the time of entering the turning condition, and the ideal turning angle data includes the ideal slope of the curve of the relationship between the ideal steering wheel angle and the time of entering the turning condition.

[0070] like Figure 2As shown, the horizontal axis of the coordinate system corresponding to the curve of the relationship between the steering wheel angle and the time of entering the turning condition can be the time of entering the turning condition, and the vertical axis of the corresponding coordinate system can be the angle of the steering wheel. In this embodiment, the curve of the relationship between the ideal steering wheel angle and the time of entering the turning condition can be determined in advance through vehicle dynamics modeling simulation, or determined by testing when the vehicle leaves the factory. It is not limited here. In this embodiment, in order to correspond to different working conditions or road conditions, there can be multiple ideal curves of the steering wheel angle.

[0071] In this example, when the vehicle enters a turning condition, the time when the vehicle enters the turning condition can be determined by a timer or other means. In one example, when the steering wheel angle is greater than a predetermined angle, it is determined that the vehicle enters a turning condition. In one example, a relationship curve between the vehicle's steering wheel angle and the time when the vehicle enters the turning condition can be established based on the acquired steering wheel angle and the time when the vehicle enters the turning condition, such as Figure 2 Similarly, the ideal turning angle data may be data of the steering wheel angle and the time of entering a turning condition when the vehicle is not blocked from returning to the center, or the slope of a curve of the relationship between the ideal steering wheel angle and the time of entering a turning condition.

[0072] Step S12: Determine whether the steering wheel of the vehicle is blocked from returning to the center position based on the actual turning angle data and the ideal turning angle data.

[0073] In an example of this embodiment, before determining whether the steering wheel of the vehicle is blocked from returning to the center position based on actual turning angle data and ideal turning angle data, the method further includes: determining ideal turning angle data matching the current turning condition based on actual turning angle data during the turning phase and / or during the turning phase.

[0074] In this embodiment, in order to cope with different working conditions or road conditions, multiple groups of ideal steering wheel angle data of the vehicle may be pre-set. Therefore, based on the actual angle data of the turning stage and / or the turning stage, the ideal angle data corresponding to the current turning condition can be determined by matching the multiple ideal angle data.

[0075] In an example of the present embodiment, based on actual steering angle data and ideal steering angle data, determining whether the steering wheel of the vehicle is blocked from returning to the center position includes: determining the absolute value of the difference between the ideal steering wheel angle and the actual steering wheel angle at the same time under the turning condition; when the absolute value of the difference between the ideal steering wheel angle and the actual steering wheel angle is greater than a preset angle threshold, determining that the steering wheel is in a state of being blocked from returning to the center position.

[0076] In one example, during the vehicle's exit from a turn, the actual steering wheel angle and the ideal steering wheel angle of the vehicle can be collected in real time by sensors. Specifically, the ideal steering wheel angle can be determined from the ideal steering wheel angle data based on the time of entering a turn condition corresponding to the vehicle's real-time steering wheel angle. Afterwards, the absolute value of the difference between the two is calculated to determine the difference between the actual steering wheel angle and the ideal steering wheel angle. When the absolute value of the difference between the two is greater than a preset angle threshold, it is determined that the vehicle's steering wheel return to normal is blocked.

[0077] In an example of the present embodiment, based on actual turning angle data and ideal turning angle data, determining whether the steering wheel of the vehicle is blocked from returning to the center position includes: determining the difference between the ideal slope and the actual slope at the same time under the turning condition; and determining that the steering wheel is in a state of being blocked from returning to the center position when the difference is greater than a preset slope threshold for a period of time exceeding a preset time threshold.

[0078] In this embodiment, in addition to the steering wheel angle, whether the vehicle's return to centering is obstructed may also be determined by the slope of the curve.

[0079]

[0080]

[0081] Among them, k StrAgl_D is the actual slope, i.e. the slope at the time t+Δt when entering the turning condition, k StrAgl_S is the ideal slope at the time t+Δt when entering the turning condition. StrAgl_S(t+Δt) can be the ideal steering wheel angle at the current moment, StrAgl_S(t) can be the ideal steering wheel angle at the previous sampling moment, StrAgl_D(t+Δt) can be the actual steering wheel angle at the current moment; StrAgl_D(t) can be the actual steering wheel angle at the previous sampling moment. Then, the difference between the actual slope and the ideal slope at the current moment is calculated, and when the difference in slope is greater than the preset slope threshold for a period of time exceeding the preset time threshold, it is determined that the vehicle's steering wheel return is blocked.

[0082] In this example, a method for identifying a steering wheel return obstruction is provided, which can obtain the actual steering wheel angle of the vehicle under turning conditions, determine the actual angle data based on the steering wheel, and determine whether the steering wheel return is obstructed based on the actual angle data and the ideal angle data. In this way, the steering wheel angle data can be used to timely, directly and accurately determine whether the vehicle is in a situation where the steering wheel return is obstructed, solving the problem of slow speed and low accuracy in determining the steering wheel return obstruction through other observations.

[0083] The present application discloses a method for compensating for steering wheel return resistance. Figure 3As shown, it includes step S21 to step S22.

[0084] Step S21, determining whether the steering wheel is in a state of being blocked from returning to the center according to the method for identifying a ...

[0085] Step S22, when the steering wheel is in a state of being blocked from returning to the center, applying a compensating torque to eliminate the blockage in the steering wheel's returning to the center.

[0086] In one example of this embodiment, applying a compensating torque to eliminate resistance to steering wheel returning to center includes: applying a compensating torque to eliminate resistance to steering wheel returning to center through at least one of the vehicle's rear-wheel steering system, drive system, and braking system.

[0087] In this embodiment, an additional compensatory yaw torque may be applied by one or more of the rear wheel steering system, the drive system, and the braking system to suppress the unexpected torque that causes the steering wheel to be blocked from returning to the center position.

[0088] In this example, a compensation method for steering wheel return obstruction is provided, which can timely and accurately determine whether the vehicle is in a situation where the steering wheel return is obstructed, and apply compensation after the return is obstructed to improve the user's driving controllability and safety.

[0089] In one example of the present embodiment, a compensation torque is applied through at least one of the vehicle's rear-wheel steering system, drive system and braking system to eliminate resistance to steering wheel return, including: when the absolute value is less than or equal to a first angle threshold, the compensation torque is applied through the rear-wheel steering system; when the absolute value is greater than the first angle threshold and less than or equal to a second angle threshold, the compensation torque is applied through the rear-wheel steering system and the drive system; when the absolute value is greater than the second angle threshold, the compensation torque is applied through the rear-wheel steering system, the drive system and the braking system.

[0090] In this embodiment, due to the different capabilities and influences of different systems of the vehicle in applying compensation torque, when the difference between the actual steering wheel angle of the vehicle and the ideal steering wheel angle is small, and is less than the preset first angle threshold, the rear-wheel steering system of the vehicle can be used to offset it. Compared with the drive system and the brake system, the rear-wheel steering system will not produce any abruptness and strangeness due to violating the driver's driving intention. Therefore, the rear-wheel steering system can be used preferentially to apply the compensation torque. When the difference between the actual steering wheel angle of the vehicle and the ideal steering wheel angle is relatively large, that is, the absolute value is greater than the first angle threshold and less than the second angle threshold, it is difficult to completely offset the situation of the steering wheel being blocked by the rear-wheel steering system alone. At this time, the compensation torque can be applied jointly by the rear-wheel steering system and the drive system. Although the drive system will produce a certain sense of abruptness for the driver, it is still relatively mild compared to the brake system and has less impact on the driver. When the difference between the actual steering wheel angle of the vehicle and the ideal steering wheel angle is large, that is, the absolute value is greater than the second angle threshold, at this time, the compensation torque can be applied jointly by the rear-wheel steering system, the drive system and the brake system.

[0091] In this embodiment, the first angle threshold may be a maximum steering wheel angle difference that can be compensated by the rear-wheel steering system, and the second angle threshold may be a maximum steering wheel angle difference that can be compensated by the rear-wheel steering system and the drive system.

[0092] In this example, based on the relationship between the difference between the actual steering wheel angle of the vehicle and the ideal steering wheel angle and a preset threshold, a compensation method for the obstruction of steering wheel returning to the center position can be determined, and the impact and abruptness on the driver can be minimized to improve the driving experience.

[0093] In one example of this embodiment, a compensation torque is applied through a rear-wheel steering system of a vehicle, including: determining an adjustment amount of a drive motor of the rear-wheel steering system according to a vehicle speed, a steering wheel angle, a front axle drive torque, and a rear axle drive torque; and adjusting the drive motor according to the adjustment amount of the drive motor to apply the compensation torque.

[0094] In an example of the present embodiment, the adjustment amount of the drive motor of the rear-wheel steering system is determined according to the vehicle speed, steering wheel angle, front axle drive torque and rear axle drive torque, including: determining the target rear-wheel steering angle according to the vehicle speed, steering wheel angle, front axle drive torque and rear axle drive torque; determining the adjustment amount of the drive motor according to the target steering angle.

[0095] In an example of this embodiment, determining the adjustment amount of the drive motor according to the target steering angle includes: determining the difference between the target steering angle and the actual rear wheel steering angle, and determining the adjustment amount of the drive motor according to the difference between the target steering angle and the actual rear wheel steering angle.

[0096] In this example, the vehicle speed steering wheel angle, front axle drive torque, and rear axle drive torque data can be obtained through sensors in the vehicle. Determine the target rear wheel steering angle. In this example, the correspondence between the above parameters and the target rear wheel steering angle can be predetermined. Specifically, the target rear wheel angle required to suppress unexpected torque steering under known different vehicle speeds, real-time steering wheel angles, front / rear axle torques, and real-time rear wheel angles can be theoretically obtained through vehicle dynamics modeling and simulation. Alternatively, based on a real vehicle, through vehicle tests, under different vehicle speeds, real-time steering wheel angles, and front / rear axle torques, record the suppression of unexpected torque steering at different rear wheel steering angles, and use the rear wheel angle corresponding to the best suppression effect as the control target angle of the rear wheel steering system.

[0097] After determining the target steering angle, the adjustment amount of the driving motor of the steering system required to adjust the angle can be further determined, so as to control the motor for compensation. For example, the adjustment amount of the driving motor can be determined by the difference between the target steering angle and the actual rear wheel steering angle. In this example, the adjustment amount of the driving motor can also be obtained through a pre-established corresponding relationship with the target steering angle.

[0098] In one example of the present embodiment, a compensating torque is applied through the drive system of the vehicle, including: determining the driving force of the front axle drive motor and the rear axle drive motor of the drive system according to the vehicle speed, steering wheel angle, accelerator pedal depth and real-time rear wheel angle; and adjusting the front axle drive motor and the rear axle drive motor according to the driving force of the front axle drive motor and the rear axle drive motor of the drive system to apply the compensating torque.

[0099] In an example of the present embodiment, the driving force of the front axle drive motor and the rear axle drive motor of the drive system is determined according to the vehicle speed, steering wheel angle, accelerator pedal depth and real-time rear wheel angle, including: determining the front and rear wheel torque distribution ratio of the vehicle according to the vehicle speed, steering wheel angle, accelerator pedal depth and real-time rear wheel angle; determining the driving force of the front axle drive motor and the rear axle drive motor of the drive system according to the front and rear wheel torque distribution ratio.

[0100] In this example, data such as the vehicle speed, steering wheel angle, accelerator pedal depth, and real-time rear wheel angle can be obtained through sensors in the vehicle. The front and rear wheel torque distribution ratio is determined. After determining the front and rear wheel torque distribution ratio, the driving force of the front axle drive motor and the rear axle drive motor of the drive system can be further determined, so as to control the motor for compensation. In this example, the driving force of the front axle drive motor and the rear axle drive motor can also be obtained through a pre-established corresponding relationship with the front and rear wheel torque distribution ratio. The preset relationship can also be obtained in the same manner as the preset relationship in the aforementioned embodiment.

[0101] In one example of this embodiment, a compensating torque is applied through the vehicle's braking system, including: determining the braking force of each wheel of the vehicle based on the vehicle's speed, steering wheel angle, brake pedal depth, single-wheel braking force and real-time rear wheel angle; braking according to the braking force of each wheel to apply a compensating torque.

[0102] In an example of the present embodiment, the braking force of each wheel of the vehicle is determined according to the vehicle speed, steering wheel angle, brake pedal depth, single wheel braking force and real-time rear wheel steering angle, including: determining the braking force on the left and right sides of the vehicle according to the vehicle speed, steering wheel angle, brake pedal depth, single wheel braking force and real-time rear wheel steering angle; determining the braking force of each wheel according to the braking force on the left and right sides of the vehicle.

[0103] In this example, data such as vehicle speed, steering wheel angle, brake pedal depth, single wheel braking force, and rear wheel real-time angle can be obtained through sensors in the vehicle. The braking forces on the left and right sides of the vehicle are determined based on a preset third corresponding relationship. After determining the braking forces on the left and right sides of the vehicle, the braking forces of each wheel of the vehicle can be further determined to apply a compensation torque. In this example, the braking forces on the left and right sides of the vehicle can also be obtained through a pre-established corresponding relationship with the braking forces of each wheel of the vehicle. The preset relationship can also be obtained in the same manner as the preset relationship in the aforementioned embodiment.

[0104] The present application embodiment also provides a vehicle 300, such as Figure 4 As shown, the electronic device has a processor 301 and a memory 302, and the memory 302 stores computer instructions. When the computer instructions are executed by the processor 301, any one of the steering wheel return obstruction identification method and steering wheel return obstruction compensation method embodiments is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0105] An embodiment of the present application also provides a storage medium on which computer instructions are stored. When the computer instructions are executed by a processor, any one of the embodiments of the method for identifying obstruction in steering wheel returning to center and the method for compensating obstruction in steering wheel returning to center can be implemented, and the same technical effect can be achieved. To avoid repetition, they will not be described here.

[0106] Each embodiment in the present disclosure is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and equipment embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0107] The above describes specific embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0108] The embodiments of the present disclosure may be systems, methods and / or computer program products. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the embodiments of the present disclosure.

[0109] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: 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), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0110] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0111] The computer program instructions for performing the operation of the embodiments of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as "C" language or similar programming languages. Computer-readable program instructions may be executed completely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of a computer-readable program instruction, and the electronic circuit may execute a computer-readable program instruction, thereby realizing various aspects of the embodiments of the present disclosure.

[0112] Various aspects of the embodiments of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0113] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0114] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0115] The flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of an instruction, and a part of a module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes 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 box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0116] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for identifying a steering wheel that is blocked from returning to the center position, characterized in that: The method comprises: Acquiring an actual steering wheel angle of the vehicle under a turning condition, and determining actual steering angle data based on the actual steering wheel angle; Based on the actual turning angle data and the ideal turning angle data, it is determined whether the steering wheel of the vehicle is blocked from returning to the center position.

2. The method according to claim 1, characterized in that The turning condition includes a turning phase, a turning phase and a turning phase. Before determining whether the steering wheel of the vehicle is blocked from returning to the center position based on the actual turning angle data and the ideal turning angle data, the method further includes: Based on the actual turning angle data in the turning phase and / or the turning phase, the ideal turning angle data matching the current turning condition is determined.

3. The method according to claim 1, characterized in that The actual turning angle data includes corresponding data of the actual steering wheel turning angle and the time of entering the turning condition, and the ideal turning angle data includes corresponding data of the ideal steering wheel turning angle and the time of entering the turning condition. The determining, based on the actual turning angle data and the ideal turning angle data, whether the steering wheel of the vehicle is blocked from returning to the center position comprises: Determine the absolute value of the difference between the ideal steering wheel angle and the actual steering wheel angle at the same time under the turning condition; When the absolute value of the difference between the ideal steering wheel angle and the actual steering wheel angle is greater than a preset angle threshold, it is determined that the steering wheel is in a return-to-centering blocked state.

4. The method according to claim 1, characterized in that The actual turning angle data includes the actual slope of the curve of the relationship between the actual steering wheel angle and the time of entering the turning condition, and the ideal turning angle data includes the ideal slope of the curve of the relationship between the ideal steering wheel angle and the time of entering the turning condition; The determining, based on the actual turning angle data and the ideal turning angle data, whether the steering wheel of the vehicle is blocked from returning to the center position comprises: Determine the difference between the ideal slope and the actual slope at the same time under turning conditions; When the time during which the difference is greater than the preset slope threshold exceeds the preset time threshold, it is determined that the steering wheel is in a state of being blocked from returning to the center.

5. A method for compensating for obstruction of steering wheel returning to center, characterized in that: The method comprises: According to the method for identifying the obstruction of returning the steering wheel to the center position according to any one of claims 1 to 4, determining whether the steering wheel is in an obstruction state of returning the steering wheel to the center position; When the steering wheel is in a state of being blocked from returning to the center, a compensating torque is applied to eliminate the blocking of the steering wheel from returning to the center.

6. The method according to claim 5, characterized in that Apply compensating torque to eliminate resistance to steering wheel return, including: A compensating torque is applied through at least one of the rear wheel steering system, the driving system and the braking system of the vehicle to eliminate the resistance to returning the steering wheel.

7. The method according to claim 6, characterized in that A compensating torque is applied by the vehicle's rear wheel steering system, including: Determining an adjustment amount of a drive motor of the rear-wheel steering system according to a vehicle speed, a steering wheel angle, a front axle drive torque, and a rear axle drive torque of the vehicle; The drive motor is adjusted according to the adjustment amount of the drive motor to apply the compensation torque.

8. The method according to claim 7, characterized in that The step of determining the adjustment amount of the driving motor of the rear-wheel steering system according to the vehicle speed, the steering wheel angle, the front axle driving torque and the rear axle driving torque comprises: determining a target rear wheel steering angle according to the vehicle speed, steering wheel angle, front axle drive torque and rear axle drive torque of the vehicle; An adjustment amount of the drive motor is determined according to the target steering angle.

9. The method according to claim 8, characterized in that Determining the adjustment amount of the drive motor according to the target steering angle includes: The difference between the target steering angle and the actual rear wheel steering angle is determined, and the adjustment amount of the drive motor is determined according to the difference between the target steering angle and the actual rear wheel steering angle.

10. The method according to claim 6, characterized in that The compensating torque is applied through the vehicle's drive system, including: Determining the driving force of the front axle drive motor and the rear axle drive motor of the drive system according to the vehicle speed, steering wheel angle, accelerator pedal depth and rear wheel real-time steering angle of the vehicle; The front axle drive motor and the rear axle drive motor are adjusted according to the driving forces of the front axle drive motor and the rear axle drive motor of the drive system to apply the compensation torque.

11. The method according to claim 10, characterized in that The method of determining the driving force of the front axle drive motor and the rear axle drive motor of the drive system according to the vehicle speed, the steering wheel angle, the accelerator pedal depth and the real-time rear wheel angle includes: Determining the front and rear wheel torque distribution ratio of the vehicle according to the vehicle speed, steering wheel angle, accelerator pedal depth and rear wheel real-time steering angle; The driving force of the front axle drive motor and the rear axle drive motor of the drive system is determined according to the front and rear wheel torque distribution ratio.

12. The method according to claim 6, characterized in that The compensating torque is applied by the vehicle's braking system, including: Determine the braking force of each wheel of the vehicle according to the vehicle speed, steering wheel angle, brake pedal depth, single wheel braking force and rear wheel real-time steering angle; Braking is performed according to the braking force of each wheel to apply the compensation torque.

13. The method according to claim 12, characterized in that The step of determining the braking force of each wheel of the vehicle according to the vehicle speed, steering wheel angle, brake pedal depth, single wheel braking force and rear wheel real-time steering angle comprises: Determining the braking force on the left side and the right side of the vehicle according to the vehicle speed, the steering wheel angle, the brake pedal depth, the single wheel braking force and the real-time rear wheel angle; The braking force of each wheel is determined according to the braking force of the left side and the right side of the vehicle.

14. The method according to claim 6, characterized in that The method of applying a compensating torque to eliminate the resistance to returning the steering wheel to the center position through at least one of the rear wheel steering system, the driving system and the braking system of the vehicle comprises: When the absolute value is less than or equal to a first angle threshold, applying a compensation torque through the rear-wheel steering system; When the absolute value is greater than a first angle threshold and less than or equal to a second angle threshold, applying a compensation torque through a rear wheel steering system and a drive system; When the absolute value is greater than the second angle threshold, a compensation torque is applied via the rear wheel steering system, the drive system and the brake system.

15. A vehicle comprising a processor and a memory, wherein the memory stores computer instructions, and when the computer instructions are executed by the processor, the steps of the method according to any one of claims 1 to 14 are implemented.

16. A storage medium, characterized in that: Computer instructions are stored thereon, and when the computer instructions are executed by a processor, the steps of the method according to any one of claims 1 to 14 are implemented.

Images