Vehicle control method, device, medium, product, system and equipment

Abstract

The invention provides a vehicle control method and device, a medium, a product, a system and equipment, and the method comprises the steps that when the steering angle of a steering wheel of a vehicle changes, the running speed of the vehicle and the original torque of the steering wheel of the vehicle are obtained; querying a first control parameter for compensating the original torque from a first type of control parameter relation data obtained in advance according to the driving speed; and the original torque is compensated based on the first control parameter, the compensated original torque is obtained, and the vehicle is controlled to execute steering operation according to the compensated original torque. The steering response delay of the vehicle can be reduced, and the steering stability of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, device, medium, product, system and equipment. Background Art

[0002] The vehicle control system can provide assistance for the vehicle's steering. The vehicle control system can be divided into three types: hydraulic, pneumatic and electric. At present, due to the advantages of electric vehicle control systems such as convenient operation, there are a large number of vehicles that use electric vehicle control systems to control the vehicle's steering.

[0003] When using an electric vehicle control system, a large number of control parameters need to be adjusted to obtain the compensation torque used to control the vehicle steering, thereby controlling the vehicle steering. It was found in the implementation that a large number of complex calculations are required during the adjustment of the control parameters, resulting in a large delay in the vehicle's steering response, thereby affecting the stability of the vehicle's steering. Summary of the invention

[0004] Embodiments of the present application provide a vehicle control method, device, medium, product, system and equipment to reduce the steering response delay of the vehicle and improve the steering stability of the vehicle.

[0005] In a first aspect, the present application provides a vehicle control method, comprising:

[0006] When the steering angle of the steering wheel of the vehicle changes, obtaining the driving speed of the vehicle and the original torque of the steering wheel of the vehicle;

[0007] According to the vehicle speed, querying a first control parameter for compensating the original torque from pre-acquired first-type control parameter relationship data;

[0008] The original torque is compensated based on the first control parameter to obtain a compensated original torque, and the vehicle is controlled to perform a steering operation according to the compensated original torque.

[0009] In a second aspect, the present application provides a vehicle control device, comprising:

[0010] An acquisition module, used for acquiring the driving speed of the vehicle and the original torque of the steering wheel of the vehicle when the steering angle of the steering wheel of the vehicle changes;

[0011] A query module, configured to query a first control parameter for compensating the original torque from pre-acquired first-type control parameter relationship data according to the vehicle speed;

[0012] A processing module is used to perform compensation processing on the original torque based on the first control parameter to obtain the compensated original torque, and control the vehicle to perform a steering operation according to the compensated original torque.

[0013] In a possible implementation, the query module is further used to:

[0014] According to the above driving speed, query the above first type of control parameter relationship data;

[0015] When a first calibrated vehicle speed matching the driving speed is found in the first type of control parameter relationship data, the control parameter corresponding to the first calibrated vehicle speed in the first type of control parameter relationship data is determined as the first control parameter for compensating the original torque.

[0016] In a possible implementation, the query module is further used to:

[0017] When no calibrated vehicle speed matching the driving speed is found in the first type of control parameter relationship data, a second calibrated vehicle speed is obtained from the first type of control parameter relationship data; the second calibrated vehicle speed refers to the driving speed with the smallest difference between the driving speed and the first type of control parameter relationship data;

[0018] Acquire a target control parameter corresponding to the second calibrated vehicle speed from the first type of control parameter relationship data;

[0019] According to the second calibrated vehicle speed and the driving vehicle speed, a linear operation is performed on the target control parameter to obtain a first control parameter for compensating the original torque.

[0020] In a possible implementation manner, the processing module is further used to:

[0021] The numerator coefficient and the denominator coefficient are enlarged and rounded to obtain a processed numerator coefficient and a processed denominator coefficient;

[0022] According to the difference between the processed numerator coefficient and the processed denominator coefficient, the processed numerator coefficient and the processed denominator coefficient are balanced to obtain a balanced numerator coefficient and a balanced denominator coefficient;

[0023] The original torque is compensated according to the balanced numerator coefficient, the balanced denominator coefficient and the lead-lag filter function to obtain the compensated original torque.

[0024] In a possible implementation manner, the first control parameter includes a numerator coefficient and a denominator coefficient of a lead-lag filter function; and the processing module is further configured to:

[0025] Accumulate and sum each coefficient in the numerator coefficient after the above processing to obtain a first coefficient sum;

[0026] Accumulate and sum each coefficient in the denominator coefficient after the above processing to obtain a second coefficient sum;

[0027] Performing a difference processing on the first coefficient sum and the second coefficient sum to obtain a difference between the processed numerator coefficient and the processed denominator coefficient;

[0028] If the above difference is greater than zero, the denominator coefficient after the above processing is balanced according to the above difference to obtain the balanced denominator coefficient; the numerator coefficient after the above processing is determined as the balanced numerator coefficient.

[0029] In a possible implementation manner, the processing module is further used to:

[0030] If the above difference is less than zero, the above processed numerator coefficient is balanced according to the above difference to obtain the balanced numerator coefficient; the above processed denominator coefficient is determined as the balanced denominator coefficient.

[0031] In a possible implementation manner, the processing module is further used to:

[0032] If the above difference is equal to zero, the denominator coefficient after the above processing is determined as the numerator coefficient after the balance, and the numerator coefficient after the above processing is determined as the denominator coefficient after the balance.

[0033] In a possible implementation manner, the lead-lag filter function is an N-order lead-lag filter function, and the processed denominator coefficient includes a constant term denominator coefficient and N non-constant term denominator coefficients, where N is a positive integer;

[0034] The above processing module is also used for:

[0035] If the difference is greater than zero, N is divided by the difference to obtain a first remainder and a first quotient;

[0036] The first quotient value and the N non-constant term denominator coefficients are summed up respectively to obtain N initial denominator coefficients;

[0037] If the first remainder is equal to zero, the constant term denominator coefficient and the N initial denominator coefficients are determined as the balanced denominator coefficients.

[0038] In a possible implementation manner, the processing module is further used to:

[0039] If the first remainder is not equal to zero, and the N initial denominator coefficients are not equal, then M initial denominator coefficients are selected from the N initial denominator coefficients; the M initial denominator coefficients are coefficients of the N initial denominator coefficients that are greater than the first remaining denominator coefficient; the first remaining denominator coefficient is the coefficient of the N initial denominator coefficients other than the M denominator coefficients; M is the first remainder;

[0040] Increase the above M initial denominator coefficients by one respectively to obtain M increased initial denominator coefficients;

[0041] The M increased initial denominator coefficients, the first remaining denominator coefficient and the constant term denominator coefficient are determined as the balanced denominator coefficients.

[0042] In a possible implementation manner, the processing module is further used to:

[0043] If the first remainder is not equal to zero, and the N initial denominator coefficients are all equal, the first remainder and the target denominator coefficient are summed to obtain a processed target denominator coefficient; the target denominator coefficient is any initial denominator coefficient among the N initial denominator coefficients;

[0044] The target denominator coefficient, the second remaining denominator coefficient and the constant term denominator coefficient after the above processing are determined as the balanced denominator coefficient; the second remaining denominator coefficient is the coefficient of the N initial denominator coefficients other than the target denominator coefficient.

[0045] In a possible implementation, the lead-lag filter function is an N-order lead-lag filter function, the processed numerator coefficients include N+1 processed numerator coefficients; and the processing module is further used for:

[0046] If the difference is less than zero, N+1 is divided by the difference to obtain a second remainder and a second quotient;

[0047] The second quotient and the N+1 processed numerator coefficients are summed up respectively to obtain N+1 initial numerator coefficients;

[0048] If the second remainder is equal to zero, the N+1 initial numerator coefficients are determined as the balanced numerator coefficients.

[0049] In a possible implementation manner, the processing module is further used to:

[0050] If the second remainder is not equal to zero, and the N+1 initial numerator coefficients are not equal, K initial numerator coefficients are selected from the N+1 initial numerator coefficients; the K initial numerator coefficients are coefficients of the N+1 initial numerator coefficients that are greater than the first remaining initial numerator coefficients; the first remaining initial numerator coefficients are coefficients of the N+1 initial numerator coefficients other than the K numerator coefficients; K is the second remainder;

[0051] Increase the above K initial numerator coefficients by one respectively to obtain K increased initial numerator coefficients;

[0052] The K increased initial numerator coefficients and the first remaining initial numerator coefficient are determined as the balanced numerator coefficients.

[0053] In a possible implementation manner, the processing module is further used to:

[0054] If the second remainder is not equal to zero, and the N+1 initial molecular coefficients are all equal, the second remainder and the target molecular coefficient are summed to obtain the processed target molecular coefficient; the target molecular coefficient is any initial molecular coefficient among the N+1 initial molecular coefficients;

[0055] The target molecular coefficient after the above processing and the second remaining molecular coefficient are determined as the molecular coefficient after the balance; the second remaining molecular coefficient is the coefficient of the N+1 initial molecular coefficients except the target molecular coefficient.

[0056] In a possible implementation manner, the processing module is further used to:

[0057] According to the minimum coefficient of the numerator coefficient and the denominator coefficient, determine the magnification factor required to magnify the minimum coefficient to the target integer;

[0058] According to the above magnification factor, the above numerator coefficient and the above denominator coefficient are magnified and rounded to obtain a processed numerator coefficient and a processed denominator coefficient.

[0059] In a possible implementation manner, the processing module is further used to:

[0060] Determine a reduction factor according to the magnification factor, and perform reduction processing on the balanced numerator coefficient and the balanced denominator coefficient according to the reduction factor to obtain a reduced numerator coefficient and a reduced denominator coefficient;

[0061] The original torque is compensated according to the reduced numerator coefficient, the reduced numerator coefficient and the lead-lag filter function to obtain the compensated original torque.

[0062] In a possible implementation manner, the processing module is further used to:

[0063] In the process of controlling the vehicle to perform a steering operation according to the compensated original torque, obtaining a performance parameter of the vehicle;

[0064] If the performance parameter of the vehicle does not meet the performance requirement, querying a second control parameter for compensating the original torque from the pre-obtained second type of control parameter relationship data according to the vehicle speed;

[0065] The original torque is recompensed based on the second control parameter to obtain a recompensed original torque, and the vehicle is controlled to perform a steering operation according to the recompensed original torque.

[0066] In a third aspect, the present application further provides a computer-readable storage medium, which stores a computer program or computer instructions, and the aforementioned computer program or computer instructions are executed by a processor to implement any of the aforementioned methods of the above-mentioned first aspect.

[0067] In a fourth aspect, the present application further provides a computer program product. When the computer program product is executed by a processor, any of the aforementioned methods in the above-mentioned first aspect will be executed.

[0068] In a fifth aspect, the present application also provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0069] In a sixth aspect, the present application also provides a vehicle, which includes the electronic device as described in the fifth aspect.

[0070] In the embodiment of the present application, the first type of control parameter relationship data can be obtained by pre-calibration, and the first type of control parameter relationship data reflects the control parameters corresponding to different driving speeds, and the control parameters corresponding to different driving speeds can enable the vehicle to achieve a better steering control effect. Therefore, when the steering angle of the steering wheel of the vehicle changes, the first control parameter corresponding to the driving speed can be directly queried from the first type of control parameter relationship data according to the driving speed of the vehicle at this time, and the original torque of the steering wheel of the vehicle is compensated based on the first control parameter to obtain the compensated original torque, and the vehicle is controlled to perform steering operations according to the compensated original torque. It can be seen that in the process of steering control of the vehicle, there is no need to adjust the control parameters, that is, there is no need to perform a large number of complex calculations, which can reduce the steering response delay of the vehicle, thereby improving the steering stability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the technical solutions in the implementation modes of the present application, the drawings required for use in the implementation modes will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0072] Figure 1 A schematic diagram of a vehicle control system provided in an embodiment of the present application;

[0073] Figure 2 A schematic diagram of a process flow of a vehicle control method provided in an embodiment of the present application;

[0074] Figure 3 Another schematic diagram of a vehicle control method according to an embodiment of the present application;

[0075] Figure 4 Another schematic diagram of a vehicle control method according to an embodiment of the present application;

[0076] Figure 5 Another schematic diagram of a vehicle control method according to an embodiment of the present application;

[0077] Figure 6 Another schematic diagram of a vehicle control method according to an embodiment of the present application;

[0078] Figure 7 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0079] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0080] The following are detailed descriptions of each.

[0081] The terms "first", "second", "third" and "fourth" etc. in the specification and claims of the present application and the drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0082] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0083] first, Figure 1 A schematic diagram of a vehicle control system provided in an embodiment of the present application, which can be used to implement the vehicle control method in the present application. The vehicle control system can include a vehicle speed table lookup module 113, an amplification and rounding module 114, a coefficient balancing module 115, and a calculation module 116.

[0084] It should be noted that the vehicle control system can obtain the driving speed; the driving speed is detected in real time by the vehicle speed sensor in the vehicle when the steering angle of the vehicle's steering wheel changes. The power steering system can also obtain the original torque of the steering wheel; the original torque is detected by the vehicle's torque sensor when the steering angle of the vehicle's steering wheel changes.

[0085] Among them, the vehicle speed table lookup module 113 can be used to obtain the driving speed from the vehicle speed sensor, and query the first control parameter corresponding to the driving speed (i.e., the numerator coefficient and denominator coefficient of the lead-lag filter function) from the pre-acquired first type of control parameter relationship data.

[0086] The amplification and rounding module 114 can be used to obtain the numerator coefficient and the denominator coefficient sent by the vehicle speed table lookup module 113, and perform amplification and rounding processing on the numerator coefficient and the denominator coefficient to obtain the processed numerator coefficient and the processed denominator coefficient.

[0087] The coefficient balancing module 115 may be used to balance the processed numerator coefficient and the processed denominator coefficient to obtain a balanced numerator coefficient and a balanced denominator coefficient.

[0088] Among them, the operation module 116 can be used to receive the original torque sent by the coefficient balancing module 115, obtain the balanced numerator coefficient and the balanced denominator coefficient, and input the original torque, the balanced numerator coefficient and the balanced denominator coefficient into the lead-lag filter function to obtain the compensated original torque.

[0089] In some possible implementations, such as Figure 1 As shown, during the driving process of the vehicle, the torque sensor of the vehicle can detect the steering angle of the steering wheel of the vehicle. When the steering angle of the steering wheel of the vehicle is detected to change, it indicates that the driver has turned the steering wheel of the vehicle. The speed sensor in the vehicle can obtain the driving speed 111 of the vehicle, and the torque sensor in the vehicle can obtain the original torque 112 of the steering wheel of the vehicle. When the above-mentioned speed table lookup module 113 detects that the steering angle of the steering wheel of the vehicle changes, the speed table lookup module 113 obtains the driving speed 111 from the speed sensor and the original torque 112 from the torque sensor; and queries the first control parameter corresponding to the driving speed (i.e., the numerator coefficient and denominator coefficient of the lead-lag filter function) from the first type of control parameter relationship data obtained in advance; and sends the original torque 112, the numerator coefficient and the denominator coefficient to the amplification and rounding module 114.

[0090] Furthermore, the above-mentioned amplification and rounding module 114 receives the original torque 112, numerator coefficient and denominator coefficient sent by the vehicle speed lookup module 113; amplifies and rounds the numerator coefficient and denominator coefficient to obtain the processed numerator coefficient and the processed denominator coefficient; and sends the original torque 112, the processed numerator coefficient and the processed denominator coefficient to the coefficient balancing module 115; the above-mentioned coefficient balancing module 115 receives the original torque 112, the processed numerator coefficient and the processed denominator coefficient sent by the amplification and rounding module 114; performs difference processing on the processed numerator coefficient and the processed denominator coefficient to obtain the difference; based on the difference, performs balance processing on the above-mentioned processed numerator coefficient and the processed denominator coefficient to obtain the balanced numerator coefficient and the balanced denominator coefficient; and sends the original torque 112, the balanced numerator coefficient and the balanced denominator coefficient to the operation module 116. After receiving the original torque 112, the trimmed numerator coefficient and the trimmed denominator coefficient, the operation module 116 inputs the original torque 112, the trimmed numerator coefficient and the trimmed denominator coefficient into the lead-lag filter function to obtain the compensated original torque 117. The power steering system can control the vehicle to perform a steering operation according to the compensated original torque 117.

[0091] It should be noted that the lead-lag filter function may include an N-order lead-lag filter function, which may refer to a first-order lead-lag filter function, a second-order lead-lag filter function, a third-order lead-lag filter function, and the like. Among them, the number of coefficients in the N-order lead-lag filter function is related to the order of the lead-lag filter function; at the same time, the accuracy of the compensated original torque calculated by the N-order lead-lag filter function and the amount of calculation in the process of obtaining the compensated original torque are related to the order of the lead-lag filter function. That is, the higher the order of the lead-lag filter function, the more the number of coefficients in the lead-lag filter function, the higher the accuracy of the calculated compensated original torque, and the larger the amount of calculation in the process of obtaining the compensated original torque. On the contrary, the lower the order of the lead-lag filter function, the fewer the number of coefficients in the lead-lag filter function, the lower the accuracy of the calculated compensated original torque, and the smaller the amount of calculation in the process of obtaining the compensated original torque.

[0092] In actual applications, the vehicle control device can determine the order of the lead-lag filter function based on at least one of the vehicle's computing resources, computing speed, and vehicle accuracy requirements; if the vehicle's computing resources are relatively sufficient and the computing speed is relatively fast, a first-order lead-lag filter function can be selected as the function to compensate for the original torque; if the vehicle's computing resources are relatively scarce and the computing speed is relatively slow, a second-order lead-lag filter function can be selected as the function to compensate for the original torque; the second order is smaller than the first order.

[0093] Among them, the vehicle control device may refer to an electronic device deployed in the vehicle and having the above-mentioned vehicle control system, which can be used to assist the vehicle's steering wheel to achieve steering control of the vehicle.

[0094] Among them, the N-order lead-lag filter function includes 1 constant term denominator coefficient, N non-constant term denominator coefficients, 1 constant term numerator coefficient and N non-constant term numerator coefficients; the constant term denominator coefficient and the constant term numerator coefficient may refer to the coefficient of the zero-order variable in the N-order lead-lag filter function, that is, the constant term denominator coefficient refers to the coefficient of the zero-order variable in the denominator of the N-order lead-lag filter function; the constant term numerator coefficient refers to the coefficient of the zero-order variable in the numerator of the N-order lead-lag filter function. The N non-constant term denominator coefficients and the N non-constant term numerator coefficients refer to the coefficients of the non-zero-order variable in the N-order lead-lag filter function, that is, the N non-constant term denominator coefficients are the coefficients of the non-zero-order variable in the denominator of the N-order lead-lag filter function, and the N non-constant term numerator coefficients are the coefficients of the non-zero-order variable in the numerator of the N-order lead-lag filter function.

[0095] For example, a first-order lead-lag filter function includes 1 constant term denominator coefficient, 1 non-constant term denominator coefficient, 1 constant term numerator coefficient, and 1 non-constant term numerator coefficient; a second-order lead-lag filter function includes 1 constant term denominator coefficient, 2 non-constant term denominator coefficients, 1 constant term numerator coefficient, and 2 non-constant term numerator coefficients.

[0096] In an embodiment of the present application, the vehicle control system may first use a second-order lead-lag filter function to compensate the original torque. The control parameters in the first type of control parameter relationship data in the present application may refer to the numerator coefficient and denominator coefficient of the second-order lead-lag filter function; the control parameters in the second type of control parameter relationship data may refer to the numerator coefficient and denominator coefficient of the lead-lag filter function with an order greater than the second order.

[0097] The embodiment of the present application provides a vehicle control method, which can be executed by a vehicle control device. The above-mentioned vehicle control system includes the vehicle control device. Figure 2 , Figure 2 A flow chart of a vehicle control method provided by the present application. The method comprises:

[0098] S101. When the steering angle of the steering wheel of the vehicle changes, obtain the driving speed of the vehicle and the original torque of the steering wheel of the vehicle.

[0099] It should be noted that the above-mentioned driving speed can be obtained by detecting the vehicle speed sensing device in the vehicle when the steering angle of the steering wheel of the vehicle changes; the original torque can be obtained by detecting the torque sensing device when the steering angle of the steering wheel of the vehicle changes.

[0100] It is understandable that during the driving process of a vehicle with power steering function, when it is detected that the driver of the vehicle turns the steering wheel, the vehicle control device needs to compensate the original torque of the steering wheel. The vehicle control device can use a lead-lag filter function to perform vehicle control operations, but since the control parameters in the lead-lag filter function vary under different driving speeds and different original torques, in order to obtain accurate control parameters of the lead-lag filter function, when it is detected that the steering angle of the steering wheel of the vehicle changes, the vehicle control device can obtain the driving speed of the vehicle and the original torque of the steering wheel of the vehicle.

[0101] S102 : According to the vehicle speed, query a first control parameter for compensating the original torque from pre-acquired first-type control parameter relationship data.

[0102] It should be noted that the first type of control parameter relationship data includes N calibrated vehicle speeds and control parameters corresponding to the N calibrated vehicle speeds. The control parameters refer to the parameters of the lead-lag filter function that can make the stability of the vehicle's overtime lag steering control greater than the stability threshold when the vehicle reaches the corresponding calibrated vehicle speed; the stability threshold can be determined according to the type of vehicle, or the stability threshold can be set according to user needs. Different types of vehicles can correspond to different control parameter relationship data.

[0103] It is understandable that at different driving speeds, the steering ratio between the steering wheel of the vehicle and the wheels of the vehicle is different, that is, the ratio of the steering wheel twist angle to the wheel steering angle is different. When the driving speed is lower, the ratio of the steering wheel twist angle to the wheel steering angle is smaller; when the driving speed is higher, the ratio of the steering wheel twist angle to the wheel steering angle is larger. Therefore, at different driving speeds, when the vehicle control device controls the vehicle to perform a steering operation, the control parameters of the lead-lag filter function used are different. In order to obtain more accurate control parameters of the lead-lag filter function, N calibrated vehicle speeds can be selected. At any calibrated vehicle speed, when the angle of the vehicle's steering wheel is detected to change, a set of candidate control parameters are used to calculate the vehicle's compensation torque, and the vehicle is controlled to perform a steering operation under the compensation torque to obtain the vehicle's stability during the steering operation. When the stability is greater than the stability threshold, the candidate control parameters are used as the control parameters corresponding to the calibrated vehicle speed and added to the first type of control parameter relationship data; until the control parameters corresponding to the N calibrated vehicle speeds are added to the first type of control parameter relationship data, the first type of control parameter relationship data is obtained. By pre-calibrating the control parameters, it is avoided to adjust the control parameters during the vehicle's steering process, that is, it is avoided to perform a large number of complex calculations during the vehicle's steering process, and the vehicle's steering response delay is reduced.

[0104] It can be understood that during the driving process of the vehicle, when it is detected that the driver of the vehicle turns the steering wheel, the vehicle control device obtains the current driving speed and original torque of the vehicle. The vehicle control device can obtain the first control parameter of the lead-lag filter function that compensates for the original torque at the driving speed based on the driving speed, N calibrated speeds in the first type of control parameter relationship data, and the control parameters corresponding to the N calibrated speeds.

[0105] S103 . Compensate the original torque based on the first control parameter to obtain a compensated original torque, and control the vehicle to perform a steering operation according to the compensated original torque.

[0106] It is understandable that after obtaining the first control parameter, the vehicle control device can input the first control parameter into the lead-lag filter function, and calculate the compensated original torque according to the lead-lag filter function, and the compensated original torque is the torque that can be used to twist the wheels of the vehicle. Therefore, the vehicle control device controls the vehicle to perform a steering operation according to the compensated original torque to improve the steering stability of the vehicle. The steering operation may refer to the wheels of the vehicle performing a steering operation.

[0107] In the embodiment of the present application, the first type of control parameter relationship data can be obtained by pre-calibration, and the first type of control parameter relationship data reflects the control parameters corresponding to different driving speeds, and the control parameters corresponding to different driving speeds can enable the vehicle to achieve a better steering control effect. Therefore, when the steering angle of the steering wheel of the vehicle changes, the first control parameter corresponding to the driving speed can be directly queried from the first type of control parameter relationship data according to the driving speed of the vehicle at this time, and the original torque of the steering wheel of the vehicle is compensated based on the first control parameter to obtain the compensated original torque, and the vehicle is controlled to perform steering operations according to the compensated original torque. It can be seen that in the process of steering control of the vehicle, there is no need to adjust the control parameters, that is, there is no need to perform a large number of complex calculations, which can reduce the steering response delay of the vehicle, thereby improving the steering stability of the vehicle.

[0108] The present application embodiment provides another vehicle control method, which can be executed by a vehicle control device. Figure 3 , Figure 3 Another flowchart of the vehicle control method provided in this application.

[0109] S201. When the steering angle of the steering wheel of the vehicle changes, obtain the driving speed of the vehicle and the original torque of the steering wheel of the vehicle.

[0110] S202: According to the vehicle speed, query a first control parameter for compensating the original torque from pre-acquired first-type control parameter relationship data.

[0111] In a possible implementation, the numerator coefficient and denominator coefficient of the lead-lag filter function for compensating the original torque are queried from the first type of control parameter relationship data according to the vehicle speed, including: querying the first type of control parameter relationship data according to the vehicle speed; when a first calibrated vehicle speed matching the vehicle speed is found in the first type of control parameter relationship data, determining the control parameter corresponding to the first calibrated vehicle speed in the first type of control parameter relationship data as the first control parameter for compensating the original torque.

[0112] It should be noted that the first calibrated vehicle speed may refer to a calibrated vehicle speed equal to the driving vehicle speed in the first type of control parameter relationship data, or the first calibrated vehicle speed may refer to a calibrated vehicle speed in the first type of control parameter relationship data whose difference with the driving vehicle speed is less than or equal to a difference threshold. The difference threshold may be set by the vehicle control device.

[0113] It is understandable that after obtaining the vehicle's driving speed and original torque, in order to obtain the numerator coefficient and denominator coefficient of the lead-lag filter function that can achieve a better compensation effect at the driving speed, the vehicle control device can query the calibrated vehicle speed equal to the driving speed from the N calibrated vehicle speeds in the first type of control parameter relationship data according to the driving speed. When the calibrated vehicle speed equal to the driving speed is queried, the calibrated vehicle speed equal to the driving speed is determined as the first calibrated vehicle speed. The control parameter corresponding to the first calibrated vehicle speed is determined as the first control parameter for compensating the above original torque. When the calibrated vehicle speed equal to the driving speed is not queried, the N differences between the driving speed and the N calibrated vehicle speeds are determined respectively, and the first difference less than or equal to the difference threshold is screened out from the N differences, and the calibrated vehicle speed corresponding to the first difference is determined as the first calibrated vehicle speed; the control parameter corresponding to the first calibrated vehicle speed is determined as the first control parameter for compensating the above original torque.

[0114] In a possible implementation, the method further includes: when a calibrated vehicle speed matching the driving speed is not found in the first type of control parameter relationship data, obtaining a second calibrated vehicle speed from the first type of control parameter relationship data; the second calibrated vehicle speed refers to the calibrated vehicle speed with the smallest difference between the driving speed and the speed recorded in the first type of control parameter relationship data; obtaining a target control parameter corresponding to the second calibrated vehicle speed from the first type of control parameter relationship data; and performing a linear operation on the target control parameter based on the second calibrated vehicle speed and the driving speed to obtain a first control parameter for compensating for the original torque.

[0115] It should be noted that the above linear operation may refer to a linear point-slope difference operation.

[0116] It can be understood that when there is no calibrated speed equal to the driving speed among the N calibrated speeds, or when there is no calibrated speed whose difference with the driving speed is less than or equal to the difference threshold among the N calibrated speeds, it indicates that no calibrated speed matching the driving speed is found in the first type of control parameter relationship data. Therefore, in order to obtain the numerator coefficient and denominator coefficient of the lead-lag filter function that can achieve a better compensation effect at the driving speed, the speed difference between the N calibrated speeds in the first type of control parameter relationship data and the driving speed is determined; the calibrated speed corresponding to the minimum speed difference among the speed differences is determined as the second calibrated speed. The target control parameter corresponding to the second calibrated speed is obtained from the first type of control parameter relationship data; a point-slope function is established based on the second calibrated speed and the target control parameter, and the driving speed is input into the point-slope function to obtain the first control parameter for compensating the original torque. Through the first type of control parameter relationship data, control parameters adapted to the driving speed can be obtained from the first type of control parameter relationship data, which is conducive to enabling the vehicle control system to adjust the steering wheel torque at different driving speeds.

[0117] S203, enlarging and rounding the numerator coefficient and the denominator coefficient to obtain a processed numerator coefficient and a processed denominator coefficient.

[0118] It should be noted that the first control parameter includes the numerator coefficient and denominator coefficient of the lead-lag filter function; the above-mentioned amplification and rounding processing may refer to amplifying the numerator coefficient and the denominator coefficient by a certain multiple at the same time, so that the number of digits after the decimal point of the numerator coefficient and the number of digits after the decimal point of the denominator coefficient are reduced, and the amplified numerator coefficient and the amplified denominator coefficient are rounded, that is, the number of digits after the decimal point is omitted to obtain the processed numerator coefficient and the processed denominator coefficient.

[0119] It is understandable that, since the coefficients of the lead-lag filter function in the present application are small and are all decimal values; the number of decimal places is too large in the process of operation, which will lead to a longer operation time. Therefore, when the steering wheel rotates quickly, the number of decimal places in the lead-lag filter function is not fast enough, which may lead to untimely adjustment response of the vehicle control, thereby affecting the stability of the wheel steering and the comfort of the vehicle in use. To avoid this situation, the numerator coefficient and the denominator coefficient need to be processed. Specifically, due to the large number of decimal places, the numerator coefficient and the denominator coefficient can be simultaneously amplified by a certain multiple, so that the number of decimal places is reduced, and the amplified numerator coefficient and the amplified denominator coefficient are obtained. If there are still decimal places in the amplified numerator coefficient and the amplified denominator coefficient after the amplification process, the decimal places in the amplified numerator coefficient and the amplified denominator coefficient are removed to obtain the processed numerator coefficient and the processed denominator coefficient. By amplifying and rounding, the situation in which the vehicle's steering response is not timely due to the excessive amount of calculation of the lead-lag filter function during the vehicle steering process can be avoided, the amount of calculation during the vehicle steering process can be reduced, and the vehicle's steering stability can be improved.

[0120] In a possible implementation, the above-mentioned enlarging and rounding the above-mentioned numerator coefficient and the above-mentioned denominator coefficient to obtain a processed numerator coefficient and a processed denominator coefficient includes: determining, according to the minimum coefficient among the above-mentioned numerator coefficient and the above-mentioned denominator coefficient, the magnification factor required to enlarge the above-mentioned minimum coefficient to a target integer; according to the above-mentioned magnification factor, enlarging and rounding the above-mentioned numerator coefficient and the above-mentioned denominator coefficient to obtain a processed numerator coefficient and a processed denominator coefficient.

[0121] It should be noted that the above-mentioned minimum coefficient may refer to the coefficient with the smallest value among the above-mentioned numerator coefficient and the above-mentioned denominator coefficient; the target integer may be a fixed value set in the vehicle control device, or it may also refer to the value after removing the decimal point in the minimum coefficient.

[0122] It is understandable that the above-mentioned numerator coefficient and the above-mentioned denominator coefficient are compared in numerical value, and the coefficient with the smallest numerical value is screened out and determined as the minimum coefficient. If the target integer is set by the vehicle control device, after obtaining the minimum coefficient, the multiple (i.e., the magnification factor) required to magnify the minimum coefficient to the target integer is determined according to the above-mentioned target integer. According to the magnification factor, the numerator coefficient and the denominator coefficient are magnified to obtain the magnified numerator coefficient and the magnified denominator coefficient. At this time, there may be coefficients with decimal points in the magnified numerator coefficient and the magnified denominator coefficient. In order to ensure the efficiency of the operation speed, the magnified numerator coefficient and the magnified denominator coefficient can be rounded, that is, the digits after the decimal point in the magnified numerator coefficient and the magnified denominator coefficient are removed to obtain the processed numerator coefficient and the processed denominator coefficient.

[0123] For example, the minimum coefficient is 0.05621, and the vehicle control device sets the target integer to a three-digit integer. Since the minimum integer needs to be enlarged to a three-digit number by 1000 times, the magnification factor is 1000 times. According to the above magnification factor, the above numerator coefficient and the above denominator coefficient are both magnified by 1000 times to obtain the enlarged numerator coefficient and the enlarged denominator coefficient. The digits after the decimal point of the enlarged numerator coefficient are removed to obtain the processed numerator coefficient; the digits after the decimal point of the enlarged denominator coefficient are removed to obtain the processed denominator coefficient.

[0124] S204. Balancing the processed numerator coefficient and the processed denominator coefficient according to the difference between the processed numerator coefficient and the processed denominator coefficient to obtain a balanced numerator coefficient and a balanced denominator coefficient.

[0125] It should be noted that the above balancing process may refer to allocating the difference between the sum of coefficients in the processed numerator coefficient and the sum of coefficients in the processed denominator coefficient to the coefficient sum with a smaller value in the above coefficient sum.

[0126] It can be understood that, since the coefficient sum of the numerator coefficient in the lead-lag filter function is equal to the coefficient sum of the denominator coefficient, the coefficient sum of the numerator coefficient after the numerator coefficient and the denominator coefficient may not be equal to the coefficient sum of the denominator coefficient after the numerator coefficient and the denominator coefficient are enlarged and rounded. In order to make the coefficient sum of the numerator coefficient after the processing equal to the coefficient sum of the denominator coefficient, and reduce the error in the lead-lag filter function; the coefficient sum in the processed numerator coefficient and the coefficient sum in the processed denominator coefficient are subjected to difference processing to obtain the difference, and in order to make the numerator coefficient sum equal to the denominator coefficient sum, the difference is distributed to the coefficient with a smaller coefficient sum, and the balanced numerator coefficient and the balanced denominator coefficient are obtained. Automatically balancing the processed numerator coefficient and denominator coefficient can not only avoid the occurrence of adverse effects on the steering control effect, but also ensure the accuracy of the lead-lag adjustment, that is, the accuracy of the steering control of the vehicle can be ensured.

[0127] In a possible implementation, each coefficient in the processed numerator coefficient is accumulated and summed to obtain a first coefficient sum; each coefficient in the processed denominator coefficient is accumulated and summed to obtain a second coefficient sum; the first coefficient sum and the second coefficient sum are differenced to obtain the difference between the processed numerator coefficient and the processed denominator coefficient; if the difference is greater than zero, the processed denominator coefficient is balanced according to the difference to obtain a balanced denominator coefficient; the processed numerator coefficient is determined as the balanced numerator coefficient.

[0128] It can be understood that the vehicle control device accumulates the processed numerator coefficients in sequence to obtain the accumulated result of the processed numerator coefficients, which is confirmed as the first coefficient sum; the processed denominator coefficients are accumulated in sequence to obtain the accumulated result of the processed denominator coefficients, which is confirmed as the second coefficient sum; the first coefficient sum is subtracted from the second coefficient sum to obtain the difference between the first coefficient sum and the second coefficient sum, that is, the difference between the processed numerator coefficient and the processed denominator coefficient. If the difference between the processed numerator coefficient and the processed denominator coefficient is greater than zero, it indicates that the first coefficient sum is greater than the second coefficient sum. However, when the numerator coefficient sum is equal to the denominator coefficient sum, the vehicle control device has a higher accuracy in the lead-lag adjustment through the lead-lag filter function, that is, it can improve the accuracy of the steering control of the vehicle. Therefore, the difference can be added to the processed denominator coefficient, that is, the processed denominator coefficient is balanced according to the difference to obtain the balanced denominator coefficient; the processed numerator coefficient is determined as the balanced numerator coefficient. Through balancing processing, the processed numerator coefficient and the processed denominator coefficient are made equal, thereby improving the compensation effect of the lead-lag filter function.

[0129] In a possible implementation, the method further includes: if the difference is less than zero, balancing the processed numerator coefficient according to the difference to obtain a balanced numerator coefficient; and determining the processed denominator coefficient as the balanced denominator coefficient.

[0130] It can be understood that if the difference between the processed numerator coefficient and the processed denominator coefficient is less than zero, it indicates that the sum of the first coefficient is less than the sum of the second coefficient; therefore, the difference can be added to the processed numerator coefficient, that is, the processed numerator coefficient is balanced according to the difference to obtain the balanced numerator coefficient; the processed denominator coefficient is determined as the balanced denominator coefficient. Through the balancing process, the processed numerator coefficient is equal to the processed denominator coefficient, thereby improving the compensation effect of the lead-lag filter function.

[0131] In a possible implementation, the method further includes: if the difference is equal to zero, determining the processed denominator coefficient as the balanced numerator coefficient, and determining the processed numerator coefficient as the balanced denominator coefficient.

[0132] It can be understood that if the difference between the processed numerator coefficient and the processed denominator coefficient is equal to zero, it indicates that the sum of the first coefficient is equal to the sum of the second coefficient; therefore, it is not necessary to balance the processed numerator coefficient and the processed denominator coefficient, and directly determine the processed denominator coefficient as the balanced numerator coefficient, and the processed numerator coefficient as the balanced denominator coefficient.

[0133] For example, in the implementation, Figure 4 Another flow chart of the vehicle control method provided in the embodiment of the present application. Figure 4 As shown, the vehicle control method in the present application may include steps s41 to s49. s41. According to the first type of control parameter relationship data, the numerator coefficient and the denominator coefficient are obtained; that is, according to the driving speed, the numerator coefficient and the denominator coefficient of the lead-lag filter function for compensating the original torque can be queried from the first type of control parameter relationship data. s42. The numerator coefficient and the denominator coefficient are enlarged and rounded; that is, the numerator coefficient and the denominator coefficient are enlarged at the same time, and the enlarged numerator coefficient and the enlarged denominator coefficient are rounded to obtain the processed numerator coefficient and the processed denominator coefficient. s43. The difference between the processed numerator coefficient and the processed denominator coefficient is obtained; the processed numerator coefficient is cumulatively summed to obtain the first coefficient sum; the processed denominator coefficient is cumulatively summed to obtain the second coefficient sum; the first coefficient sum and the second coefficient sum are differenced to obtain the difference between the processed numerator coefficient and the processed denominator coefficient. s44. Is the difference greater than 0? If so, execute step s45; if not, execute step s46.

[0134] Further, s45, balance the processed denominator coefficient; when the difference is greater than 0, indicating that the sum of the first coefficient is greater than the sum of the second coefficient, the processed denominator coefficient can be balanced according to the difference to obtain the balanced denominator coefficient; at the same time, the processed numerator coefficient can be directly determined as the balanced numerator coefficient. s46, whether the difference is less than 0, if not, execute step s47; if so, execute step s48. s47, no balancing is performed; if the difference is not greater than 0, and the difference is not less than 0, then the difference is 0; at this time, the above-mentioned sum of the first coefficient is equal to the sum of the second coefficient, and there is no need to balance the processed numerator coefficient and the processed denominator coefficient, directly determine the processed numerator coefficient as the balanced numerator coefficient, and determine the processed denominator coefficient as the balanced denominator coefficient. s48. Perform trimming processing on the processed numerator coefficient; when the difference is less than 0, indicating that the sum of the first coefficient is less than the sum of the second coefficient, the processed numerator coefficient can be trimmed according to the difference to obtain the trimmed numerator coefficient; at the same time, the processed denominator coefficient can be directly determined as the trimmed denominator coefficient. s49. Perform compensation processing on the original torque according to the lead-lag filter function to obtain the compensated original torque; input the original torque, the above-mentioned trimmed denominator coefficient and the trimmed numerator coefficient into the lead-lag filter function; calculate the compensated original torque according to the lead-lag filter function, and control the vehicle to perform steering operations according to the compensated original torque.

[0135] In one possible implementation, the lead-lag filter function is an N-order lead-lag filter function, and the processed denominator coefficient includes a constant term denominator coefficient and N non-constant term denominator coefficients, where N is a positive integer; if the difference is greater than zero, the processed denominator coefficient is balanced according to the difference to obtain the balanced denominator coefficient, including: if the difference is greater than zero, dividing N by the difference to obtain a first remainder and a first quotient; summing the first quotient and the N non-constant term denominator coefficients respectively to obtain N initial denominator coefficients; if the first remainder is equal to zero, the constant term denominator coefficient and the N initial denominator coefficients are determined as the balanced denominator coefficient.

[0136] It should be noted that the lead-lag filter function may be an N-order lead-lag filter function, which may include a second-order lead-lag filter function, a third-order lead-lag filter function, etc. The constant term denominator coefficient is a fixed value in the lead-lag filter function, and the constant term denominator coefficient does not need to participate in the balancing process. Therefore, when the denominator coefficient is balanced, only the N non-constant term denominator coefficients are balanced.

[0137] It can be understood that when the above difference is greater than zero, in order to reduce the error caused by the difference, the difference needs to be divided as much as possible into the N non-constant term denominator coefficients. The difference is used to divide N, that is, the difference is used as the dividend and N is the divisor, and the remainder division operation is performed to obtain the first quotient and the first remainder. The first quotient is added to the N non-constant term denominator coefficients respectively to obtain N initial denominator coefficients; at this time, only the first remainder in the difference is not evenly divided into the N initial denominator coefficients. Since the difference may be divisible by N, that is, the first remainder may be zero. Therefore, when the first remainder is zero, it indicates that the difference has been evenly divided into the N initial denominator coefficients, and the constant term denominator coefficient and the N initial denominator coefficients are determined as the balanced denominator coefficient. The difference between the sum of the numerator coefficients and the sum of the denominator coefficients is distributed to the sum of the coefficients with a smaller sum of the coefficients, so that the sum of the numerator coefficients is equal to the sum of the denominator coefficients, reducing the impact of the amplification and rounding process on the lead-lag adjustment.

[0138] In a possible implementation, the method further includes: if the first remainder is not equal to zero, and the N initial denominator coefficients are not equal, then M initial denominator coefficients are selected from the N initial denominator coefficients; the M initial denominator coefficients are coefficients of the N initial denominator coefficients that are greater than the first remaining denominator coefficient; the first remaining denominator coefficient is the coefficient of the N initial denominator coefficients other than the M denominator coefficients; M is the first remainder; each of the M initial denominator coefficients is increased by one to obtain M increased initial denominator coefficients; the M increased initial denominator coefficients, the first remaining denominator coefficient and the constant term denominator coefficient are determined as the balanced denominator coefficients.

[0139] It can be understood that when the above-mentioned first remainder is not equal to zero, it indicates that the difference is not evenly divided into the N non-constant denominator coefficients, so it is still necessary to continue to distribute the first remainder to the N initial denominator coefficients. In order to reduce the impact of the enlargement and rounding process on the lead-lag adjustment, so as to improve the steering stability of the vehicle; when distributing the first remainder, the first remainder can be distributed to the larger value of the N initial denominator coefficients. If there are equal coefficients in the N initial denominator coefficients, it is impossible to determine which coefficients are the larger values ​​of the N initial denominator coefficients; therefore, when distributing the first remainder, first check whether there are equal coefficients in the above-mentioned N initial denominator coefficients. If the above-mentioned N initial denominator coefficients are not equal, then according to the first remainder, first filter out the maximum value from the N initial denominator coefficients, and then filter out the second largest value; the second largest value refers to the maximum value other than the maximum value in the N initial denominator coefficients. Until the initial denominator coefficients of the number of first remainder values ​​are filtered out from the N initial denominator coefficients. The initial denominator coefficients selected above are increased by one respectively to obtain M increased initial denominator coefficients; M is the first remainder. The M increased initial denominator coefficients, the first remaining denominator coefficients and the constant term denominator coefficients are determined as the balanced denominator coefficients. The difference between the sum of the numerator coefficients and the sum of the denominator coefficients is allocated to the sum of the coefficients with a smaller sum, so that the sum of the numerator coefficients is equal to the sum of the denominator coefficients, reducing the impact of the amplification and rounding process on the lead-lag adjustment.

[0140] It can be understood that if the above-mentioned first remainder is not equal to zero, and there are equal coefficients among the above-mentioned N initial denominator coefficients, that is, the above-mentioned N initial denominator coefficients are not completely equal; at this time, it is impossible to determine which initial denominator coefficients among the N initial denominator coefficients are equal, and it is impossible to determine whether the equal initial denominator coefficients will affect the balancing process. In other words, when obtaining M initial denominator coefficients from N initial denominator coefficients, the equal initial denominator coefficients may not affect the acquisition operation, and the equal initial denominator coefficients may also affect the acquisition operation. When the equal initial denominator coefficients do not affect the balancing process, the above-mentioned M initial denominator coefficients can be increased by one respectively to obtain M increased initial denominator coefficients. When the equal initial denominator coefficients will affect the balancing process, the first remainder and the calibrated denominator coefficient may be summed according to the calibrated denominator coefficient set by the vehicle control device to obtain the summed calibrated denominator coefficient; the summed calibrated denominator coefficient, the third remaining denominator coefficient and the constant term denominator coefficient are determined as the denominator coefficient after balancing. The third remaining denominator coefficient is the coefficient of the N initial denominator coefficients other than the calibrated denominator coefficient.

[0141] For example, when the lead-lag filter function includes three initial denominator coefficients, the first remainder is 1, and the equal initial denominator coefficient is the minimum value among the three initial denominator coefficients, it is only necessary to select the maximum value from the three initial denominator coefficients; therefore, the equal initial denominator coefficient will not affect the balancing process. It is only necessary to select the maximum value directly from the three initial denominator coefficients, and increase the maximum value by one.

[0142] In a possible implementation, the method further includes: if the first remainder is not equal to zero, and the N initial denominator coefficients are all equal, then summing the first remainder and the target denominator coefficient to obtain a processed target denominator coefficient; the target denominator coefficient is any initial denominator coefficient among the N initial denominator coefficients; the processed target denominator coefficient, the second remaining denominator coefficient and the constant term denominator coefficient are determined as the balanced denominator coefficient; the second remaining denominator coefficient is the coefficient of the N initial denominator coefficients other than the target denominator coefficient.

[0143] It should be noted that the above target denominator coefficient may be a default coefficient set in the vehicle control device; the default coefficient is any initial denominator coefficient among the above N initial denominator coefficients. The target denominator coefficient may be one or more target denominator coefficients.

[0144] It is understandable that if the first remainder is not equal to zero and the N initial denominator coefficients are all equal, it is impossible to select a larger coefficient for balancing. At this time, according to the setting of the vehicle control device, the target denominator coefficient among the N initial denominator coefficients is obtained, and the first remainder and the target denominator coefficient are summed to obtain the processed target denominator coefficient. The processed target denominator coefficient, the coefficients of the N initial denominator coefficients other than the target denominator coefficient, and the constant term denominator coefficient are determined as the denominator coefficient after balancing.

[0145] In a possible implementation, the lead-lag filter function is an N-order lead-lag filter function, and the processed numerator coefficients include N+1 processed numerator coefficients; if the difference is less than zero, the processed numerator coefficients are balanced according to the difference to obtain the balanced numerator coefficients, including: if the difference is less than zero, N+1 is divided by the difference to obtain a second remainder and a second quotient; the second quotient and the N+1 processed numerator coefficients are summed to obtain N+1 initial numerator coefficients; if the second remainder is equal to zero, the N+1 initial numerator coefficients are determined as the balanced numerator coefficients.

[0146] It can be understood that when the above difference is less than zero, in order to reduce the error caused by the difference, the difference needs to be divided into N+1 numerator coefficients as much as possible. The difference is used to divide N+1, that is, the difference is used as the dividend and N+1 is used as the divisor, and the remainder division operation is performed to obtain the second quotient and the second remainder. The second quotient is added to the N+1 numerator coefficients respectively to obtain the N+1 initial numerator coefficients; at this time, only the second remainder in the difference is not evenly divided into the N+1 initial numerator coefficients. Since the difference may be divisible by N+1, the second remainder may be zero. Therefore, when the second remainder is zero, it indicates that the difference has been evenly divided into the N+1 initial numerator coefficients, and the above N+1 initial numerator coefficients are determined as the balanced denominator coefficients. The difference between the sum of the numerator coefficients and the sum of the denominator coefficients is distributed to the sum of the coefficients with a smaller sum of the coefficients, so that the sum of the numerator coefficients is equal to the sum of the denominator coefficients, reducing the impact of the amplification and rounding process on the lead-lag adjustment.

[0147] In a possible implementation, the method further includes: if the second remainder is not equal to zero, and the N+1 initial numerator coefficients are not equal, then K initial numerator coefficients are selected from the N+1 initial numerator coefficients; the K initial numerator coefficients are coefficients of the N+1 initial numerator coefficients that are greater than the first remaining initial numerator coefficient; the first remaining initial numerator coefficient is the coefficient of the N+1 initial numerator coefficients other than the K numerator coefficients; K is the second remainder; the K initial numerator coefficients are respectively increased by one to obtain K increased initial numerator coefficients; the K increased initial numerator coefficients and the first remaining initial numerator coefficient are determined as the balanced numerator coefficients.

[0148] It can be understood that when the second remainder is not equal to zero, it indicates that the difference is not evenly divided into the N+1 numerator coefficients, so the second remainder still needs to be distributed to the N+1 initial numerator coefficients. In order to reduce the impact of the enlargement and rounding process on the lead-lag adjustment, so as to improve the steering stability of the vehicle, the second remainder can be distributed to the larger value of the N+1 initial numerator coefficients when distributing the second remainder. If there are equal coefficients in the N+1 initial numerator coefficients, it is impossible to determine which coefficients are the larger values ​​in the N+1 initial numerator coefficients; therefore, when distributing the second remainder, first check whether there are equal coefficients in the N+1 initial numerator coefficients. If the N+1 initial numerator coefficients are not equal, the maximum value is first screened out from the N+1 initial numerator coefficients, and then the second largest value is screened out; the second largest value refers to the maximum value other than the maximum value in the N+1 initial numerator coefficients. Until the initial numerator coefficients of the number of second remainder values ​​are screened out from the N+1 initial numerator coefficients. Increase the selected initial numerator coefficients by one respectively to obtain K increased initial denominator coefficients; K is the first remainder. Since K is the second remainder, increase the above K initial numerator coefficients by one respectively, that is, divide the second remainder equally into the K initial numerator coefficients. The above K increased initial numerator coefficients and the above second remaining numerator coefficients are determined as the balanced numerator coefficients. The difference between the sum of the numerator coefficients and the sum of the denominator coefficients is allocated to the sum of the coefficients with a smaller sum, so that the sum of the numerator coefficients is equal to the sum of the denominator coefficients, reducing the impact of the amplification and rounding process on the lead-lag adjustment.

[0149] It can be understood that if the second remainder is not equal to zero, and there are equal coefficients among the N+1 initial numerator coefficients, that is, the N+1 initial numerator coefficients are not completely equal; at this time, it is impossible to determine which initial numerator coefficients among the N+1 initial numerator coefficients are equal, and it is impossible to determine whether the equal initial numerator coefficients will affect the balancing process. In other words, when obtaining K initial numerator coefficients from the N+1 initial numerator coefficients, the equal initial numerator coefficients may not affect the acquisition operation, and the equal initial numerator coefficients may affect the acquisition operation. When the equal initial numerator coefficients do not affect the balancing process, the K initial numerator coefficients can be increased by one respectively to obtain K increased initial numerator coefficients. When the equal initial numerator coefficients affect the balancing process, the second remainder and the calibrated numerator coefficient can be summed according to the calibrated numerator coefficient set by the vehicle control device to obtain the summed calibrated numerator coefficient; the summed calibrated numerator coefficient and the fourth remaining numerator coefficient are determined as the calibrated numerator coefficient after balancing. The fourth remaining numerator coefficient is the coefficient of the N+1 initial numerator coefficients excluding the calibrated numerator coefficient.

[0150] For example, when the lead-lag filter function includes 3 initial numerator coefficients, the second remainder is 1, and the equal initial numerator coefficient is the minimum value among the 3 initial denominator coefficients, it is only necessary to select the maximum value from the 3 initial numerator coefficients; therefore, the equal initial denominator coefficient will not affect the balancing process. It is only necessary to select the maximum value directly from the above 3 initial numerator coefficients, and increase the above maximum value by one.

[0151] In a possible implementation, the method further includes: if the second remainder is not equal to zero, and the N+1 initial molecular coefficients are all equal, then summing the second remainder and the target molecular coefficient to obtain a processed target molecular coefficient; the target molecular coefficient is any initial molecular coefficient among the N+1 initial molecular coefficients; the processed target molecular coefficient and the second remaining molecular coefficient are determined as the balanced molecular coefficient; the second remaining molecular coefficient is the coefficient among the N+1 initial molecular coefficients except the target molecular coefficient.

[0152] It should be noted that the target numerator coefficient may be a default coefficient set in the vehicle control device; the default coefficient is any initial numerator coefficient among the N+1 initial numerator coefficients. The target numerator coefficient may be one or more target numerator coefficients.

[0153] It is understandable that if the second remainder is not equal to zero, and the N+1 initial molecular coefficients are all equal, a larger coefficient cannot be selected for balancing. At this time, according to the setting of the vehicle control device, the target molecular coefficient among the N+1 initial molecular coefficients is obtained, and the second remainder and the target molecular coefficient are summed to obtain the processed target molecular coefficient. The processed target molecular coefficient and the coefficients among the N+1 initial molecular coefficients except the target molecular coefficient are determined as the molecular coefficient after balancing.

[0154] For example, in the implementation, Figure 5 Another flowchart of the vehicle control method provided by the embodiment of the present application. Taking the second-order lead-lag filter function as an example, the denominator coefficient after the above processing includes a constant term denominator coefficient and two non-constant term denominator coefficients (i.e., a1 and a2); the numerator coefficient after the above processing includes three non-constant term denominator coefficients (i.e., b0, b1 and b2). Figure 5As shown, the vehicle control method in the present application may include steps s51 to s58. s51, whether the difference is greater than 0; if so, execute step s52; if not, execute step s54. s52, a1′=a1+first quotient value; a2′=a2+first quotient value; determine the processed numerator coefficient as the balanced numerator coefficient; the above a1′ and a2′ are the initial denominator coefficients. Use the difference to divide 2 to obtain the first remainder and the first quotient value; add a1 and a2 to the first quotient value respectively to obtain a1′ and a2′; and determine the processed numerator coefficient as the balanced numerator coefficient, and then execute step s53. s53. According to the first remainder, a1′ and a2′ are balanced; since the initial denominator coefficient only includes two initial denominator coefficients, when the first remainder is not equal to zero, the first remainder is only one; the maximum initial denominator coefficient is selected from a1′ and a2′, and the maximum initial denominator coefficient is increased by one to obtain the increased maximum initial denominator coefficient; the increased maximum initial denominator coefficient, the first remaining denominator coefficient and the above-mentioned constant term denominator coefficient are determined as the balanced denominator coefficient. When the first remainder is equal to zero, a1′ and a2′ are determined as the balanced denominator coefficients. s54. Is the difference less than 0? If not, execute step s55; if so, execute step s56.

[0155] Further, s55, no balancing is performed; if the difference is not greater than 0 and the difference is not less than 0, then the difference is 0; at this time, the sum of the first coefficients is equal to the sum of the second coefficients, and there is no need to balance the processed numerator coefficient and the processed denominator coefficient. The processed numerator coefficient is directly determined as the balanced numerator coefficient, and the processed denominator coefficient is determined as the balanced denominator coefficient. s56, b0′=b0+second quotient value; b1′=b1+second quotient value; b2′=b2+second quotient value; the processed denominator coefficient is determined as the balanced denominator coefficient; the above b0′, b1′ and b2′ are the initial numerator coefficients. Divide 3 by the difference to obtain the second remainder and the second quotient value; add b0, b1 and b2 to the second quotient value respectively to obtain b0′, b1′ and b2′; and determine the processed numerator coefficient as the balanced numerator coefficient, and then execute step s57. s57. According to the second remainder, b0′, b1′ and b2′ are balanced; when the second remainder is 2, and b0′, b1′ and b2′ are not equal, the maximum value and the second largest value are selected from b0′, b1′ and b2′, and the maximum value and the second largest value are increased by one respectively; for example, when b2′ is greater than b0′, and b0′ is greater than b1′, the maximum value is b2′, and the second largest value is b0′, and b2′ and b0′ are increased by one respectively; the increased initial numerator coefficient and the second remaining numerator coefficient are determined as the numerator coefficients after balancing. When the second remainder is 1, and b0′, b1′, and b2′ are not equal, the maximum value is selected from b0′, b1′, and b2′, and the maximum value is calculated; for example, when b2′ is greater than b0′, and b0′ is greater than b1′, the maximum value is b2′, and b2′ is increased by one; the increased initial numerator coefficient and the second remaining numerator coefficient are determined as the numerator coefficient after trimming. In addition, when there are equal coefficients among b0′, b1′, and b2′, when the equal initial numerator coefficients do not affect the trimming process, the trimming process of b0′, b1′, and b2′ is as shown above; when the equal initial numerator coefficients affect the trimming process, the second remainder and the calibrated numerator coefficient can be summed according to the calibrated numerator coefficient set by the vehicle control device to obtain the summed calibrated numerator coefficient; the summed calibrated numerator coefficient and the fourth remaining numerator coefficient are determined as the numerator coefficient after trimming. The fourth remaining numerator coefficient is the coefficient of b0′, b1′ and b2′ other than the calibrated numerator coefficient. s58. According to the lead-lag filter function, the original torque is compensated to obtain the compensated original torque; the original torque, the above-mentioned balanced denominator coefficient and the balanced numerator coefficient are input into the lead-lag filter function, and the compensated original torque is calculated according to the lead-lag filter function.

[0156] S205 , performing compensation processing on the original torque according to the balanced numerator coefficient, the balanced denominator coefficient and the lead-lag filter function to obtain the compensated original torque.

[0157] In a possible implementation, the above-mentioned original torque is compensated according to the above-mentioned balanced numerator coefficient, the above-mentioned balanced denominator coefficient and the above-mentioned lead-lag filter function to obtain the compensated original torque, including: determining the reduction factor according to the above-mentioned magnification factor, reducing the above-mentioned balanced numerator coefficient and the above-mentioned balanced denominator coefficient according to the above-mentioned reduction factor to obtain the reduced numerator coefficient and the reduced denominator coefficient; compensating the above-mentioned original torque according to the above-mentioned reduced numerator coefficient, the above-mentioned reduced numerator coefficient and the above-mentioned lead-lag filter function to obtain the compensated original torque.

[0158] It is understandable that, in order to facilitate the balancing process, the numerator coefficient and the denominator coefficient are enlarged and rounded, and after the balancing process, the numerator coefficient and the denominator coefficient after the balancing process are obtained. Before the lead-lag filter calculation is performed, the coefficient should be reduced to the initial integer size, that is, the magnification of the coefficient is reduced. Therefore, according to the magnification factor, the reduction factor of the coefficient can be determined; according to the reduction factor, the numerator coefficient after the balance and the denominator coefficient after the balance are reduced to obtain the reduced numerator coefficient and the reduced denominator coefficient. The original torque, the reduced numerator coefficient and the reduced denominator coefficient are input into the lead-lag filter function, and after the function operation, the compensated original torque can be obtained.

[0159] For example, taking the second-order lead-lag filter function as an example, the formula (1) of the second-order lead-lag filter function is as follows.

[0160]

[0161] It should be noted that, in formula (1), Y is the original torque after compensation, X is the original torque, A0, A1 and A2 are the reduced denominator coefficients, B0, B1 and B2 are the reduced numerator coefficients, and Z is a complex variable.

[0162] It can be understood that the above formula (1) can be transformed by Z to obtain formula (2).

[0163]

[0164] It should be noted that, in formula (2), Y is the original torque after compensation, X is the original torque, A0, A1 and A2 are the denominator coefficients after reduction, B0, B1 and B2 are the numerator coefficients after reduction. t is the current time, X is the original torque, A0 is the original torque after compensation, A1 is the original torque after compensation, A2 is the original torque after compensation, B0 is the original torque after compensation, B1 is the original torque after compensation, B ...(t-1) is the original torque at the previous moment, the above X (t-2) is the original torque at the previous moment, the above Y (t-1) is the original torque after compensation at the previous moment. (t-2) is the original torque after compensation at the previous moment.

[0165] It should be noted that a sampling time interval is set in the vehicle control device, and the original torque of the steering wheel is obtained according to the sampling time interval; the original torque at the previous moment may be the original torque obtained at the previous sampling time; the original torque at the previous moment may be the original torque obtained at the previous sampling time. Similarly, the compensated original torque at the previous moment may be the compensated original torque obtained at the previous sampling time; the compensated original torque at the previous moment may be the compensated original torque obtained at the previous sampling time.

[0166] It can be understood that in the lead-lag filter function, A0 can be a fixed value of 1; the fixed value can be obtained by equation calculation. Therefore, when A0=1, the above formula (2) can also be expressed as formula (3).

[0167] Y=B0X+B1X (t-1) +B2X (t-2) -A1Y (t-1) -A2Y (t-2) (3)

[0168] It should be noted that, in formula (3), Y is the original torque after compensation, X is the original torque, A1 and A2 are the non-constant denominator coefficients in the reduced denominator coefficients, and B0, B1 and B2 are the reduced numerator coefficients. t is the current moment, X is (t-1) is the original torque at the previous moment, the above X (t-2) is the original torque at the previous moment, the above Y (t-1) is the original torque after compensation at the previous moment. (t-2) is the original torque after compensation at the previous moment.

[0169] Therefore, when the balanced numerator coefficient and the balanced denominator coefficient are reduced according to the reduction factor to obtain the reduced numerator coefficient and the reduced denominator coefficient, the original torque at the previous moment, the original torque at the previous moment, the compensated original torque at the previous moment, and the compensated original torque at the previous moment can be obtained; the reduced numerator coefficient, the reduced denominator coefficient, the original torque, the original torque at the previous moment, the original torque at the previous moment, the compensated original torque at the previous moment, and the compensated original torque at the previous moment are input into the lead-lag filtering function to obtain the compensated original torque.

[0170] For example, in the implementation, Figure 6 Another flow chart of the vehicle control method provided in the embodiment of the present application. Figure 6 As shown, after the balanced numerator coefficient and the balanced denominator coefficient are reduced, the reduced numerator coefficient and the reduced denominator coefficient are obtained, and 0=1 at this time; B0 is multiplied by X, and B1 is multiplied by X (t-1) Multiply B2 and X (t-2) Perform multiplication, A1 and Y (t-1) Perform multiplication, A2 and Y (t-2) Perform multiplication; B0*, B1* (t-1) and B2* (t-2) Perform cumulative sum processing and subtract A1* (t-1) and A2* (t-2) , and finally the compensated original torque Y is obtained.

[0171] S206 : Control the vehicle to perform a steering operation according to the compensated original torque.

[0172] In a possible implementation, in the process of controlling the vehicle to perform a steering operation according to the compensated original torque, the performance parameters of the vehicle are obtained; if the performance parameters of the vehicle do not meet the performance requirements, then according to the driving speed, a second control parameter for compensating the original torque is queried from pre-obtained second-type control parameter relationship data; the original torque is re-compensated based on the second control parameter to obtain the re-compensated original torque, and the vehicle is controlled to perform a steering operation according to the re-compensated original torque.

[0173] It should be noted that the above performance parameters may refer to any parameter of the jitter frequency and the steering reaction time; the jitter frequency may refer to the number of times the vehicle jitters in the process of controlling the vehicle to perform a steering operation according to the compensated original torque; the steering reaction time may refer to the time period from the moment the driver turns the steering wheel to the moment the wheels start to turn. The above performance parameters of the vehicle not meeting the performance requirements may refer to any of the following situations: the jitter frequency is greater than the jitter frequency threshold, and the steering reaction time is greater than the steering reaction time threshold. The jitter frequency threshold and the steering reaction time threshold may be set according to user needs, or the jitter frequency threshold and the steering reaction time threshold may be determined according to the type of vehicle.

[0174] It should be noted that the second type of control parameter relationship data includes S calibrated vehicle speeds and control parameters corresponding to the S calibrated vehicle speeds. The method of adding control parameters in the second type of control parameter relationship data is similar to the method of adding control parameters in the first type of control parameter relationship data. That is, S calibrated vehicle speeds are selected, and at any calibrated vehicle speed, when the angle of the steering wheel of the vehicle is detected to change, a set of candidate control parameters is used to calculate the compensation torque of the vehicle, and the vehicle is controlled to perform a steering operation under the compensation torque, and the stability of the vehicle in the process of performing the steering operation is obtained. When the stability is greater than the stability threshold, the candidate control parameter is used as the control parameter corresponding to the calibrated vehicle speed and added to the second type of control parameter relationship data; until the control parameters corresponding to the S calibrated vehicle speeds are added to the second type of control parameter relationship data, the second type of control parameter relationship data is obtained.

[0175] It is understandable that in the process of controlling the vehicle to perform a steering operation according to the compensated original torque, any parameter of the vehicle's jitter frequency and steering reaction time will be obtained in real time. When it is detected that the jitter frequency is greater than the jitter frequency threshold and the steering reaction time is greater than the steering reaction time threshold, the performance parameters of the vehicle do not meet the performance requirements. Therefore, the compensated original torque obtained by the current order of the lead-lag filter function does not meet the requirements in the process of controlling the vehicle to perform a steering operation. By increasing the order of the lead-lag filter function, a high-order lead-lag filter function (i.e., the lead-lag filter function after the order is increased) can be obtained. According to the driving speed, S calibrated speeds in the second type of control parameter relationship data, and the control parameters corresponding to the S calibrated speeds, the second control parameter for compensating the original torque at the driving speed is obtained. The second control parameter and the driving speed are input into the high-order lead-lag filter function, and the original torque can be re-compensated to obtain the re-compensated original torque. The vehicle control device can control the above-mentioned vehicle to perform steering operations according to the re-compensated original torque, thereby improving the extensibility of the method of the present application and improving the stability of vehicle steering.

[0176] The embodiments of the present application include but are not limited to the following beneficial effects: (1) The first type of control parameter relationship data can be obtained by pre-calibration, and the first type of control parameter relationship data reflects the control parameters corresponding to different driving speeds, and the control parameters corresponding to different driving speeds can all enable the vehicle to achieve a better steering control effect. Therefore, when the steering angle of the steering wheel of the vehicle changes, the first control parameter corresponding to the driving speed (i.e., the numerator coefficient and denominator coefficient of the lead-lag filter function) can be directly queried from the first type of control parameter relationship data according to the driving speed of the vehicle at this time. In the process of steering control of the vehicle, it is not necessary to adjust the control parameters, that is, it is not necessary to perform a large number of complex calculations, and the steering response delay of the vehicle can be reduced. (2) By enlarging and rounding the numerator coefficient and the denominator coefficient, the situation in which the vehicle's steering response is not timely due to the excessive amount of calculation of the lead-lag filter function during the vehicle steering process is avoided, that is, the amount of calculation in the vehicle steering control process can be reduced, and the steering stability of the vehicle can be improved. (3) After the numerator coefficient and the denominator coefficient are enlarged and rounded, the processed numerator coefficient and the denominator coefficient are automatically balanced, which can not only avoid the occurrence of adverse effects on the steering control effect, but also ensure the accuracy of the lead-lag adjustment (that is, the accuracy of the vehicle's steering control can be ensured). (4) In the process of the power steering system adjusting the torque of the steering wheel, when it is found that the current order of the lead-lag filter function cannot meet the requirements, the order of the lead-lag filter function can be increased. Through the lead-lag filter function with an increased order, the original torque is compensated again, which can improve the extensibility of the method of the present application and improve the steering stability of the vehicle.

[0177] The present application embodiment provides a vehicle control device. Figure 7 , Figure 7 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application. Figure 7 As shown, the vehicle control device may include:

[0178] An acquisition module 711 is used to acquire the driving speed of the vehicle and the original torque of the steering wheel of the vehicle when the steering angle of the steering wheel of the vehicle changes;

[0179] A query module 712 is used to query a first control parameter for compensating the original torque from pre-acquired first-type control parameter relationship data according to the vehicle speed;

[0180] The processing module 713 is used to perform compensation processing on the original torque based on the first control parameter to obtain the compensated original torque, and control the vehicle to perform a steering operation according to the compensated original torque.

[0181] In a possible implementation, the query module 712 is further configured to:

[0182] According to the above driving speed, query the above first type of control parameter relationship data;

[0183] When a first calibrated vehicle speed matching the driving speed is found in the first type of control parameter relationship data, the control parameter corresponding to the first calibrated vehicle speed in the first type of control parameter relationship data is determined as the first control parameter for compensating the original torque.

[0184] In a possible implementation, the query module 712 is further configured to:

[0185] When no calibrated vehicle speed matching the driving speed is found in the first type of control parameter relationship data, a second calibrated vehicle speed is obtained from the first type of control parameter relationship data; the second calibrated vehicle speed refers to the driving speed with the smallest difference between the driving speed and the first type of control parameter relationship data;

[0186] Acquire a target control parameter corresponding to the second calibrated vehicle speed from the first type of control parameter relationship data;

[0187] According to the second calibrated vehicle speed and the driving vehicle speed, a linear operation is performed on the control parameter to obtain a first control parameter for compensating the original torque.

[0188] In a possible implementation manner, the processing module 713 is further configured to:

[0189] The numerator coefficient and the denominator coefficient are enlarged and rounded to obtain a processed numerator coefficient and a processed denominator coefficient;

[0190] According to the difference between the processed numerator coefficient and the processed denominator coefficient, the processed numerator coefficient and the processed denominator coefficient are balanced to obtain a balanced numerator coefficient and a balanced denominator coefficient;

[0191] The original torque is compensated according to the balanced numerator coefficient, the balanced denominator coefficient and the lead-lag filter function to obtain the compensated original torque.

[0192] In a possible implementation manner, the first control parameter includes a numerator coefficient and a denominator coefficient of a lead-lag filter function; the processing module 713 is further used to:

[0193] Accumulate and sum each coefficient in the numerator coefficient after the above processing to obtain a first coefficient sum;

[0194] Accumulate and sum each coefficient in the denominator coefficient after the above processing to obtain a second coefficient sum;

[0195] Performing a difference processing on the first coefficient sum and the second coefficient sum to obtain a difference between the processed numerator coefficient and the processed denominator coefficient;

[0196] If the above difference is greater than zero, the denominator coefficient after the above processing is balanced according to the above difference to obtain the balanced denominator coefficient; the numerator coefficient after the above processing is determined as the balanced numerator coefficient.

[0197] In a possible implementation manner, the processing module 713 is further configured to:

[0198] If the above difference is less than zero, the above processed numerator coefficient is balanced according to the above difference to obtain the balanced numerator coefficient; the above processed denominator coefficient is determined as the balanced denominator coefficient.

[0199] In a possible implementation manner, the processing module 713 is further configured to:

[0200] If the above difference is equal to zero, the denominator coefficient after the above processing is determined as the numerator coefficient after the balance, and the numerator coefficient after the above processing is determined as the denominator coefficient after the balance.

[0201] In a possible implementation manner, the lead-lag filter function is an N-order lead-lag filter function, and the processed denominator coefficient includes a constant term denominator coefficient and N non-constant term denominator coefficients, where N is a positive integer;

[0202] The processing module 713 is also used for:

[0203] If the difference is greater than zero, N is divided by the difference to obtain a first remainder and a first quotient;

[0204] The first quotient value and the N non-constant term denominator coefficients are summed up respectively to obtain N initial denominator coefficients;

[0205] If the first remainder is equal to zero, the constant term denominator coefficient and the N initial denominator coefficients are determined as the balanced denominator coefficients.

[0206] In a possible implementation manner, the processing module 713 is further configured to:

[0207] If the first remainder is not equal to zero, and the N initial denominator coefficients are not equal, then M initial denominator coefficients are selected from the N initial denominator coefficients; the M initial denominator coefficients are coefficients of the N initial denominator coefficients that are greater than the first remaining denominator coefficient; the first remaining denominator coefficient is the coefficient of the N initial denominator coefficients other than the M denominator coefficients; M is the first remainder;

[0208] Increase the above M initial denominator coefficients by one respectively to obtain M increased initial denominator coefficients;

[0209] The M increased initial denominator coefficients, the first remaining denominator coefficient and the constant term denominator coefficient are determined as the balanced denominator coefficients.

[0210] In a possible implementation manner, the processing module 713 is further configured to:

[0211] If the first remainder is not equal to zero, and the N initial denominator coefficients are all equal, the first remainder and the target denominator coefficient are summed to obtain a processed target denominator coefficient; the target denominator coefficient is any initial denominator coefficient among the N initial denominator coefficients;

[0212] The target denominator coefficient, the second remaining denominator coefficient and the constant term denominator coefficient after the above processing are determined as the balanced denominator coefficient; the second remaining denominator coefficient is the coefficient of the N initial denominator coefficients other than the target denominator coefficient.

[0213] In a possible implementation manner, the lead-lag filter function is an N-order lead-lag filter function, and the processed numerator coefficients include N+1 processed numerator coefficients;

[0214] The processing module 713 is also used for:

[0215] If the difference is less than zero, N+1 is divided by the difference to obtain a second remainder and a second quotient;

[0216] The second quotient and the N+1 processed numerator coefficients are summed up respectively to obtain N+1 initial numerator coefficients;

[0217] If the second remainder is equal to zero, the N+1 initial numerator coefficients are determined as the balanced numerator coefficients.

[0218] In a possible implementation manner, the processing module 713 is further configured to:

[0219] If the second remainder is not equal to zero, and the N+1 initial numerator coefficients are not equal, K initial numerator coefficients are selected from the N+1 initial numerator coefficients; the K initial numerator coefficients are coefficients of the N+1 initial numerator coefficients that are greater than the first remaining initial numerator coefficients; the first remaining initial numerator coefficients are coefficients of the N+1 initial numerator coefficients other than the K numerator coefficients; K is the second remainder;

[0220] Increase the above K initial numerator coefficients by one respectively to obtain K increased initial numerator coefficients;

[0221] The K increased initial numerator coefficients and the first remaining initial numerator coefficient are determined as the balanced numerator coefficients.

[0222] In a possible implementation manner, the processing module 713 is further configured to:

[0223] If the second remainder is not equal to zero, and the N+1 initial molecular coefficients are all equal, the second remainder and the target molecular coefficient are summed to obtain the processed target molecular coefficient; the target molecular coefficient is any initial molecular coefficient among the N+1 initial molecular coefficients;

[0224] The target molecular coefficient after the above processing and the second remaining molecular coefficient are determined as the molecular coefficient after the balance; the second remaining molecular coefficient is the coefficient of the N+1 initial molecular coefficients except the target molecular coefficient.

[0225] In a possible implementation manner, the processing module 713 is further configured to:

[0226] According to the minimum coefficient of the numerator coefficient and the denominator coefficient, determine the magnification factor required to magnify the minimum coefficient to the target integer;

[0227] According to the above magnification factor, the above numerator coefficient and the above denominator coefficient are magnified and rounded to obtain a processed numerator coefficient and a processed denominator coefficient.

[0228] In a possible implementation manner, the processing module 713 is further configured to:

[0229] Determine a reduction factor according to the magnification factor, and perform reduction processing on the balanced numerator coefficient and the balanced denominator coefficient according to the reduction factor to obtain a reduced numerator coefficient and a reduced denominator coefficient;

[0230] The original torque is compensated according to the reduced numerator coefficient, the reduced numerator coefficient and the lead-lag filter function to obtain the compensated original torque.

[0231] In a possible implementation manner, the processing module 713 is further configured to:

[0232] In the process of controlling the vehicle to perform a steering operation according to the compensated original torque, obtaining a performance parameter of the vehicle;

[0233] If the performance parameter of the vehicle does not meet the performance requirement, querying a second control parameter for compensating the original torque from the pre-obtained second-type control parameter relationship data according to the vehicle speed;

[0234] The original torque is recompensed based on the second control parameter to obtain a recompensed original torque, and the vehicle is controlled to perform a steering operation according to the recompensed original torque.

[0235] The embodiments of the present application include but are not limited to the following beneficial effects: (1) The first type of control parameter relationship data can be obtained by pre-calibration, and the first type of control parameter relationship data reflects the control parameters corresponding to different driving speeds, and the control parameters corresponding to different driving speeds can all enable the vehicle to achieve a better steering control effect. Therefore, when the steering angle of the steering wheel of the vehicle changes, the first control parameter corresponding to the driving speed (i.e., the numerator coefficient and denominator coefficient of the lead-lag filter function) can be directly queried from the first type of control parameter relationship data according to the driving speed of the vehicle at this time. It can be seen that in the process of steering control of the vehicle, it is not necessary to adjust the control parameters, that is, it is not necessary to perform a large number of complex calculations, and the steering response delay of the vehicle can be reduced. (2) By enlarging and rounding the numerator coefficient and the denominator coefficient, the situation in which the vehicle's steering response is not timely due to the excessive amount of calculation of the lead-lag filter function during the vehicle steering process is avoided, that is, the amount of calculation in the vehicle steering control process can be reduced, and the steering stability of the vehicle can be improved. (3) After the numerator coefficient and the denominator coefficient are enlarged and rounded, the processed numerator coefficient and the denominator coefficient are automatically balanced, which can not only avoid the occurrence of adverse effects on the steering control effect, but also ensure the accuracy of the lead-lag adjustment (that is, the accuracy of the vehicle's steering control can be ensured). (4) In the process of the power steering system adjusting the torque of the steering wheel, when it is found that the current order of the lead-lag filter function cannot meet the requirements, the order of the lead-lag filter function can be increased. Through the lead-lag filter function with an increased order, the original torque is compensated again, which can improve the extensibility of the method of the present application and improve the steering stability of the vehicle.

[0236] The present application also provides a computer-readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the above Figure 2 , Figure 3 The operations performed in the aforementioned method in any one of the possible method embodiments.

[0237] The present application also provides a computer program product. When the computer program product is read and executed by a computer, the above Figure 2 , Figure 3 In any of the possible method embodiments, the operations in the aforementioned method will be performed.

[0238] The present application also provides an electronic device, the electronic device comprising a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the above Figure 2 , Figure 3 And the operations in the aforementioned method of any embodiment in possible method embodiments thereof.

[0239] An embodiment of the present application also provides a vehicle, which includes the above-mentioned electronic device.

[0240] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, some steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0241] In the embodiments provided in the present application, it should be understood that the disclosed system can be implemented in other ways. For example, the system embodiments described above are only schematic, such as the division of the above modules, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the system or unit can be electrical or other forms.

[0242] The modules described above as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0243] In addition, each functional module in each embodiment of the present application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software functional modules.

[0244] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the present application and its core ideas. At the same time, for those skilled in the art, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A vehicle control method, characterized in that: include: When the steering angle of the steering wheel of the vehicle changes, obtaining the driving speed of the vehicle and the original torque of the steering wheel of the vehicle; According to the vehicle speed, querying a first control parameter for compensating the original torque from pre-acquired first-type control parameter relationship data; The original torque is compensated based on the first control parameter to obtain a compensated original torque, and the vehicle is controlled to perform a steering operation according to the compensated original torque.

2. The method according to claim 1, characterized in that: The querying of the first control parameter for compensating the original torque from the pre-acquired first type of control parameter relationship data according to the driving speed includes: querying the first type of control parameter relationship data according to the driving speed; When a first calibrated vehicle speed matching the driving vehicle speed is found in the first type of control parameter relationship data, the control parameter corresponding to the first calibrated vehicle speed in the first type of control parameter relationship data is determined as the first control parameter for compensating the original torque.

3. The method according to claim 2, characterized in that The method further comprises: When no calibrated vehicle speed matching the driving vehicle speed is found in the first type of control parameter relationship data, a second calibrated vehicle speed is obtained from the first type of control parameter relationship data; the second calibrated vehicle speed refers to the calibrated vehicle speed with the smallest difference between the driving vehicle speed and the first type of control parameter relationship data; Acquiring a target control parameter corresponding to the second calibrated vehicle speed from the first type of control parameter relationship data; According to the second calibrated vehicle speed and the driving vehicle speed, a linear operation is performed on the target control parameter to obtain a first control parameter for compensating the original torque.

4. The method according to claim 1, characterized in that The first control parameter includes a numerator coefficient and a denominator coefficient of a lead-lag filter function; the compensating the original torque based on the first control parameter to obtain the compensated original torque includes: Performing enlargement and rounding processing on the numerator coefficient and the denominator coefficient to obtain a processed numerator coefficient and a processed denominator coefficient; According to the difference between the processed numerator coefficient and the processed denominator coefficient, balancing the processed numerator coefficient and the processed denominator coefficient to obtain a balanced numerator coefficient and a balanced denominator coefficient; The original torque is compensated according to the balanced numerator coefficient, the balanced denominator coefficient and the lead-lag filter function to obtain the compensated original torque.

5. The method according to claim 4, characterized in that The step of performing balancing processing on the processed numerator coefficient and the processed denominator coefficient according to the difference between the processed numerator coefficient and the processed denominator coefficient to obtain a balanced numerator coefficient and a balanced denominator coefficient includes: Accumulating and summing each coefficient in the processed numerator coefficient to obtain a first coefficient sum; Accumulating and summing each coefficient in the processed denominator coefficient to obtain a second coefficient sum; Performing a difference processing on the first coefficient sum and the second coefficient sum to obtain a difference between the processed numerator coefficient and the processed denominator coefficient; If the difference is greater than zero, the processed denominator coefficient is balanced according to the difference to obtain a balanced denominator coefficient; and the processed numerator coefficient is determined as the balanced numerator coefficient.

6. The method according to claim 5, characterized in that The method further comprises: If the difference is less than zero, the processed numerator coefficient is balanced according to the difference to obtain the balanced numerator coefficient; and the processed denominator coefficient is determined as the balanced denominator coefficient.

7. The method according to claim 5, characterized in that The method further comprises: If the difference is equal to zero, the processed denominator coefficient is determined as the balanced numerator coefficient, and the processed numerator coefficient is determined as the balanced denominator coefficient.

8. The method according to claim 5, characterized in that The lead-lag filter function is an N-order lead-lag filter function, and the processed denominator coefficient includes a constant term denominator coefficient and N non-constant term denominator coefficients, where N is a positive integer; If the difference is greater than zero, balancing the processed denominator coefficient according to the difference to obtain a balanced denominator coefficient, including: If the difference is greater than zero, dividing N by the difference to obtain a first remainder and a first quotient; Summing the first quotient value and the N non-constant denominator coefficients respectively to obtain N initial denominator coefficients; If the first remainder is equal to zero, the constant term denominator coefficient and the N initial denominator coefficients are determined as the balanced denominator coefficients.

9. The method according to claim 8, characterized in that The method further comprises: If the first remainder is not equal to zero, and the N initial denominator coefficients are not equal, then M initial denominator coefficients are selected from the N initial denominator coefficients; the M initial denominator coefficients are coefficients of the N initial denominator coefficients that are greater than the first remaining denominator coefficient; the first remaining denominator coefficient is the coefficient of the N initial denominator coefficients other than the M denominator coefficients; M is the first remainder; Increasing the M initial denominator coefficients by one respectively to obtain M increased initial denominator coefficients; The M increased initial denominator coefficients, the first remaining denominator coefficient and the constant term denominator coefficient are determined as balanced denominator coefficients.

10. The method according to claim 8, characterized in that The method further comprises: If the first remainder is not equal to zero, and the N initial denominator coefficients are all equal, the first remainder and the target denominator coefficient are summed to obtain a processed target denominator coefficient; the target denominator coefficient is any initial denominator coefficient among the N initial denominator coefficients; The processed target denominator coefficient, the second remaining denominator coefficient and the constant term denominator coefficient are determined as the balanced denominator coefficient; the second remaining denominator coefficient is the coefficient of the N initial denominator coefficients other than the target denominator coefficient.

11. The method according to claim 6, characterized in that The lead-lag filter function is an N-order lead-lag filter function, and the processed numerator coefficients include N+1 processed numerator coefficients; If the difference is less than zero, balancing the processed numerator coefficient according to the difference to obtain the balanced numerator coefficient includes: If the difference is less than zero, dividing N+1 by the difference to obtain a second remainder and a second quotient; respectively summing the second quotient value and the N+1 processed numerator coefficients to obtain N+1 initial numerator coefficients; If the second remainder is equal to zero, the N+1 initial numerator coefficients are determined as the balanced numerator coefficients.

12. The method according to claim 11, characterized in that The method further comprises: If the second remainder is not equal to zero, and the N+1 initial numerator coefficients are not equal, K initial numerator coefficients are selected from the N+1 initial numerator coefficients; the K initial numerator coefficients are coefficients of the N+1 initial numerator coefficients that are greater than the first remaining initial numerator coefficients; the first remaining initial numerator coefficients are coefficients of the N+1 initial numerator coefficients other than the K numerator coefficients; K is the second remainder; Increase the K initial numerator coefficients by one respectively to obtain K increased initial numerator coefficients; The K increased initial numerator coefficients and the first remaining initial numerator coefficients are determined as balanced numerator coefficients.

13. The method according to claim 11, characterized in that The method further comprises: If the second remainder is not equal to zero, and the N+1 initial molecular coefficients are all equal, the second remainder and the target molecular coefficient are summed to obtain a processed target molecular coefficient; the target molecular coefficient is any initial molecular coefficient among the N+1 initial molecular coefficients; The processed target molecular coefficient and the second remaining molecular coefficient are determined as the molecular coefficient after trimming; the second remaining molecular coefficient is the coefficient of the N+1 initial molecular coefficients except the target molecular coefficient.

14. The method according to claim 4, characterized in that The enlarging and rounding the numerator coefficient and the denominator coefficient to obtain the processed numerator coefficient and the processed denominator coefficient includes: Determine, according to the minimum coefficient of the numerator coefficient and the denominator coefficient, the magnification factor required when the minimum coefficient is magnified to a target integer; According to the magnification factor, the numerator coefficient and the denominator coefficient are magnified and rounded to obtain a processed numerator coefficient and a processed denominator coefficient.

15. The method according to claim 14, characterized in that The compensating process is performed on the original torque according to the balanced numerator coefficient, the balanced denominator coefficient and the lead-lag filter function to obtain the compensated original torque, including: Determine a reduction factor according to the magnification factor, and perform reduction processing on the balanced numerator coefficient and the balanced denominator coefficient according to the reduction factor to obtain a reduced numerator coefficient and a reduced denominator coefficient; The original torque is compensated according to the reduced numerator coefficient, the reduced numerator coefficient and the lead-lag filter function to obtain the compensated original torque.

16. The method according to claim 1, characterized in that The method further comprises: In the process of controlling the vehicle to perform a steering operation according to the compensated original torque, obtaining a performance parameter of the vehicle; If the performance parameter of the vehicle does not meet the performance requirement, querying a second control parameter for compensating the original torque from pre-obtained second-type control parameter relationship data according to the driving speed; The original torque is recompensed based on the second control parameter to obtain a recompensed original torque, and the vehicle is controlled to perform a steering operation according to the recompensed original torque.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is suitable for being loaded and executed by a processor, so that a computer device having the processor executes the method according to any one of claims 1 to 16.

18. A computer program product, characterized in that When the computer program product is executed by a processor, the method according to any one of claims 1 to 16 will be implemented.

19. An electronic device, characterized in that: The electronic device comprises a memory and a processor, the memory stores a computer program, and is characterized in that the processor implements the steps of the method described in any one of claims 1 to 16 when executing the computer program.

20. A vehicle, characterized in that: The vehicle includes the electronic device as claimed in claim 19.

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