Steering torque determination method, device and system, storage medium and vehicle

Abstract

The invention relates to a steering torque determination method, device and system, a storage medium and a vehicle. The steering torque determination method comprises the steps that steering motion data and driving force of a vehicle in the steering process are obtained; determining the frictional resistance of the vehicle according to the steering motion data and the driving force; and determining the steering torque of the vehicle according to the frictional resistance. According to the method, the real-time resistance can be obtained according to the road surface condition, the steering torque is automatically adjusted, and the driving comfort and safety of a user are ensured.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a steering torque determination method, storage medium, device, system and vehicle. Background Art

[0002] The vehicle steering system is the key executive component for users to control the vehicle, which directly determines the safety and maneuverability of the entire vehicle. The current mainstream vehicle steering system is based on EPS (Electric Power Steering), which is a power steering system that relies on an electric motor to provide assistance. It can control the vehicle to achieve the steering function according to a certain steering torque. It can be seen that the accuracy of the steering torque is crucial to whether the vehicle steering system can effectively achieve its function. At present, each type of road condition corresponds to a fixed steering torque, but even under the same type of road condition, the friction resistance of the vehicle may be different. The fixed steering torque cannot sensitively fit the actual resistance size, which will cause steering difficulties or vehicle slippage, and the steering function cannot be effectively achieved as expected. Summary of the invention

[0003] The embodiments of the present application provide a steering torque determination method, storage medium, device, system and vehicle, which can obtain real-time resistance according to road conditions and automatically adjust the steering torque to ensure the user's driving comfort and safety, so as to at least partially solve the above-mentioned technical problems.

[0004] To achieve the above-mentioned purpose, according to the first aspect of the present application, a steering torque determination method is provided, including: obtaining steering motion data and driving force of a vehicle during a steering process; determining the friction resistance of the vehicle based on the steering motion data and the driving force; and determining the steering torque of the vehicle based on the friction resistance.

[0005] Optionally, determining the friction resistance of the vehicle based on the steering motion data and the driving force includes: determining the driving resistance of the vehicle based on the driving force, the mass of the vehicle and the steering motion data; determining the target resistance of the vehicle based on the mass of the vehicle and the steering motion data; determining the friction resistance based on the target resistance and the driving resistance; wherein the driving resistance includes the target resistance and the friction resistance, and the target resistance includes at least one of the following: air resistance, slope resistance and acceleration resistance.

[0006] Optionally, determining the steering torque of the vehicle according to the friction resistance includes: determining a compensation torque corresponding to the friction resistance according to a mapping relationship between the friction resistance and torque; and determining the steering torque according to the compensation torque.

[0007] Optionally, determining the compensation torque corresponding to the friction resistance according to the friction resistance and torque mapping relationship includes: when the friction resistance is greater than a resistance threshold, determining the assist compensation torque corresponding to the friction resistance according to the friction resistance and a first torque mapping relationship; when the friction resistance is less than the resistance threshold, determining the damping compensation torque corresponding to the friction resistance according to the friction resistance and second torque mapping relationship; wherein the torque mapping relationship includes the first torque mapping relationship and the second torque mapping relationship, the compensation torque includes the assist compensation torque and the damping compensation torque, the first torque mapping relationship includes at least one group of mapping relationships between the friction resistance and the assist compensation torque, and the second torque mapping relationship includes at least one group of mapping relationships between the friction resistance and the damping compensation torque.

[0008] Optionally, determining the steering torque according to the compensation torque includes: determining the steering torque of the vehicle according to a torque gain and the compensation torque.

[0009] Optionally, the steering torque determination method further includes: acquiring a hand torque of the vehicle; and determining the torque gain corresponding to the hand torque according to a mapping relationship between the hand torque and a gain.

[0010] Optionally, the steering torque determination method further includes: performing low-pass filtering on the steering torque to obtain the filtered steering torque.

[0011] Optionally, the steering torque determination method further includes: performing amplitude limiting processing on the steering torque to obtain the steering torque after amplitude limiting.

[0012] According to a second aspect of the present application, a non-transitory computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned steering torque determination method is implemented.

[0013] According to a third aspect of the present application, there is provided an electronic device, comprising: a memory on which a computer program is stored; and a processor for executing the computer program in the memory to implement the above-mentioned steering torque determination method.

[0014] According to a fourth aspect of the present application, a vehicle steering system is provided, the vehicle steering system comprising the electronic device as described above.

[0015] According to a fifth aspect of the present application, a vehicle is provided, comprising the electronic device as described above, or comprising the vehicle steering system as described above.

[0016] The benefit of the present application is that it can obtain the real-time resistance size according to the road conditions, automatically adjust the steering torque, and ensure the driving comfort and safety of the user.

[0017] More specifically, some embodiments of the present application may produce the following specific beneficial effects:

[0018] During the steering process of the vehicle, the steering motion data and driving force of the vehicle are obtained in real time, and the friction resistance of the vehicle is determined based on this to further determine the steering torque of the vehicle. Due to the differences and changes in road conditions, such as snowy roads and desert roads, and changes in the thickness of snow on snowy roads, the steering torque of the vehicle can be fully and real-time reflected in the friction resistance of the vehicle. The steering torque of the vehicle is determined based on the real-time friction resistance of the vehicle, and the steering resistance can be adaptively adjusted according to the on-site environment, so that the steering torque is sensitive to the actual resistance size, ensuring that the steering function can be effectively realized as expected. In addition, since the size of the friction resistance in the embodiment of the present application is inferred from the steering motion data and the driving force, there is no need to use high-precision sensors such as cameras to obtain road conditions, and a better steering function can be achieved at a lower cost.

[0019] In addition, by performing power compensation on roads with greater friction resistance, the difficulty of steering operation is reduced, allowing users to steer more easily; by performing damping compensation on roads with less friction resistance, vehicle slippage is avoided and steering safety is ensured. Moreover, by considering the influence of hand torque on steering torque based on compensation torque, the user's driving comfort during steering can be improved while taking into account steering safety.

[0020] In addition, by performing low-pass filtering on the steering torque after determining it, high-frequency interference in the steering torque can be filtered out to improve the smoothness of the steering torque. In addition, by performing amplitude limiting on the steering torque after determining it, the maximum and minimum values ​​of the steering torque can be limited to a certain extent to ensure that the steering torque is within a reasonable range and avoid excessive assistance or damping.

[0021] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0023] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0024] Figure 1 It is a schematic diagram of the friction resistance coefficient provided in the embodiment of the present application.

[0025] Figure 2 It is a flow chart of a steering torque determination method provided in an embodiment of the present application.

[0026] Figure 3 This is a flow chart of another method for determining steering torque provided in an embodiment of the present application.

[0027] Figure 4 It is a block diagram of an electronic device provided in an embodiment of the present application.

[0028] Figure 5 It is a block diagram of a vehicle steering system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0030] With the rapid development of automobile technology, users have higher and higher requirements for driving experience. As features that directly affect user sensory experience and personal safety, vehicle ride comfort and handling stability have received more and more attention.

[0031] The vehicle steering system is a key executive component for users to control the vehicle, which directly determines the safety and maneuverability of the vehicle. Smooth and comfortable steering is crucial to the safety of the vehicle. The current mainstream vehicle steering system is based on EPS, which is a power steering system that relies on motors to provide power assistance. It can be composed of a torque / angle sensor, ECU (Electronic Control Unit), motor, reduction mechanism and steering actuator. The vehicle steering system can control the vehicle to achieve the steering function according to a certain steering torque. The accuracy of the steering torque is crucial to whether the vehicle steering system can effectively achieve its function.

[0032] At present, there are some methods that can identify road conditions, such as snow, desert, mud, etc., and correspond each type of road condition to a fixed steering torque. However, even under the same type of road condition, the friction resistance of the vehicle may be different. Figure 1 As shown, Figure 1 is the friction coefficient under different types of road conditions, from Figure 1It can be seen that even under the same type of road conditions, the friction coefficient of the vehicle may differ by two or even three times. Since the friction resistance can be obtained by multiplying the wheel load (i.e. the mass of the vehicle) by the friction coefficient, the friction resistance of the vehicle under the same type of road conditions may also vary greatly. The fixed steering torque cannot sensitively fit the actual resistance size, cannot be corrected within a certain range according to the actual on-site environment, and cannot be fed back to the EPS in real time for power assistance or damping compensation, which will cause steering difficulties or vehicle slippage, and cannot effectively realize the steering function as expected, greatly reducing the user's driving comfort and safety.

[0033] In view of this, the embodiments of the present application provide a steering torque determination method, storage medium, device and vehicle, which can obtain real-time resistance according to road conditions and automatically adjust the steering torque to ensure the user's driving comfort and safety.

[0034] According to a first aspect of the present application, an embodiment of the present application provides a method for determining a steering torque.

[0035] See also Figure 2 , Figure 2 : is a flow chart of a steering torque determination method provided by an embodiment of the present application. The steering torque determination method may include the following steps:

[0036] Step S110: obtaining steering motion data and driving force of the vehicle during the steering process;

[0037] Step S120: determining the friction resistance of the vehicle according to the steering motion data and the driving force;

[0038] Step S130: Determine the steering torque of the vehicle according to the friction resistance.

[0039] In the steering process of the vehicle, the embodiment of the present application obtains the steering motion data and driving force of the vehicle in real time, and determines the friction resistance of the vehicle based on this, so as to further determine the steering torque of the vehicle. Optionally, the moment when the vehicle starts to turn can be used as the starting moment, and the steering torque can be updated and calculated every preset driving time, such as 0.5 milliseconds, 1 millisecond, etc.; or, the position where the vehicle starts to turn can be used as the starting position, and the steering torque can be updated and calculated every preset driving length, such as 1 meter, 5 meters, 10 meters, etc. Therefore, during the steering process of the vehicle, the steering torque can be automatically adjusted based on the change of road conditions, so that the vehicle steering control is more accurate.

[0040] The steering motion data is the motion data related to vehicle steering, including but not limited to at least one of the following data: acceleration, pitch angle (pitch axis inclination), and speed. Among them, the speed can be further calculated from the acceleration, so the steering motion data obtained can only include acceleration and pitch angle, and then the speed is calculated based on the acceleration.

[0041] In some embodiments, taking the case where the steering motion data includes acceleration and pitch angle as an example, the above step S110 includes the following steps:

[0042] Step S111: obtaining the acceleration and pitch angle of the vehicle;

[0043] Step S112: Calculate the speed of the vehicle according to the acceleration;

[0044] Step S113: Determine the driving force according to the speed.

[0045] In step S112, the speed of the vehicle can be obtained by derivation of the acceleration. For example, the acceleration of the vehicle at the current moment is a n , the acceleration at the last moment is a n-△t , △t is the interval between the current moment and the previous moment, then the speed v of the vehicle can be calculated by the following formula:

[0046] v=(a n -a n-△t ) / △t

[0047] In step S113, the driving force of the vehicle is related to the external characteristics of the engine and the vehicle speed. When the vehicle leaves the factory, a driving force characteristic curve of the vehicle can be generated to indicate the corresponding relationship between the driving force and the speed of the vehicle. Therefore, the driving force of the vehicle can be determined based on the driving force characteristic curve and the speed.

[0048] The embodiment of the present application is different from the implementation method of first detecting the road condition and then determining the friction resistance based on the detection result. In step S120, the friction resistance of the vehicle is reversed based on the steering motion data and driving force of the vehicle.

[0049] In some embodiments, the above step S120 includes the following steps:

[0050] Step S121: determining the driving resistance of the vehicle according to the driving force, the mass of the vehicle and the steering motion data;

[0051] Step S122: determining the target resistance of the vehicle according to the mass and steering motion data of the vehicle;

[0052] Step S123: Determine the friction resistance according to the target resistance and the running resistance.

[0053] It should be understood that the vehicle meets the following constraints during movement:

[0054] ma=F t -ΣF

[0055] Where m is the mass of the vehicle, a is the acceleration of the vehicle, and F t refers to the driving force of the vehicle, and ΣF refers to the driving resistance of the vehicle. Optionally, the driving resistance includes a target resistance and a friction resistance, and the target resistance includes at least one of the following: air resistance, slope resistance, and acceleration resistance.

[0056] Since all the resistances except friction resistance in driving resistance can be calculated through steering motion data, after obtaining the steering motion data and driving force of the vehicle, the driving resistance of the vehicle can be calculated based on the above constraints, and then the air resistance, slope resistance and acceleration resistance can be calculated based on the steering motion data. Then, the friction resistance of the vehicle can be obtained by subtracting the air resistance, slope resistance and acceleration resistance from the driving resistance.

[0057] For example, assuming that C D is the air resistance coefficient, ρ is the air density, A is the windward area (the projection area of ​​the vehicle's travel direction), and v is the vehicle's speed. The air resistance F w It can be obtained by the following calculation formula:

[0058] F w =(C D Aρv 2 ) / 2

[0059] For example, assuming that G is the gravity acting on the vehicle, m is the mass of the vehicle, g is the acceleration due to gravity, and α is the slope of the road, then the slope resistance F i It can be obtained by the following calculation formula:

[0060] F i =Gsinα=mgsinα

[0061] For example, assuming that δ is the vehicle rotation mass conversion coefficient, m is the vehicle mass, and a is the vehicle acceleration, the acceleration resistance F j It can be obtained by the following calculation formula:

[0062] F j =δma

[0063] For example, it is assumed that the running resistance ΣF includes the air resistance F w , Slope resistance F i , acceleration resistance F j and friction resistance F f , then the friction resistance F fIt can be obtained by the following calculation formula:

[0064] F f =ΣF-(F w +F i +F j )

[0065] In step S130, the steering torque of the vehicle can be determined according to the calculated friction resistance, and then the steering of the vehicle can be controlled based on the steering torque. Optionally, a mapping relationship can be established in advance between different friction resistances and steering torques, so that the mapping relationship can be queried to obtain the steering torque corresponding to the friction resistance; or a mapping relationship can be established in advance between different friction resistances and compensation torques, so that the mapping relationship can be queried to obtain the compensation torque corresponding to the friction resistance, and then the steering torque can be further determined based on the initial compensation torque. For the specific method of determining the steering torque, please refer to the following embodiment, which will not be described in detail here.

[0066] In summary, the steering torque determination method provided in the embodiment of the present application obtains the steering motion data and driving force of the vehicle in real time during the steering process of the vehicle, and determines the friction resistance of the vehicle based on this to further determine the steering torque of the vehicle. Due to the differences and changes in road conditions, such as snowy roads and desert roads, and changes in the thickness of snow on snowy roads, the steering torque of the vehicle can be fully and real-time reflected in the friction resistance of the vehicle. The steering torque of the vehicle is determined according to the real-time friction resistance of the vehicle, and the steering resistance can be adaptively adjusted according to the on-site environment, so that the steering torque is sensitive to the actual resistance size, ensuring that the steering function can be effectively realized as expected. In addition, since the size of the friction resistance in the embodiment of the present application is obtained by reverse calculation of the steering motion data and the driving force, there is no need to use high-precision sensors such as cameras to obtain road conditions, and a better steering function can be achieved under lower cost conditions.

[0067] In some embodiments, the above step S130 includes the following steps:

[0068] Step S131: determining the compensation torque corresponding to the friction resistance according to the mapping relationship between the friction resistance and the torque;

[0069] Step S132: Determine the steering torque according to the compensation torque.

[0070] The torque mapping relationship includes at least one mapping relationship between a friction resistance and a compensation torque. The compensation torque is used to compensate for the driving force of the vehicle to reduce the difficulty of the vehicle's driving. When the friction resistance is large, the compensation torque can be implemented as an assist compensation torque; when the friction resistance is small, the compensation torque can be implemented as a damping compensation torque. The assist compensation torque can be consistent with the driving force direction (such as the same direction), and the damping compensation torque can be inconsistent with the driving force direction (such as the opposite direction).

[0071] Based on this, in one example, the above step S131 includes: when the friction resistance is greater than the resistance threshold, determining the assist compensation torque corresponding to the friction resistance according to the mapping relationship between the friction resistance and the first torque; when the friction resistance is less than the resistance threshold, determining the damping compensation torque corresponding to the friction resistance according to the mapping relationship between the friction resistance and the second torque.

[0072] The resistance threshold is preconfigured and is used to indicate the friction resistance of the vehicle under standard road conditions. The standard road condition can be set based on actual needs, such as being set to a dry and flat road in clear weather. Therefore, the resistance threshold obtained for standard road conditions with different needs may be different.

[0073] After calculating the friction resistance of the vehicle, the embodiment of the present application compares the friction resistance with the resistance threshold.

[0074] When the friction resistance is greater than the resistance threshold, the vehicle enters a high-resistance road surface, such as a snowy road surface, a muddy road surface, a wading road surface, etc. At this time, the vehicle is powered to compensate, reducing the difficulty of the steering operation, so that the user can turn more easily. The power-assisted compensation torque corresponding to the friction resistance is determined from the first torque mapping relationship. Among them, the torque mapping relationship includes a first torque mapping relationship, and the first torque mapping relationship includes at least one set of mapping relationships between friction resistance and power-assisted compensation torque. Since the power-assisted compensation torque is consistent with the direction of the driving force, in the first torque mapping relationship, the greater the friction resistance, the greater the power-assisted compensation torque.

[0075] When the friction resistance is less than the resistance threshold, the vehicle enters a slippery road, such as a rainy road, an icy road, etc. At this time, the vehicle is damped to avoid vehicle slippage and ensure the safety of steering. The damping compensation torque corresponding to the friction resistance is determined from the second torque mapping relationship. Among them, the torque mapping relationship includes a second torque mapping relationship, and the second torque mapping relationship includes at least one set of mapping relationships between friction resistance and damping compensation torque. Since the damping compensation torque is inconsistent with the driving force direction, in the second torque mapping relationship, the smaller the friction resistance, the greater the damping compensation torque.

[0076] It should be understood that when the friction resistance is equal to the resistance threshold, the compensation torque corresponding to the friction resistance can be determined according to the first torque mapping relationship, or according to the second torque mapping relationship, and the embodiment of the present application does not limit this. Optionally, when the friction resistance is equal to the resistance threshold, the compensation torque can be zero.

[0077] The embodiment of the present application determines the steering torque according to the compensation torque (such as the assist compensation torque or the damping compensation torque). For example, the compensation torque can be directly used as the steering torque, or the steering torque can be further determined based on the compensation torque.

[0078] In some embodiments, the above step S132 includes: determining the steering torque of the vehicle according to the torque gain and the compensation torque.

[0079] The torque gain is determined according to the hand torque. The specific meaning of the torque gain is not limited in the embodiment of the present application. Optionally, the torque gain is a torque, such as directly taking the hand torque as the torque gain, so that the torque gain and the compensation torque can be added to obtain the steering torque; or the torque gain is a coefficient, such as obtaining the torque gain by looking up a table according to the hand torque, so that the torque gain and the compensation torque can be multiplied to obtain the steering torque.

[0080] Optionally, the steering torque determination method provided in the embodiment of the present application also includes: obtaining the hand torque of the vehicle; determining the torque gain corresponding to the hand torque according to the mapping relationship between the hand torque and the gain. Among them, the gain mapping relationship includes at least one set of mapping relationships between hand torque and torque gain. Since a larger hand torque indicates that the user has a clearer steering intention, in the gain mapping relationship, the larger the hand torque, the larger the torque gain, which helps the user to steer. Since the road condition with less friction resistance does not require large damping to maintain the driving stability of the vehicle, but makes it easier for the user to steer, in the gain mapping relationship, the smaller the hand torque, the smaller the torque gain, ensuring that the user can steer flexibly.

[0081] In summary, the steering torque determination method provided in the embodiment of the present application reduces the difficulty of steering operation by performing power compensation under road conditions with large friction resistance, so that users can steer more easily; and avoids vehicle slippage and ensures steering safety by performing damping compensation under road conditions with small friction resistance. In addition, the steering torque determination method provided in the embodiment of the present application considers the influence of hand torque on steering torque on the basis of compensation torque, so as to improve the driving comfort of users during steering while taking into account steering safety.

[0082] In some embodiments, the above step S130 further includes the following steps:

[0083] Step S141: low-pass filter the steering torque to obtain a filtered steering torque.

[0084] The embodiment of the present application can filter out high-frequency interference in the steering torque through low-pass filtering to improve the smoothness of the steering torque.

[0085] In some embodiments, the above step S130 further includes the following steps:

[0086] Step S142: performing amplitude limiting processing on the steering torque to obtain a steering torque after amplitude limiting.

[0087] The embodiment of the present application can impose certain restrictions on the maximum and minimum values ​​of the steering torque through amplitude limitation processing, ensuring that the steering torque is within a reasonable range and avoiding excessive power assistance or damping. Optionally, for the steering torque obtained by power assistance compensation, the maximum and minimum values ​​of the steering torque can be obtained according to the upper and lower limits of the speed-dependent power assistance function of the EPS; for the steering torque obtained by damping compensation, the maximum and minimum values ​​of the steering torque can be obtained according to the upper and lower limits of the damping control function of the EPS. While ensuring that the driving experience is not affected, such as not causing the user to have a "hand-pulling" experience, the maximum and minimum values ​​of the steering torque can also be obtained in other ways, for example, according to empirical values. The embodiment of the present application does not limit this.

[0088] It should be understood that in actual applications, one or more of steps S141 and S142 may be selected for execution based on actual application requirements. For example, only step S141 may be executed or only step S142 may be executed. Step S142 may be executed after step S141, or step S141 may be executed after step S142. The embodiments of the present application are not limited to this.

[0089] See also Figure 3 , Figure 3 is a schematic diagram of a steering torque determination method provided in an embodiment of the present application. The steering torque determination method may include the following steps:

[0090] Step ST1001: Obtaining steering motion data of the vehicle during steering; the steering motion data includes acceleration and pitch angle (pitch axis inclination angle);

[0091] Step ST1002: determining the speed and driving force of the vehicle according to the steering motion data;

[0092] Step ST1003: determining the driving resistance of the vehicle according to the driving force, the mass of the vehicle and the steering motion data;

[0093] Step ST1004: determining the friction resistance of the vehicle according to the steering motion data and the driving resistance;

[0094] Step ST1005: Determine whether the friction resistance is greater than the resistance threshold; when the friction resistance is greater than the resistance threshold, execute the following step ST1006; when the friction resistance is less than the resistance threshold, execute the following step ST1007;

[0095] Step ST1006: when the friction resistance is greater than the resistance threshold, determining the power assist compensation torque corresponding to the friction resistance according to the first torque mapping relationship; wherein the friction resistance being greater than the resistance threshold indicates that the vehicle is on a road with large resistance, such as a muddy road, a sandy road, a wading road, etc., and power assist compensation is performed at this time;

[0096] Step ST1007: when the friction resistance is less than the resistance threshold, the damping compensation torque corresponding to the friction resistance is determined according to the second torque mapping relationship; wherein the friction resistance is less than the resistance threshold, indicating that the vehicle is on a slippery road surface, such as a rainy road surface, an icy road surface, etc., and damping compensation is performed at this time;

[0097] Step ST1008: determining the torque gain corresponding to the hand torque according to the gain mapping relationship;

[0098] Step ST1009: determining the steering torque of the vehicle according to the torque gain and the compensation torque; wherein the compensation torque includes the assist compensation torque or the damping compensation torque;

[0099] Step ST1010: performing low-pass filtering on the steering torque to obtain a filtered steering torque;

[0100] Step ST1011: Perform amplitude limiting processing on the filtered steering torque to obtain a limited steering torque; wherein, after the steering torque is subjected to low-pass filtering and amplitude limiting processing in turn, the steering torque is output, and vehicle steering control is implemented based on the steering torque.

[0101] related Figure 3 The specific implementation methods and corresponding beneficial effects of the embodiments can be found in the above method embodiments, which will not be elaborated here.

[0102] According to the second aspect of the present application, the embodiment of the present application further provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the above-mentioned steering torque determination method are implemented. The non-transitory computer-readable storage medium has all the beneficial effects of the above-mentioned steering torque determination method, and the present application will not repeat them here.

[0103] According to the third aspect of the present application, an embodiment of the present application further provides an electronic device, comprising: a memory and a processor, wherein a computer program is stored in the memory; and the processor is used to execute the computer program in the memory to implement the steps of the above-mentioned steering torque determination method. The electronic device has all the beneficial effects of the above-mentioned steering torque determination method, which will not be described in detail in this application.

[0104] See also Figure 4, the electronic device 400 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage device 408 to a random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the electronic device 400 are also stored. The processing device 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0105] Typically, the following devices may be connected to the I / O interface 405: an input device 406 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 407 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 408 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 409. The communication device 409 may allow the electronic device 400 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 4 The electronic device 400 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead. Figure 4 Each block shown in the figure may represent one device, or may represent multiple devices as required.

[0106] In particular, according to some embodiments of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, some embodiments of the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In some such embodiments, the computer program can be downloaded and installed from the network through the communication device 409, or installed from the storage device 408, or installed from the ROM 402. When the computer program is executed by the processing device 401, the above-mentioned functions defined in the method of some embodiments of the present application are executed.

[0107] It should be noted that the computer-readable medium described in some embodiments of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above, which is not specifically limited in the present application. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0108] In some embodiments of the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device, or device. In some embodiments of the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in combination with an instruction execution system, device, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0109] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (Hyper Text Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an adhoc peer-to-peer network), as well as any currently known or future developed network.

[0110] The computer-readable medium may be included in the electronic device, or may exist independently without being installed in the electronic device. The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: obtains the steering motion data and driving force of the vehicle during the steering process; determines the friction resistance of the vehicle according to the steering motion data and driving force; and determines the steering torque of the vehicle according to the friction resistance.

[0111] Computer program code for performing operations of some embodiments of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages. ― Such as Java, Smalltalk, C++, and also conventional procedural programming languages: such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network (including a local area network (LAN) or a wide area network (WAN)), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0112] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a portion of a code, which contains one or more executable instructions for implementing a specified logical function.

[0113] It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures.

[0114] For example, two boxes shown in succession may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of boxes in the block diagram and / or flow chart, can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0115] The units described in some embodiments of the present application may be implemented by software or hardware. The units described may also be set in a processor, for example, it may be described as: a processor includes an information acquisition module, a resistance determination module and a torque determination module. The names of these units do not constitute a limitation on the units themselves in some cases, for example, the information acquisition module may also be described as "a unit for obtaining steering motion data and driving force of the vehicle during the steering process".

[0116] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0117] According to a fourth aspect of the present application, an embodiment of the present application further provides a vehicle steering system, including an electronic device, which can be used to execute the above-mentioned steering torque determination method. The vehicle steering system has all the beneficial effects of the above-mentioned electronic device, which will not be described in detail in this application.

[0118] See also Figure 5 The vehicle steering system 500 includes a posture sensor 510 , a TAS (Torque Angle Sensor) 520 , a CAN (Controller Area Network) bus 530 , an EPS 540 , a motor control module 550 and a motor 560 .

[0119] The attitude sensor 510 includes an accelerometer 511 and a gyroscope 512. The accelerometer 511 is used to obtain the acceleration of the vehicle in real time, and transmit the acceleration to the EPS 540 through the CAN bus 530. The gyroscope 512 is used to obtain the pitch angle (pitch axis inclination angle) of the vehicle in real time, and transmit the pitch angle to the EPS 540 through the CAN bus 530. Optionally, the accelerometer 511 or other sensors in the attitude sensor 510 (such as a speed sensor, Figure 5 (not shown) can also calculate the vehicle speed after obtaining the vehicle acceleration and transmit the speed to EPS 540 via CAN bus 530.

[0120] The TAS 520 is used to obtain the hand torque acting on the vehicle steering wheel in real time and transmit the hand torque to the EPS 540 via the CAN bus 530 .

[0121] On the one hand, after receiving the steering motion data (including at least one of acceleration, pitch angle and speed) transmitted by the CAN bus, EPS 540 determines the driving force, air resistance, slope resistance and acceleration resistance of the vehicle based on the steering motion data, and then determines the friction resistance of the vehicle in combination with the constraint conditions satisfied during the vehicle driving process described in the above embodiment, and then obtains the compensation torque corresponding to the friction resistance from the torque mapping relationship. Optionally, the speed of the vehicle can also be calculated by EPS 540, which is not limited in the embodiment of the present application.

[0122] On the other hand, after receiving the hand torque transmitted by the CAN bus, the EPS 540 obtains the torque gain corresponding to the hand torque from the gain mapping relationship.

[0123] EPS 540 further determines the steering torque of the vehicle according to the compensation torque and the torque gain. Afterwards, EPS 540 can input the steering torque to the power steering system controller (not shown in the figure) to calculate the steering assist torque. The motor control module 550 can calculate the power assist motor control current according to the steering assist torque, and then control the motor 560 based on the current to achieve the steering function of the vehicle.

[0124] The vehicle steering system provided in the embodiment of the present application includes a posture sensor, a TAS sensor, a CAN bus, etc., and is compatible with the existing vehicle steering system without adding additional costs.

[0125] According to a fifth aspect of the present application, an embodiment of the present application further provides a vehicle, including an electronic device or a vehicle steering system, wherein the electronic device and the vehicle steering system can be used to perform the above-mentioned steering torque determination method. The vehicle has all the beneficial effects of the above-mentioned electronic device or vehicle steering system, which will not be described in detail in the present application.

[0126] The vehicle may be a fuel vehicle, a plug-in hybrid vehicle or a new energy vehicle, etc., and this application does not make any specific limitation on this.

[0127] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0128] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0129] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0130] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. Although the descriptions of various embodiments in the embodiments of the present application have different focuses, for parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A method for determining a steering torque, characterized in that: The steering torque determination method comprises: Obtain the steering motion data and driving force of the vehicle during the steering process; determining a friction resistance of the vehicle based on the steering motion data and the driving force; A steering torque of the vehicle is determined based on the frictional resistance.

2. The method for determining the steering torque according to claim 1, characterized in that: The determining the friction resistance of the vehicle according to the steering motion data and the driving force comprises: determining a driving resistance of the vehicle according to the driving force, the mass of the vehicle and the steering motion data; determining a target resistance of the vehicle according to the mass of the vehicle and the steering motion data; determining the friction resistance according to the target resistance and the running resistance; The driving resistance includes the target resistance and the friction resistance, and the target resistance includes at least one of the following: air resistance, slope resistance and acceleration resistance.

3. The method for determining the steering torque according to claim 1, characterized in that: Determining the steering torque of the vehicle according to the friction resistance includes: Determine the compensation torque corresponding to the friction resistance according to the mapping relationship between the friction resistance and the torque; The steering torque is determined as a function of the compensation torque.

4. The method for determining the steering torque according to claim 3, characterized in that: The determining the compensation torque corresponding to the friction resistance according to the friction resistance and torque mapping relationship includes: When the friction resistance is greater than the resistance threshold, determining the power assist compensation torque corresponding to the friction resistance according to the mapping relationship between the friction resistance and the first torque; When the friction resistance is less than the resistance threshold, determining the damping compensation torque corresponding to the friction resistance according to the mapping relationship between the friction resistance and the second torque; Among them, the torque mapping relationship includes the first torque mapping relationship and the second torque mapping relationship, the compensation torque includes the assist compensation torque and the damping compensation torque, the first torque mapping relationship includes at least one group of mapping relationships between the friction resistance and the assist compensation torque, and the second torque mapping relationship includes at least one group of mapping relationships between the friction resistance and the damping compensation torque.

5. The method for determining the steering torque according to claim 3, characterized in that: The determining the steering torque according to the compensation torque comprises: A steering torque of the vehicle is determined based on the torque gain and the compensation torque.

6. The method for determining the steering torque according to claim 5, characterized in that: The steering torque determination method further includes: obtaining a hand torque of the vehicle; The torque gain corresponding to the hand torque is determined according to the hand torque and gain mapping relationship.

7. The method for determining the steering torque according to any one of claims 1 to 6, characterized in that: The steering torque determination method further includes: The steering torque is subjected to low-pass filtering to obtain the filtered steering torque.

8. The method for determining the steering torque according to any one of claims 1 to 6, characterized in that: The steering torque determination method further includes: The steering torque is subjected to amplitude limiting processing to obtain the steering torque after amplitude limiting.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method described in any one of claims 1 to 8 is implemented.

10. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the method according to any one of claims 1 to 8.

11. A vehicle steering system, characterized in that: The vehicle steering system includes the electronic device as claimed in claim 10.

12. A vehicle, characterized in that: The vehicle comprises the electronic device as claimed in claim 10 , or comprises the vehicle steering system as claimed in claim 11 .

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