Steering control method and system, related equipment and vehicle

Abstract

The invention relates to the technical field of steering control, and discloses a steering control method and system, related equipment and a vehicle, and the method comprises the steps: obtaining the distance between a target vehicle and a surrounding obstacle when the vehicle speed of the target vehicle is smaller than or equal to a preset threshold value; steering operation acting on a steering wheel of the target vehicle is responded, a basic steering transmission ratio corresponding to the steering operation is adjusted according to the distance, and a target steering transmission ratio is obtained; the target steering transmission ratio is not reduced along with reduction of the distance, at least a first target steering transmission ratio corresponding to a first threshold value is larger than a second target steering transmission ratio corresponding to a second threshold value, and the first threshold value is smaller than the second threshold value; and steering control is conducted on the target vehicle according to the target steering transmission ratio. According to the method, the more accurate target steering transmission ratio can be obtained along with the reduction of the distance between the target vehicle and the surrounding obstacles at the low speed, and the steering adjustment precision of the vehicle is improved.

Description

Technical Field

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

[0002] With the continuous development of vehicle steering systems, more and more vehicles are controlled by wire steering systems. Steering-By-Wire (SBW) is an advanced automotive steering technology that eliminates the mechanical connection between the steering wheel and the steering wheel and relies entirely on electrical energy to achieve the steering function. Compared with traditional steering systems, the relationship between the requested steering angle input by the driver to the steering wheel and the output steering angle of the vehicle's front wheels can be determined by the algorithm inside the main controller ECU (electronic control unit).

[0003] Therefore, due to the special structure and principle of the SBW system, it is necessary not only to design the mechanical structure and layout of the entire system, but also to complete the relevant algorithms inside the controller. Even without considering advanced functions such as body stability control, the SBW system also needs to design a basic steering ratio algorithm to ensure that the vehicle can achieve basic steering functions. Therefore, as the most basic algorithm of the SBW system, the variable transmission ratio algorithm needs to consider the dynamic control of vehicle steering under various working conditions. However, at low speeds and small vehicle distances, the relevant variable transmission ratio algorithm often outputs a transmission ratio that is too small, causing the driver to oversteer and making it difficult to fine-tune the vehicle position. Summary of the invention

[0004] The embodiments of the present application provide a steering control method, system, related equipment and vehicle, which can solve the technical problem that the current vehicle cannot output a precise steering transmission ratio when the vehicle speed and the distance between vehicles are small.

[0005] In order to achieve the above object, according to a first aspect of the present application, a steering control method is provided, comprising:

[0006] When the speed of the target vehicle is less than or equal to a preset threshold, obtaining the distance between the target vehicle and surrounding obstacles;

[0007] In response to a steering operation on a steering wheel of a target vehicle, a basic steering transmission ratio corresponding to the steering operation is adjusted according to the distance to obtain a target steering transmission ratio; the target steering transmission ratio remains unchanged as the distance decreases, and at least a first target steering transmission ratio corresponding to a first threshold value is greater than a second target steering transmission ratio corresponding to a second threshold value, wherein the first threshold value is less than the second threshold value;

[0008] The target vehicle is steered according to the target steering gear ratio.

[0009] Through the above scheme, the basic steering transmission ratio can be accurately adjusted, so that at low speeds, as the distance between the target vehicle and the surrounding obstacles decreases, a more accurate target steering transmission ratio can be obtained, thereby improving the steering adjustment accuracy of the vehicle; it can avoid obtaining a smaller steering transmission ratio when the target vehicle is close to the surrounding obstacles at low speeds, so that the obtained target steering transmission ratio is more in line with actual application scenarios.

[0010] Optionally, in response to the steering operation of the steering wheel of the target vehicle, adjusting the basic steering transmission ratio corresponding to the steering operation according to the distance to obtain the target steering transmission ratio includes:

[0011] In response to a steering operation on a steering wheel of the target vehicle, if the distance is less than a first distance threshold, obtaining a target gain coefficient corresponding to the distance according to a mapping relationship;

[0012] The basic steering transmission ratio corresponding to the steering operation is adjusted according to the target gain coefficient to obtain the target steering transmission ratio.

[0013] Optionally, the target gain coefficient increases as the distance decreases.

[0014] Through the above scheme, a larger steering transmission ratio can be output at low speed, thereby achieving an appropriate reduction in the wheel angle, thereby increasing the rotation effect of the wheel at low speed and avoiding the problem of obtaining a smaller steering transmission ratio at low speed.

[0015] Optionally, the above distance includes a first distance between the target vehicle and the first obstacle and / or a second distance between the target vehicle and the second obstacle; the first obstacle and the second obstacle are respectively located at different positions of the target vehicle; the target gain coefficient includes a first gain coefficient and / or a second gain coefficient;

[0016] If the distance is less than the first distance threshold, the target gain coefficient corresponding to the distance is obtained according to the mapping relationship, including:

[0017] If the first distance is less than the first distance threshold, obtaining a first gain coefficient corresponding to the first distance according to the first mapping relationship; and / or,

[0018] If the second distance is less than the first distance threshold, a second gain coefficient corresponding to the second distance is obtained according to a second mapping relationship.

[0019] Optionally, the first distance is the distance between the target vehicle and a first obstacle in front, and the second distance is the distance between the target vehicle and a second obstacle in the rear.

[0020] Optionally, the first change rate of the first mapping relationship is not positively correlated with the first distance, and the first change rate is a rate at which the first gain coefficient changes with the first distance.

[0021] Optionally, if the second distance is less than or equal to the second distance threshold, the second change rate of the second mapping relationship is positively correlated with the second distance; if the second distance is greater than the second distance threshold, the second change rate of the second mapping relationship is not positively correlated with the second distance; the second change rate is the rate at which the second gain coefficient changes with the second distance.

[0022] Through the above scheme, different mapping relationships are determined according to the distances between obstacles in different directions and the target vehicle, and different gain coefficients are obtained, so that the basic steering transmission ratio of the vehicle can be adjusted with different precisions according to different directions, further improving the accuracy of vehicle steering adjustment.

[0023] Optionally, the above response acts on the steering operation of the steering wheel of the target vehicle, if the distance is less than a first distance threshold, obtaining a target gain coefficient corresponding to the distance according to a mapping relationship, including:

[0024] In response to a steering operation applied to a steering wheel of the target vehicle, if the distance is less than a first distance threshold, determining a range in which the distance is located based on a relationship between the distance and a plurality of thresholds;

[0025] The corresponding target gain coefficient is determined according to the interval in which the distance is located.

[0026] Optionally, different intervals correspond to different target gain coefficients, the target gain coefficient corresponding to the first interval is greater than the target gain coefficient corresponding to the second interval, and the distance in the first interval is less than the distance in the second interval.

[0027] Optionally, after the above-mentioned response acts on the steering operation of the steering wheel of the target vehicle, it also includes:

[0028] Obtaining a steering wheel angle according to a steering operation;

[0029] The basic steering gear ratio of the target vehicle is determined according to the turning angle and the speed of the target vehicle.

[0030] Optionally, determining the basic steering transmission ratio of the target vehicle according to the turning angle and the speed of the target vehicle includes:

[0031] Obtaining the stability coefficient of the target vehicle, which is used to measure the stability of the target vehicle;

[0032] Determine the basic steering ratio of the target vehicle based on the turning angle, vehicle speed and stability coefficient.

[0033] Through the above scheme, the basic steering transmission ratio of the vehicle in an ideal state can be determined, and then based on the determined basic steering transmission ratio, the steering transmission ratio of the vehicle in the low-speed warning state can be accurately compensated, thereby improving the accuracy of the calculation of the steering transmission ratio of the vehicle in the low-speed warning state.

[0034] Optionally, the stability coefficient includes a first stability coefficient and a second stability coefficient, and obtaining the stability coefficient of the target vehicle includes:

[0035] Determining a first stability coefficient of the target vehicle based on the vehicle speed and a fixed performance parameter of the target vehicle, the fixed performance parameter comprising at least one of a wheel spacing of the target vehicle wheels, a stiffness of the target vehicle wheels, and a mass of the target vehicle;

[0036] A second stability coefficient of the target vehicle is determined based on the turning angle and the yaw rate of the target vehicle.

[0037] Optionally, the obtaining of the steering wheel angle according to the steering operation includes:

[0038] Acquiring steering wheel angle data according to the steering operation;

[0039] If the message corresponding to the angle data is a valid message, the steering wheel angle is determined according to the angle data;

[0040] If the message corresponding to the angle data is an abnormal message, the process returns to execute the acquisition of the steering wheel angle data according to the steering operation until the message corresponding to the angle data acquired according to the steering operation is a valid message.

[0041] Through the above scheme, the normal operation of the steering actuator can be ensured, and steering accidents caused by abnormal steering wheel angle and abnormal steering transmission ratio output can be prevented, thereby further ensuring the driving safety of the vehicle.

[0042] Optionally, when the speed of the target vehicle is less than or equal to a preset threshold, obtaining the distance between the target vehicle and surrounding obstacles includes:

[0043] Get the speed of the target vehicle;

[0044] If the vehicle speed is less than or equal to a preset threshold, and the duration of the vehicle speed is greater than or equal to a preset duration, the distance between the target vehicle and the surrounding obstacles is obtained.

[0045] Optionally, the obtaining of the speed of the target vehicle includes:

[0046] Obtain the speed data of the target vehicle;

[0047] If the message corresponding to the vehicle speed data is a valid message, the speed of the target vehicle is determined according to the vehicle speed data;

[0048] If the message corresponding to the vehicle speed data is an abnormal message, the process returns to execute acquisition of the vehicle speed data of the target vehicle until the message corresponding to the vehicle speed data is a valid message.

[0049] Optionally, the steering control of the target vehicle according to the target steering transmission ratio includes:

[0050] determining a wheel angle of a target vehicle based on the target steering gear ratio;

[0051] Control the steering of the target vehicle based on the wheel angle.

[0052] Accordingly, an embodiment of the present application provides a steering control system, comprising:

[0053] A turning angle detection sensor, for responding to a steering operation applied to a steering wheel of the vehicle, detecting a turning angle of the steering wheel, and outputting turning angle data of the steering wheel;

[0054] Environmental perception sensor, used to detect the distance between the vehicle and surrounding obstacles and output distance data;

[0055] A main controller and an actuator motor are used in any of the above steering control methods.

[0056] Through the above scheme, the basic steering transmission ratio can be accurately adjusted according to the vehicle's turning angle data and distance data, so that at low speeds, as the distance between the target vehicle and the surrounding obstacles decreases, a more accurate target steering transmission ratio can be obtained, thereby improving the steering adjustment accuracy of the vehicle; it can avoid obtaining a smaller steering transmission ratio when the target vehicle is close to the surrounding obstacles at low speeds, so that the obtained target steering transmission ratio is more in line with actual application scenarios.

[0057] In addition, an embodiment of the present application also provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the processor is used to run the computer program in the memory to implement the steering control method provided in the embodiment of the present application.

[0058] In addition, an embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. The computer program is suitable for loading by a processor to execute any steering control method provided in the embodiment of the present application.

[0059] In addition, an embodiment of the present application also provides a computer program product, including a computer program, which implements any steering control method provided in the embodiment of the present application when the computer program is executed by a processor.

[0060] In addition, an embodiment of the present application also provides a vehicle, including the above-mentioned steering control system, or the above-mentioned electronic device, or the above-mentioned computer-readable storage medium.

[0061] When the speed of the target vehicle is less than or equal to a preset threshold, the distance between the target vehicle and the surrounding obstacles is obtained; in response to the steering operation of the steering wheel of the target vehicle, the basic steering transmission ratio corresponding to the steering operation is adjusted according to the distance to obtain the target steering transmission ratio, so that the basic steering transmission ratio can be accurately adjusted by the distance, which can avoid obtaining a smaller steering transmission ratio when the target vehicle is close to the surrounding obstacles at low speed, improve the steering transmission ratio of the vehicle at low speed, and make the obtained target steering transmission ratio more suitable for actual application scenarios. The target vehicle is controlled to steer according to the target steering transmission ratio, thereby achieving a more accurate target steering transmission ratio as the distance between the target vehicle and the surrounding obstacles decreases at low speed, thereby improving the steering adjustment accuracy of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] 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.

[0063] 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.

[0064] Figure 1 is a flow chart of a steering control method provided in an embodiment of the present application;

[0065] Figure 2 is a schematic diagram of a mapping curve between the front distance and the first gain coefficient provided in an embodiment of the present application;

[0066] Figure 3 is a schematic diagram of a mapping curve between the rear distance and the second gain coefficient provided in an embodiment of the present application;

[0067] Figure 4 is a schematic diagram of the mapping relationship between the front distance and the first gain coefficient provided in an embodiment of the present application;

[0068] Figure 5 is a schematic diagram of the mapping relationship between the rear distance and the second gain coefficient provided in an embodiment of the present application;

[0069] Figure 6 is a schematic diagram of the steering control logic provided by an embodiment of the present application;

[0070] Figure 7 is a schematic diagram of the structure of a steering control device provided in an embodiment of the present application;

[0071] Figure 8 is a schematic diagram of the structure of a steering control system provided in an embodiment of the present application;

[0072] Fig. 9 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0073] 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.

[0074] The embodiments of the present application provide a steering control method, system, related equipment and vehicle. The related equipment can be integrated in the vehicle.

[0075] In addition, the term "plurality" in the embodiments of the present application refers to two or more than two. The terms "first" and "second" in the embodiments of the present application are used to distinguish descriptions and should not be understood as implying relative importance.

[0076] Under normal driving conditions, vehicle speed and steering wheel angle are usually used as input variables. Combined with the vehicle's kinematic characteristics, a variable transmission ratio algorithm is used to enable the vehicle to have a smaller steering ratio at low speeds, thereby allowing a larger wheel steering angle to be formed through a slight turn of the steering wheel, thereby enhancing the vehicle's steering sensitivity and facilitating parking or U-turns. At high speeds, the steering ratio is increased so that a larger turn of the steering wheel can be used to obtain the same wheel steering angle as at normal speeds, thereby avoiding oversteering and improving the vehicle's steering stability.

[0077] Based on this, an embodiment of the present application proposes a steering control method. When the target vehicle is in a low-speed driving state, the basic steering transmission ratio is adjusted according to the distance between the target vehicle and the surrounding obstacles, so that the adjusted target steering transmission ratio can change accurately with the distance, and then when the speed is low and the distance between the vehicle and the surrounding obstacles is close, the obtained steering transmission ratio can output the wheel angle that fits the current scene, thereby improving the steering adjustment accuracy of the vehicle.

[0078] It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments.

[0079] See also Figure 1 , Figure 1 : is a flow chart of a steering control method provided by an embodiment of the present application. The steering control method may include:

[0080] S101. When the speed of the target vehicle is less than or equal to a preset threshold, obtain the distance between the target vehicle and surrounding obstacles.

[0081] In this embodiment, the distance between the target vehicle and the surrounding obstacles can be obtained when the vehicle speed is less than or equal to a preset threshold. The distance between the target vehicle and the surrounding obstacles can also be obtained when the vehicle speed of the target vehicle is less than or equal to the preset threshold, and the duration of the vehicle speed being less than or equal to the preset threshold is greater than or equal to the preset duration.

[0082] The surrounding obstacles include obstacles located in at least one direction of the target vehicle, and the obstacles may be vehicles, pedestrians, or other non-moving objects. For example, a vehicle located directly in front of the target vehicle is determined as a surrounding obstacle of the target vehicle.

[0083] In some implementations, there may be multiple obstacles located at the same position, and the obstacle closest to the target vehicle in the same position may be determined as the obstacle corresponding to the target vehicle.

[0084] In some embodiments, the surrounding obstacles of the target vehicle include obstacles in front of the target vehicle and obstacles behind the target vehicle. The obstacles in front include at least one obstacle in front of the target vehicle and obstacles in front of the side of the target vehicle. The rear obstacles include at least one obstacle in the rear of the target vehicle and obstacles in the rear of the side of the target vehicle.

[0085] The distance between the target vehicle and the surrounding obstacles can be detected by the environmental perception sensor of the target vehicle. For example, the environmental features around the target vehicle are sensed by an infrared sensor or a radar probe, and the distance data between the target vehicle and the surrounding obstacles are output. The distance data is processed to obtain the distance between the target vehicle and the surrounding obstacles. Specifically, the environmental perception sensor outputs the distance data, and according to the data communication protocol of the target vehicle, such as the protocol of the controller area network bus (Controller Area Network, CAN), the distance data is transmitted to the chassis controller in the form of a message. The chassis controller converts the message corresponding to the distance data, and filters the noise in the distance data according to a low-pass filter to obtain the filtered distance data. The filtered distance data is processed to obtain the distance between the target vehicle and the surrounding obstacles.

[0086] S102. In response to a steering operation on a steering wheel of a target vehicle, a basic steering transmission ratio corresponding to the steering operation is adjusted according to the distance to obtain a target steering transmission ratio; the target steering transmission ratio remains unchanged as the distance decreases, and at least a first target steering transmission ratio corresponding to a first threshold value is greater than a second target steering transmission ratio corresponding to a second threshold value, wherein the first threshold value is less than the second threshold value.

[0087] The first threshold and the second threshold refer to two different distance values. The target steering ratio corresponding to the first threshold is the first target steering transmission ratio. The target steering ratio corresponding to the second threshold is the second target steering transmission ratio.

[0088] Wherein, the steering operation refers to the steering operation of the steering wheel of the target vehicle. The steering operation can be triggered by the driver turning the steering wheel of the target vehicle, or by controlling the steering wheel rotation trigger through the control device of the steering wheel. Through the angle detection sensor of the target vehicle, such as TAS (Torque Angle Sensor), the steering operation of the steering wheel can be detected in real time to obtain the angle data corresponding to the steering operation. The steering transmission ratio refers to the ratio of the steering wheel angle to the wheel angle. According to the distance between the target vehicle and the surrounding obstacles, the basic steering transmission ratio corresponding to the steering operation is adjusted to obtain the target steering transmission ratio. The target steering transmission ratio increases as the distance decreases. The closer the distance between the target vehicle and the surrounding obstacles, the larger the calculated target steering transmission ratio. The basic steering transmission ratio is the steering transmission ratio of the target vehicle in the non-warning state. When the vehicle is in a small space, or driving at high speed, or the distance between the vehicle and the surrounding obstacles is too small, the vehicle is in the warning state. According to the steering wheel angle and vehicle speed corresponding to the steering operation, the basic steering transmission ratio can be calculated.

[0089] S103: Controlling the steering of the target vehicle according to the target steering transmission ratio.

[0090] In this embodiment, the turning angle of the wheels in the target vehicle can be determined according to the target steering transmission ratio and the steering wheel angle. Among them, when the steering wheel angle is constant, the larger the target steering transmission ratio is, the smaller the turning angle of the wheels of the target vehicle is. When the distance between the target vehicle and the surrounding obstacles is closer, the larger the target steering transmission ratio is, so that a smaller wheel angle can be obtained through the larger target steering transmission ratio. The steering of the target vehicle is controlled according to the wheel angle, thereby achieving precise steering control of the target vehicle.

[0091] The embodiment of the present application obtains the distance between the target vehicle and the surrounding obstacles when the speed of the target vehicle is less than or equal to a preset threshold value; in response to the steering operation of the steering wheel of the target vehicle, the basic steering transmission ratio corresponding to the steering operation is adjusted according to the distance to obtain the target steering transmission ratio, so that the basic steering transmission ratio can be accurately adjusted by the distance, which can avoid obtaining a smaller steering transmission ratio when the target vehicle is close to the surrounding obstacles at low speed, improve the steering transmission ratio of the vehicle at low speed, and make the obtained target steering transmission ratio more suitable for actual application scenarios. The target vehicle is controlled to steer according to the target steering transmission ratio, thereby achieving a more accurate target steering transmission ratio as the distance between the target vehicle and the surrounding obstacles decreases at low speed, thereby improving the steering adjustment accuracy of the vehicle.

[0092] In some embodiments of the present application, in response to the steering operation on the steering wheel of the target vehicle, adjusting the basic steering transmission ratio corresponding to the steering operation according to the distance to obtain the target steering transmission ratio includes:

[0093] In response to a steering operation on a steering wheel of the target vehicle, if the distance is less than a first distance threshold, obtaining a target gain coefficient corresponding to the distance according to a mapping relationship;

[0094] The basic steering transmission ratio corresponding to the steering operation is adjusted according to the target gain coefficient to obtain the target steering transmission ratio.

[0095] In this embodiment, the first distance threshold is the first distance threshold under the preset warning condition. When the vehicle speed is less than or equal to the preset threshold, and the distance between the target vehicle and the surrounding obstacles is less than the first distance threshold, the warning condition is triggered, thereby avoiding the collision between the vehicle and the surrounding obstacles. In some embodiments, the first distance threshold may be 2m. The first threshold and the second threshold may be values ​​within the range of the first distance threshold.

[0096] In response to the steering operation of the steering wheel of the target vehicle, if the distance between the target vehicle and the surrounding obstacles is less than the first distance threshold, the corresponding mapping relationship is queried according to the distance to obtain the target gain coefficient. The mapping relationship is a mapping relationship between the distance and the gain coefficient. By querying the mapping table corresponding to the distance, or the mapping curve, the target gain coefficient corresponding to the distance between the current target vehicle and the surrounding obstacles can be obtained. The target gain coefficient is merged with the basic steering transmission ratio to obtain the target steering transmission ratio.

[0097] In some embodiments of the present application, the target gain coefficient increases as the distance decreases.

[0098] This embodiment adjusts the basic steering transmission ratio through the target gain coefficient, thereby achieving precise adjustment of the vehicle's steering transmission ratio, so that at low speeds, a larger steering transmission ratio can be output, thereby achieving a proper reduction in the wheel angle, thereby increasing the rotation effect of the wheel at low speeds and avoiding the problem of obtaining a smaller steering transmission ratio at low speeds.

[0099] In some embodiments of the present application, the above distance includes a first distance between the target vehicle and the first obstacle and / or a second distance between the target vehicle and the second obstacle; the first obstacle and the second obstacle are respectively located at different positions of the target vehicle; the target gain coefficient includes a first gain coefficient and / or a second gain coefficient;

[0100] If the distance is less than the first distance threshold, the target gain coefficient corresponding to the distance is obtained according to the mapping relationship, including:

[0101] If the first distance is less than the first distance threshold, obtaining a first gain coefficient corresponding to the first distance according to the first mapping relationship; and / or,

[0102] If the second distance is less than the first distance threshold, a second gain coefficient corresponding to the second distance is obtained according to a second mapping relationship.

[0103] In this embodiment, the obstacles around the target vehicle may include obstacles in multiple different orientations. An obstacle located at a first orientation of the target vehicle is a first obstacle, and an obstacle located at a second orientation of the target vehicle is a second obstacle. The first distance is the distance between the target vehicle and the first obstacle, and the second distance refers to the distance between the target vehicle and the second obstacle. The first distance threshold between obstacles in different orientations and the target vehicle may be the same first distance threshold. For example, the first distance threshold between obstacles in different orientations and the target vehicle is 2m.

[0104] In some embodiments, the first distance thresholds between obstacles in different directions and the target vehicle may also be different first distance thresholds. For example, the first distance between the first obstacle and the target vehicle is determined as the first distance threshold corresponding to the first obstacle, and the second distance between the second obstacle and the target vehicle is determined as the first distance threshold corresponding to the second obstacle.

[0105] If the first distance is less than the first distance threshold, the first mapping relationship is queried according to the first distance to obtain the first gain coefficient; if the second distance is less than the first distance threshold, the second mapping relationship is queried according to the second distance to obtain the second gain coefficient. When any distance is less than the first distance threshold, the corresponding mapping relationship is queried according to the distance to obtain the gain coefficient corresponding to the distance.

[0106] In some embodiments, if the first distance is greater than or equal to the first distance threshold, a default gain coefficient corresponding to the first distance is obtained; if the second distance is greater than or equal to the first distance threshold, a default gain coefficient corresponding to the second distance is obtained. The default gain coefficient corresponding to the first distance may be the same as the default gain coefficient corresponding to the second distance. For example, the default gain coefficient corresponding to the first distance and the default gain coefficient corresponding to the second distance are both 1.

[0107] If the first distance is less than the first distance threshold, and the second distance is less than the first distance threshold, the target gain coefficient includes the first gain coefficient and the second gain coefficient. If the first distance is less than the first distance threshold, and the second distance is greater than or equal to the first distance threshold, the target gain coefficient includes the first gain coefficient and the default gain coefficient corresponding to the second distance. If the first distance is greater than or equal to the first distance threshold, and the second distance is less than the first distance threshold, the target gain coefficient includes the default gain coefficient and the second gain coefficient corresponding to the first distance.

[0108] This embodiment determines different mapping relationships through the distance between obstacles in different directions and the target vehicle, and then obtains different gain coefficients, so that the basic steering transmission ratio of the vehicle can be adjusted with different precisions according to different directions, further improving the accuracy of vehicle steering adjustment.

[0109] In some embodiments of the present application, the first distance is the distance between the target vehicle and a first obstacle in front, and the second distance is the distance between the target vehicle and a second obstacle in the rear.

[0110] In this embodiment, when the first obstacle is located in front of the target vehicle, the first distance is the distance between the target vehicle and the first obstacle in front, that is, the front distance; when the second obstacle is located behind the target vehicle, the second distance is the distance between the target vehicle and the second obstacle behind, that is, the rear distance.

[0111] The front includes the side front position and the front position of the target vehicle, and the rear includes the side rear position and the rear position of the target vehicle. In some embodiments, the obstacle closest to the target vehicle between the side front and the front can be determined as the first obstacle, and the obstacle closest to the target vehicle between the side rear and the rear can be determined as the second obstacle.

[0112] In some embodiments of the present application, the first change rate of the above-mentioned first mapping relationship is not positively correlated with the first distance, and the first change rate is the rate at which the first gain coefficient changes with the first distance.

[0113] Among them, the mapping relationship between the front distance and the first gain coefficient in the first mapping relationship is a first inverse proportional relationship, and as the distance between the target vehicle and the first obstacle in front decreases, the first gain coefficient gradually increases. Figure 2 As shown, Figure 2 is a schematic diagram of a mapping curve between the front distance and the first gain coefficient provided in an embodiment of the present application. Figure 2 It can be seen that as the front distance decreases, the first change rate of the first mapping relationship increases.

[0114] In some embodiments of the present application, if the second distance is less than or equal to the second distance threshold, the second change rate of the second mapping relationship is positively correlated with the second distance; if the second distance is greater than the second distance threshold, the second change rate of the second mapping relationship is not positively correlated with the second distance; the second change rate is the rate at which the second gain coefficient changes with the second distance.

[0115] The second distance refers to the distance between the target vehicle and the second obstacle behind it, that is, the rear distance. The second distance threshold refers to the demarcation threshold of the second change rate.

[0116] like Figure 3 As shown, Figure 3 It is a schematic diagram of a mapping curve between the rear distance and the second gain coefficient provided in an embodiment of the present application. Figure 3 The second distance threshold may be 1. If the second distance is less than or equal to the second distance threshold, the second change rate of the second mapping relationship gradually decreases as the second distance decreases. If the second distance is greater than the second distance threshold, the second change rate of the second mapping relationship gradually increases as the second distance decreases.

[0117] Therefore, by changing the second gain coefficient at different speeds with the second distance at different distances, it is achieved that when the target vehicle is traveling backward and the distance to the rear obstacle gradually decreases, different gain coefficients can correspond to each other, so that even when the target vehicle is very close to the rear obstacle, there is still a sufficient steering adjustment range, and the steering of the vehicle can be fully adjusted.

[0118] In some embodiments of the present application, by comparing the first mapping relationship and the second mapping relationship, it can be seen that within the first distance range, the rate at which the second gain coefficient in the second mapping relationship changes with the second distance is smaller than the rate at which the first gain coefficient in the first mapping relationship changes with the first distance.

[0119] The first distance range refers to the range between the limit threshold and the minimum distance threshold. The rate at which the second gain coefficient changes with the distance at the limit threshold is the same as the rate at which the first gain coefficient changes with the distance at the limit threshold.

[0120] When the target vehicle is reversing, or there is a vehicle approaching from behind the target vehicle, when the driver makes a subjective dynamic adjustment to the steering gear ratio by adjusting the steering wheel angle, if the distance between the target vehicle and the vehicle behind, or the target vehicle and an obstacle other than the vehicle behind, is at the limit distance, then a larger steering gear ratio will affect the vehicle's departure from the depot or the number of adjustments of the entire vehicle.

[0121] Therefore, within the first distance range, the rate at which the second gain coefficient in the second mapping relationship changes with the second distance is less than the rate at which the first gain coefficient in the first mapping relationship changes with the first distance. As a result, when the target vehicle is reversing into a parking space, or there is an approaching vehicle behind the target vehicle, when the distance between the target vehicle and the vehicle behind, or between the target vehicle and a non-vehicle obstacle behind, is the limit distance, by reducing the rate of change of the second gain coefficient, more steering transmission ratios can be obtained at the limit distance, thereby increasing the adjustable range of vehicle steering.

[0122] Depend on Figure 2 and Figure 3 It can be seen that as the distance to the front decreases, the first gain coefficient gradually increases. As the distance to the back decreases, the second gain coefficient also increases. Figure 2 The mapping relationship between the front distance and the first gain coefficient is shown in the distance range of [0,0.8]. Figure 3 The rate at which the second gain coefficient increases with decreasing distance is less than that within the same distance range. Figure 2 The rate at which the first gain coefficient increases with decreasing distance is shown. 0.8 is an exemplary value. In some embodiments, it may also be 1, or other values.

[0123] In some embodiments of the present application, in response to the steering operation of the steering wheel of the target vehicle, if the distance is less than the first distance threshold, the process of obtaining the target gain coefficient corresponding to the distance according to the mapping relationship may include: in response to the steering operation of the steering wheel of the target vehicle, if the distance is less than the first distance threshold, determining the interval in which the distance is located according to the relationship between the distance and multiple thresholds; and determining the corresponding target gain coefficient according to the interval in which the distance is located.

[0124] In some implementations, the mapping relationship between the front distance and the first gain coefficient may be a step-type mapping relationship. Figure 4 As shown, Figure 4 A schematic diagram of a mapping relationship between a front distance and a first gain coefficient provided in an embodiment of the present application. Figure 4 It can be seen that, in the process of decreasing the front distance, the first gain coefficient will change step by step, so that the trend of the first gain coefficient changing with the front distance is step-like.

[0125] In some implementations, the mapping relationship between the rear distance and the second gain coefficient may also be a step-type mapping relationship. Figure 5 As shown, Figure 5 A schematic diagram of a mapping relationship between a rear distance and a second gain coefficient provided in an embodiment of the present application. Figure 5 It can be seen that, in the process of decreasing the rear distance, the second gain coefficient will jump, so that the trend of the second gain coefficient changing with the rear distance is step-like.

[0126] Therefore, the interval in which the distance is located can be determined according to the relationship between the distance and multiple thresholds, and then the corresponding target gain coefficient can be determined according to the interval in which the distance is located.

[0127] In some embodiments of the present application, different intervals correspond to different target gain coefficients, the target gain coefficient corresponding to the first interval is greater than the target gain coefficient corresponding to the second interval, and the distance in the first interval is less than the distance in the second interval.

[0128] For example, Figure 4 As shown, Figure 4 The first interval can be (0.2, 0.3], and the second interval can be (0.3, 0.5]. The first gain coefficient corresponding to the first interval is 1.3, and the first gain coefficient corresponding to the second interval is 1.25. The first gain coefficient corresponding to the first interval is greater than the first gain coefficient corresponding to the second interval.

[0129] Further, by Figure 4 and Figure 5 It can be seen that as the distance decreases, the target gain coefficient will jump at different thresholds, and the direction of the target gain coefficient jump is the direction of increasing value. Figure 4 and Figure 5 It can be seen that the number of jumps of the second gain coefficient in the process of reducing the rear distance is greater than the number of jumps of the first gain coefficient in the process of reducing the front distance. As can be seen from the figure, in the process of reducing the front distance from 2m to 0, the first gain coefficient has a total of 10 jumps. In the process of reducing the rear distance from 2m to 0, the second gain coefficient has a total of 16 jumps.

[0130] By increasing the number of jumps as the rear distance gradually decreases, the second gain coefficient can be accurately controlled, so that when the target vehicle is reversing into a parking space, or there is an approaching vehicle behind the target vehicle, when the distance between the target vehicle and the rear vehicle, or between the target vehicle and an obstacle other than the vehicle behind is at an extreme distance, more steering transmission ratios can be obtained at the extreme distance by increasing the number of jumps, thereby increasing the adjustable range of the vehicle steering.

[0131] In some embodiments of the present application, after the above-mentioned response to the steering operation of the steering wheel of the target vehicle, the method further includes:

[0132] Obtaining a steering wheel angle according to a steering operation;

[0133] The basic steering gear ratio of the target vehicle is determined according to the turning angle and the speed of the target vehicle.

[0134] In this embodiment, the steering operation refers to the operation of the driver or the steering wheel control device controlling the steering wheel to rotate. When the driver or the steering wheel control device controls the steering wheel to rotate, the corresponding angle data can be obtained through the angle detection sensor corresponding to the steering wheel in the target vehicle. The current steering wheel angle is obtained by processing the angle data. According to the steering wheel angle and the speed of the target vehicle, the basic steering transmission ratio of the target vehicle is determined.

[0135] In some embodiments of the present application, determining the basic steering gear ratio of the target vehicle according to the turning angle and the speed of the target vehicle includes:

[0136] Obtaining the stability coefficient of the target vehicle, which is used to measure the stability of the target vehicle;

[0137] Determine the basic steering ratio of the target vehicle based on the turning angle, vehicle speed and stability coefficient.

[0138] In this embodiment, the stability coefficient of the target vehicle refers to a parameter used to measure the stability of the target vehicle. For example, a first stability coefficient determined based on a fixed performance parameter of the target vehicle, or a second stability coefficient determined based on the yaw rate and steering wheel angle of the target vehicle. The stability coefficient includes at least one of the first stability coefficient and the second stability coefficient. According to the turning angle, vehicle speed and stability coefficient, the basic steering transmission ratio of the target vehicle can be calculated.

[0139] In some embodiments, the first stability coefficient of the target vehicle can be determined by the vehicle speed and the fixed performance parameters of the target vehicle, and the second stability coefficient of the target vehicle can be determined by the turning angle and the yaw rate of the target vehicle. The basic steering transmission ratio of the target vehicle is determined according to the longitudinal speed of the target vehicle, the distance between the front axle and the rear axle of the target vehicle, the first stability coefficient and the second stability coefficient. As an example, the calculation formula of the basic steering transmission ratio is as follows:

[0140]

[0141] Among them, i var is the basic steering transmission ratio, u is the longitudinal speed of the target vehicle, L is the distance between the front and rear axles, K is the first stability coefficient, is the second stability coefficient.

[0142] This embodiment can determine the basic steering transmission ratio of the vehicle in an ideal state through the turning angle, vehicle speed and stability coefficient, and then based on the determined basic steering transmission ratio, it can accurately compensate the steering transmission ratio of the vehicle in the low-speed warning state, thereby improving the accuracy of the calculation of the vehicle's steering transmission ratio in the low-speed warning state.

[0143] In some embodiments of the present application, the above stability coefficient includes a first stability coefficient and a second stability coefficient, and obtaining the stability coefficient of the target vehicle includes:

[0144] Determining a first stability coefficient of the target vehicle based on the vehicle speed and a fixed performance parameter of the target vehicle, the fixed performance parameter comprising at least one of the axle spacing of the target vehicle wheels, the stiffness of the target vehicle wheels, and the mass of the target vehicle;

[0145] A second stability coefficient of the target vehicle is determined based on the turning angle and the yaw rate of the target vehicle.

[0146] In this embodiment, the stability coefficient specifically includes a first stability coefficient and a second stability coefficient. Among them, the first stability coefficient refers to a stability coefficient determined based on the fixed performance parameters of the vehicle, and the second stability coefficient refers to a stability coefficient determined based on the yaw rate. Specifically, the fixed performance parameters include at least one of the axle spacing of the target vehicle wheels, the stiffness of the wheels, and the mass of the target vehicle. The axle spacing of the target vehicle wheels specifically includes the spacing between the front wheel axle and the rear wheel axle in the vehicle, the spacing between the two front wheel axles in the vehicle, and the spacing between the two rear wheel axles in the vehicle. The stiffness of the wheel includes the stiffness of the front wheel and the stiffness of the rear wheel. The yaw rate refers to the speed at which the vehicle deflects around its vertical axis. The yaw rate can be obtained by estimating the wheel speed difference, or by calculating the lateral acceleration and the vehicle speed, or by calculating the vehicle speed and the turning radius, or by directly reading the inertial sensor of the vehicle.

[0147] According to the vehicle speed and the fixed performance parameters of the target vehicle, the first stability coefficient of the target vehicle can be calculated. As an example, the first stability coefficient can be obtained by the following calculation formula:

[0148]

[0149] Among them, K is the first stability coefficient, L is the distance between the front axle and the rear axle, a is the distance between the two front axles in the vehicle, b is the distance between the two rear axles in the vehicle, m is the mass of the vehicle, k1 is the front wheel stiffness, and k2 is the rear wheel stiffness.

[0150] According to the steering wheel angle and yaw rate, the second stability coefficient of the target vehicle can be calculated. As an example, the second stability coefficient can be obtained by the following calculation formula:

[0151]

[0152] in, is the second stability coefficient, ω r is the yaw angular velocity, δ sw is the steering wheel angle.

[0153] This embodiment can ensure that the vehicle maintains stability when turning through the first stability coefficient and the second stability coefficient.

[0154] In some embodiments of the present application, the above-mentioned obtaining the steering wheel angle according to the steering operation includes:

[0155] Acquiring steering wheel angle data according to the steering operation;

[0156] If the message corresponding to the angle data is a valid message, the steering wheel angle is determined according to the angle data;

[0157] If the message corresponding to the angle data is an abnormal message, the process returns to execute the acquisition of the steering wheel angle data according to the steering operation until the message corresponding to the angle data acquired according to the steering operation is a valid message.

[0158] In this embodiment, the steering operation of the steering wheel can be detected and determined by the steering angle detection sensor corresponding to the steering wheel in the target vehicle. Therefore, when the steering operation is detected by the steering angle detection sensor corresponding to the steering wheel, the steering angle data corresponding to the current steering wheel is generated, and the steering angle data is sent to the main controller of the steering control system in the form of a message. The message corresponding to the steering angle data is detected by the main controller.

[0159] In some embodiments, the message corresponding to the angle data is a periodic message, and therefore, in addition to carrying the actual angle information of the steering wheel, the message corresponding to the angle data also carries a count value and a check value. According to the count value and the check value carried in the message corresponding to the angle data, it can be determined whether the message corresponding to the current angle data is a valid message. If the message corresponding to the angle data is a valid message, the current steering wheel angle is calculated according to the angle data. If the message corresponding to the angle data is an abnormal message, the process returns to execute the acquisition of the angle data of the target vehicle according to the steering operation until the message corresponding to the angle data is a valid message.

[0160] This embodiment can ensure the normal operation of the steering actuator by determining the validity of the angle data, prevent steering accidents caused by abnormal steering wheel angles and abnormal steering transmission ratios, and further ensure the driving safety of the vehicle.

[0161] In some embodiments of the present application, when the speed of the target vehicle is less than or equal to a preset threshold, obtaining the distance between the target vehicle and surrounding obstacles includes:

[0162] Get the speed of the target vehicle;

[0163] If the vehicle speed is less than or equal to a preset threshold, and the duration of the vehicle speed is greater than or equal to a preset duration, the distance between the target vehicle and the surrounding obstacles is obtained.

[0164] In this embodiment, the preset threshold value may be 5 km / h, or other vehicle speed threshold values, such as 4 km / h, or 6 km / h. If the vehicle speed is less than or equal to the preset threshold value, and the duration of the vehicle speed is greater than or equal to the preset duration, the distance between the target vehicle and the surrounding obstacles is obtained. The preset duration may be 2 seconds, or 3 seconds, or other preset durations.

[0165] In some embodiments of the present application, the above-mentioned obtaining the speed of the target vehicle includes:

[0166] Obtain the speed data of the target vehicle;

[0167] If the message corresponding to the vehicle speed data is a valid message, the speed of the target vehicle is determined according to the vehicle speed data;

[0168] If the message corresponding to the vehicle speed data is an abnormal message, the process returns to execute acquisition of the vehicle speed data of the target vehicle until the message corresponding to the vehicle speed data is a valid message.

[0169] In this embodiment, in order to ensure the driving safety of the vehicle and avoid abnormal vehicle speed due to abnormal communication, and then output abnormal steering gear ratio, it is necessary to detect the validity of the acquired vehicle speed data. Specifically, the vehicle speed data is obtained through the vehicle speed detection sensor in the target vehicle, and the vehicle speed data is transmitted to the main controller of the steering control system through the vehicle speed detection sensor in the form of a message. Among them, each message has a certain byte length, and the verification information carried in the message can be used to determine whether the message is a valid message.

[0170] In some embodiments, the message corresponding to the vehicle speed data is a periodic message. Therefore, in addition to carrying actual vehicle speed information, the message corresponding to the vehicle speed data also carries a count value and a check value. Based on the count value and the check value, it can be determined whether the message corresponding to the current vehicle speed data is a valid message.

[0171] If the message corresponding to the speed data is a valid message, the speed data is low-pass filtered to filter out noise and obtain the speed of the target vehicle. If the message corresponding to the speed data is an abnormal message, the process returns to execute the acquisition of the speed data of the target vehicle until the message corresponding to the speed data is a valid message.

[0172] This embodiment can prevent steering accidents caused by abnormal steering gear ratio output due to abnormal vehicle speed by determining the validity of the vehicle speed data, thereby ensuring the driving safety of the vehicle.

[0173] In some embodiments of the present application, the above-mentioned steering control of the target vehicle according to the target steering transmission ratio includes:

[0174] determining a wheel angle of a target vehicle based on the target steering gear ratio;

[0175] Control the steering of the target vehicle based on the wheel angle.

[0176] In this embodiment, the wheel angle corresponding to the target vehicle under the current steering wheel angle can be determined by the target steering transmission ratio, and the steering assist can be determined according to the wheel angle, and then the steering of the vehicle is assisted by the steering assist. Wherein, the wheel angle includes at least one of the front wheel angle and the rear wheel angle of the target vehicle. In some embodiments, the wheel corresponding to the wheel angle can be determined according to the type of the vehicle's steering control system.

[0177] This embodiment determines the wheel angle through the target steering transmission ratio, controls the steering of the target vehicle according to the wheel angle, achieves accurate response to the steering wheel angle, and improves the control accuracy of the vehicle steering.

[0178] The steering control method proposed in the embodiment of the present application is described below in conjunction with a specific implementation scenario.

[0179] like Figure 6 As shown, Figure 6A schematic diagram of the steering control logic provided by an embodiment of the present application. Specifically, the steering wheel angle data Theta sw is read through a torque angle sensor (Torque Angle Sensor, TAS). It is determined whether the angle data is valid. If valid, the steering wheel angle data requested by the driver is calculated based on the TAS angle data difference; if invalid, it returns to execute the steering wheel angle data read according to TAS until the read angle data is valid angle data. The vehicle speed data v is read through a vehicle speed detection sensor. It is determined whether the vehicle speed data is valid. If valid, the vehicle speed data v is low-pass filtered to obtain the filtered vehicle speed data v_f; if invalid, it returns to execute the vehicle speed data read through the vehicle speed detection sensor until the read speed data is valid vehicle speed data. The distance data of the radar probe is read, and the distance data includes a front vehicle distance signal and a rear vehicle distance signal. Among them, the front vehicle distance signal is the distance data between the target vehicle and the front vehicle, and the rear vehicle distance signal is the distance data between the target vehicle and the rear vehicle. The front vehicle distance signal and the rear vehicle distance signal are filtered respectively by low-pass filtering (with a cut-off frequency of 0.2 Hz) to obtain a filtered front vehicle distance signal and a filtered rear vehicle distance signal.

[0180] The obtained steering wheel angle data and filtered vehicle speed data are processed to obtain the steering wheel angle and vehicle speed of the current target vehicle. According to the steering wheel angle and vehicle speed, the variable transmission ratio of the Steering by Wire (SBW) system is obtained by searching the mapping table, that is, the basic steering transmission ratio is obtained. It is determined whether the speed of the current vehicle is less than or equal to 5km / h. If it is greater than 5km / h, the vehicle angle is output according to the basic steering transmission ratio. If the speed of the current vehicle is less than or equal to 5km / h, it is determined whether the front vehicle distance corresponding to the filtered front vehicle distance signal is less than or equal to the first distance threshold. If the front vehicle distance is less than or equal to the first distance threshold, the mapping table of the front vehicle distance and the first gain coefficient is queried to obtain the first gain coefficient corresponding to the front vehicle distance. Similarly, if the current vehicle speed is less than or equal to 5km / h, determine whether the rear vehicle distance corresponding to the filtered rear vehicle distance signal is less than or equal to the first distance threshold. If the rear vehicle distance is less than or equal to the first distance threshold, query the mapping table of the rear vehicle distance and the second gain coefficient to obtain the second gain coefficient corresponding to the rear vehicle distance. The first gain coefficient is merged with the second gain coefficient to obtain the target gain coefficient. According to the target gain coefficient and the basic steering transmission ratio, the target steering transmission ratio is determined. According to the front wheel angle following algorithm, the front wheel angle corresponding to the target steering transmission ratio is responded to, and the torque is output according to the front wheel angle through the execution motor. The steering actuator in the vehicle assists the vehicle in steering operations based on the output torque of the execution motor.

[0181] In order to better implement the steering control method provided in the embodiment of the present application, the embodiment of the present application also provides a device based on the above steering control method. The meanings of the terms are the same as those in the above steering control method, and the specific implementation details can refer to the description in the method embodiment.

[0182] For example, Figure 7 As shown, the steering control device may include: an acquisition module 501, an adjustment module 502 and a control module 503.

[0183] An acquisition module 501 is used to acquire the distance between the target vehicle and surrounding obstacles when the speed of the target vehicle is less than or equal to a preset threshold;

[0184] An adjustment module 502 is used for adjusting a basic steering transmission ratio corresponding to the steering operation according to the distance in response to the steering operation of the target vehicle to obtain a target steering transmission ratio; the target steering transmission ratio remains unchanged as the distance decreases, and at least a first target steering transmission ratio corresponding to a first threshold value is greater than a second target steering transmission ratio corresponding to a second threshold value, wherein the first threshold value is less than the second threshold value;

[0185] The control module 503 is used to control the steering of the target vehicle according to the target steering transmission ratio.

[0186] In an embodiment of the present application, the adjustment module 502 includes:

[0187] A response unit, used to respond to the steering operation of the steering wheel of the target vehicle, and if the distance is less than a first distance threshold, obtain a target gain coefficient corresponding to the distance according to a mapping relationship;

[0188] The adjustment unit is used to adjust the basic steering transmission ratio corresponding to the steering operation according to the target gain coefficient to obtain the target steering transmission ratio.

[0189] In one embodiment of the present application, the target gain coefficient increases as the distance decreases.

[0190] In one embodiment of the present application, the above-mentioned distance includes a first distance between the target vehicle and the first obstacle and / or a second distance between the target vehicle and the second obstacle; the first obstacle and the second obstacle are respectively located at different positions of the target vehicle; the target gain coefficient includes a first gain coefficient and / or a second gain coefficient.

[0191] In one embodiment of the present application, the response unit includes:

[0192] A first query unit, configured to obtain a first gain coefficient corresponding to the first distance according to a first mapping relationship if the first distance is less than a first distance threshold;

[0193] The second query unit is configured to obtain a second gain coefficient corresponding to the second distance according to a second mapping relationship if the second distance is less than the first distance threshold.

[0194] In one embodiment of the present application, the first distance is the distance between the target vehicle and a first obstacle in front, and the second distance is the distance between the target vehicle and a second obstacle in rear.

[0195] In an embodiment of the present application, the first change rate of the above-mentioned first mapping relationship is not positively correlated with the first distance, and the first change rate is the rate at which the first gain coefficient changes with the first distance.

[0196] In one embodiment of the present application, if the second distance is less than or equal to the second distance threshold, the second change rate of the second mapping relationship is positively correlated with the second distance; if the second distance is greater than the second distance threshold, the second change rate of the second mapping relationship is not positively correlated with the second distance; the second change rate is the rate at which the second gain coefficient changes with the second distance.

[0197] In one embodiment of the present application, the response unit includes:

[0198] a response subunit, for responding to a steering operation on a steering wheel of a target vehicle, and determining a range in which the distance is located according to a relationship between the distance and a plurality of thresholds if the distance is less than a first distance threshold;

[0199] The gain confirmation subunit is used to determine the corresponding target gain coefficient according to the interval in which the distance is located.

[0200] In one embodiment of the present application, different intervals correspond to different target gain coefficients, the target gain coefficient corresponding to the first interval is greater than the target gain coefficient corresponding to the second interval, and the distance in the first interval is less than the distance in the second interval.

[0201] In one embodiment of the present application, the steering control device further includes:

[0202] A steering angle acquisition module, used to acquire the steering angle of the steering wheel according to the steering operation;

[0203] The confirmation module is used to determine the basic steering gear ratio of the target vehicle according to the turning angle and the speed of the target vehicle.

[0204] In one embodiment of the present application, the confirmation module includes:

[0205] A first acquisition unit is used to acquire a stability coefficient of the target vehicle, where the stability coefficient is used to measure the stability of the target vehicle;

[0206] The first confirmation unit is used to determine a basic steering transmission ratio of the target vehicle according to a turning angle, a vehicle speed and a stability coefficient.

[0207] In one embodiment of the present application, the first acquisition unit includes:

[0208] a second confirmation unit, configured to determine a first stability coefficient of the target vehicle according to the vehicle speed and a fixed performance parameter of the target vehicle, wherein the fixed performance parameter comprises at least one of the axle spacing of the wheels of the target vehicle, the stiffness of the wheels of the target vehicle, and the mass of the target vehicle;

[0209] The third confirmation unit is used to determine a second stability coefficient of the target vehicle according to the turning angle and the yaw rate of the target vehicle.

[0210] In one embodiment of the present application, the above-mentioned turning angle acquisition module is specifically used for:

[0211] Acquiring steering wheel angle data according to the steering operation;

[0212] If the message corresponding to the angle data is a valid message, the steering wheel angle is determined according to the angle data;

[0213] If the message corresponding to the angle data is an abnormal message, the process returns to execute the acquisition of the steering wheel angle data according to the steering operation until the message corresponding to the angle data acquired according to the steering operation is a valid message.

[0214] In an embodiment of the present application, the acquisition module 501 includes:

[0215] A second acquisition unit, used to acquire the speed of the target vehicle;

[0216] The fourth confirmation unit is used to obtain the distance between the target vehicle and the surrounding obstacles if the vehicle speed is less than or equal to a preset threshold and the duration of the vehicle speed is greater than or equal to a preset duration.

[0217] In one embodiment of the present application, the second acquisition unit includes:

[0218] An acquisition subunit, used to acquire the speed data of the target vehicle;

[0219] A first confirmation subunit is used to determine the speed of the target vehicle according to the speed data if the message corresponding to the speed data is a valid message;

[0220] The second confirmation subunit is used to return to execute acquisition of the vehicle speed data of the target vehicle if the message corresponding to the vehicle speed data is an abnormal message, until the message corresponding to the vehicle speed data is acquired to be a valid message.

[0221] In one embodiment of the present application, the control module is specifically used for:

[0222] determining a wheel angle of a target vehicle based on the target steering gear ratio;

[0223] Control the steering of the target vehicle based on the wheel angle.

[0224] In specific implementation, the above modules can be implemented as independent entities, or can be arbitrarily combined and implemented as the same or several entities. The specific implementation methods and corresponding beneficial effects of the above modules can be found in the previous method embodiments, which will not be repeated here.

[0225] In order to better implement the steering control method provided in the embodiment of the present application, the embodiment of the present application also provides a steering control system. The meanings of the terms are the same as those in the above-mentioned steering control method, and the specific implementation details can refer to the description in the method embodiment. The steering control system includes:

[0226] A turning angle detection sensor, for responding to a steering operation applied to a steering wheel of the vehicle, detecting a turning angle of the steering wheel, and outputting turning angle data of the steering wheel;

[0227] Environmental perception sensor, used to detect the distance between the vehicle and surrounding obstacles and output distance data;

[0228] A main controller and an execution motor are used to execute the steering control method of any one of claims 1-16.

[0229] In one embodiment of the present application, the steering control system further includes:

[0230] A vehicle speed detection sensor is used to detect the vehicle speed and output vehicle speed data;

[0231] The main controller is used to adjust the basic steering transmission ratio corresponding to the steering operation according to the vehicle speed data, the turning angle data and the distance data to obtain the target steering transmission ratio.

[0232] In one embodiment of the present application, the steering control system further includes:

[0233] A current driver, used for determining a current input to the actuator motor according to a wheel angle corresponding to a target steering gear ratio;

[0234] The actuator motor is used to output torque according to the current, and assist the vehicle in steering through the torque.

[0235] In one embodiment of the present application, the steering control system further includes:

[0236] A chassis controller, used for filtering the distance data and outputting the filtered distance data;

[0237] The main controller is used to adjust the basic steering transmission ratio corresponding to the steering operation according to the vehicle speed data, the turning angle data and the filtered distance data to obtain the target steering transmission ratio.

[0238] For example, Figure 8 As shown, Figure 8 The schematic diagram of the structure of the steering control system provided in the embodiment of the present application. The steering control system includes a vehicle speed detection sensor, a rotation angle detection sensor, an environment perception sensor, a chassis controller, a main controller, a current driver and an actuator motor. Among them,

[0239] The vehicle speed detection sensor is used to detect the vehicle speed and output the vehicle speed data;

[0240] A turning angle detection sensor, for responding to a steering operation applied to a steering wheel of the vehicle, detecting a turning angle of the steering wheel, and outputting turning angle data of the steering wheel;

[0241] Environmental perception sensor, used to detect the distance between the vehicle and surrounding obstacles and output distance data;

[0242] A chassis controller is used for filtering the distance data and outputting the filtered distance data;

[0243] A main controller is used to adjust a basic steering transmission ratio corresponding to the steering operation according to the vehicle speed data, the turning angle data and the filtered distance data to obtain a target steering transmission ratio;

[0244] A current driver, used for determining a current input to the actuator motor according to a wheel angle corresponding to a target steering gear ratio;

[0245] The actuator motor is used to output torque according to the current, and assist the vehicle in steering through the torque.

[0246] In some embodiments, the main controller includes a steering control device, and the above-mentioned steering control method is executed by the steering control device.

[0247] In some embodiments, Figure 8 As shown, the main controller may include a signal processing module, an SBW variable transmission ratio calculation module, an SBW low-speed vehicle distance warning module, a front wheel total transmission ratio fusion module, a front wheel angle calculation module, and a front wheel angle following module.

[0248] Among them, the signal processing module is used to filter the noise of the signals output by each sensor and calculate the steering wheel angle. The SBW variable transmission ratio calculation module is used to process the filtered vehicle speed and steering wheel angle output by the signal processing module to obtain the basic steering transmission ratio. The SBW low-speed vehicle distance warning module includes a front vehicle distance warning module and a rear vehicle distance warning module. The front vehicle distance warning module is used to judge the distance between the target vehicle and the front vehicle. When the distance is less than or equal to the first distance threshold, the gain coefficient corresponding to the front vehicle distance is calculated by the front vehicle distance compensation module.

[0249] The rear vehicle distance warning module is used to judge the distance between the target vehicle and the rear vehicle. When the distance is less than or equal to the first distance threshold, the rear vehicle distance compensation module calculates the gain coefficient corresponding to the rear vehicle distance. The gain fusion module is used to fuse the gain coefficient corresponding to the front vehicle distance and the gain coefficient corresponding to the rear vehicle distance, and output the target gain coefficient. The front wheel total transmission ratio fusion module is used to fuse the target gain coefficient and the basic steering transmission ratio, and output the target steering transmission ratio. The front wheel angle calculation module is used to calculate the front wheel angle according to the target steering transmission ratio, and the front wheel angle following module is used to respond to the front wheel angle.

[0250] In specific implementation, the above modules can be implemented as independent entities, or can be arbitrarily combined and implemented as the same or several entities. The specific implementation methods and corresponding beneficial effects of the above modules can be found in the previous method embodiments, which will not be repeated here.

[0251] An embodiment of the present application also provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the processor is used to run the computer program in the memory to execute a steering control method.

[0252] like Fig. 9 As shown, it shows a schematic diagram of the structure of the electronic device involved in the embodiment of the present application, specifically:

[0253] The electronic device may include components such as a processor 601 with one or more processing cores, a memory 602 with one or more computer-readable storage media, a power supply 603, and an input unit 604. Those skilled in the art will appreciate that Fig. 9 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0254] The processor 601 is the control center of the electronic device, which uses various interfaces and lines to connect various parts of the entire electronic device, and executes various functions of the electronic device and processes data by running or executing computer programs and / or modules stored in the memory 602, and calling data stored in the memory 602. Optionally, the processor 601 may include one or more processing cores; preferably, the processor 601 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 601.

[0255] The memory 602 can be used to store computer programs and modules. The processor 601 executes various functional applications and data processing by running the computer programs and modules stored in the memory 602. The memory 602 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, a computer program required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 602 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 602 may also include a memory controller to provide the processor 601 with access to the memory 602.

[0256] The electronic device also includes a power supply 603 for supplying power to each component. Preferably, the power supply 603 can be logically connected to the processor 601 through a power management system, so as to manage charging, discharging, power consumption and other functions through the power management system. The power supply 603 can also include one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators and other arbitrary components.

[0257] The electronic device may further include an input unit 604, which may be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0258] Although not shown, the electronic device may further include a display unit, etc., which will not be described in detail herein. Specifically in this embodiment, the processor 601 in the electronic device will load the executable files corresponding to the processes of one or more computer programs into the memory 602 according to the following instructions, and the processor 601 will run the computer programs stored in the memory 602, thereby realizing various functions, such as:

[0259] When the speed of the target vehicle is less than or equal to a preset threshold, obtaining the distance between the target vehicle and surrounding obstacles;

[0260] In response to a steering operation on a steering wheel of a target vehicle, a basic steering transmission ratio corresponding to the steering operation is adjusted according to the distance to obtain a target steering transmission ratio; the target steering transmission ratio remains unchanged as the distance decreases, and at least a first target steering transmission ratio corresponding to a first threshold value is greater than a second target steering transmission ratio corresponding to a second threshold value, wherein the first threshold value is less than the second threshold value;

[0261] The target vehicle is steered according to the target steering gear ratio.

[0262] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the detailed description of the steering control method above, which will not be elaborated here.

[0263] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0264] To this end, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored, and the computer program can be loaded by a processor to execute the steps in any one of the steering control methods provided in the embodiments of the present application. For example, the computer program can execute the following steps:

[0265] When the speed of the target vehicle is less than or equal to a preset threshold, obtaining the distance between the target vehicle and surrounding obstacles;

[0266] In response to a steering operation on a steering wheel of a target vehicle, a basic steering transmission ratio corresponding to the steering operation is adjusted according to the distance to obtain a target steering transmission ratio; the target steering transmission ratio remains unchanged as the distance decreases, and at least a first target steering transmission ratio corresponding to a first threshold value is greater than a second target steering transmission ratio corresponding to a second threshold value, wherein the first threshold value is less than the second threshold value;

[0267] The target vehicle is steered according to the target steering gear ratio.

[0268] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0269] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0270] Since the computer program stored in the computer-readable storage medium can execute the steps in any steering control method provided in the embodiments of the present application, the beneficial effects that can be achieved by any steering control method provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0271] According to one aspect of the present application, a computer program product or computer program is provided, the computer program product or computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the above-mentioned steering control method.

[0272] The above is a detailed introduction to a steering control method, system, related equipment and vehicle provided in an embodiment of the present application. 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 method of the present application and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A steering control method, characterized in that: include: When the speed of the target vehicle is less than or equal to a preset threshold, obtaining the distance between the target vehicle and surrounding obstacles; In response to a steering operation applied to a steering wheel of the target vehicle, adjusting a basic steering transmission ratio corresponding to the steering operation according to the distance to obtain a target steering transmission ratio; The target steering transmission ratio remains unchanged as the distance decreases, and at least a first target steering transmission ratio corresponding to a first threshold value is greater than a second target steering transmission ratio corresponding to a second threshold value, wherein the first threshold value is less than the second threshold value; Steering control is performed on the target vehicle according to the target steering transmission ratio.

2. The steering control method according to claim 1, characterized in that: The step of responding to the steering operation of the steering wheel of the target vehicle and adjusting the basic steering transmission ratio corresponding to the steering operation according to the distance to obtain the target steering transmission ratio includes: In response to a steering operation on a steering wheel of the target vehicle, if the distance is less than a first distance threshold, acquiring a target gain coefficient corresponding to the distance according to a mapping relationship; The basic steering transmission ratio corresponding to the steering operation is adjusted according to the target gain coefficient to obtain a target steering transmission ratio.

3. The steering control method according to claim 2, characterized in that: The target gain coefficient increases as the distance decreases.

4. The steering control method according to claim 2, characterized in that: The distance includes a first distance between the target vehicle and a first obstacle and / or a second distance between the target vehicle and a second obstacle; the first obstacle and the second obstacle are respectively located at different positions of the target vehicle; the target gain coefficient includes a first gain coefficient and / or a second gain coefficient; If the distance is less than the first distance threshold, obtaining a target gain coefficient corresponding to the distance according to a mapping relationship includes: If the first distance is less than a first distance threshold, obtaining a first gain coefficient corresponding to the first distance according to a first mapping relationship; and / or, If the second distance is less than the first distance threshold, a second gain coefficient corresponding to the second distance is acquired according to a second mapping relationship.

5. The steering control method according to claim 4, characterized in that: The first distance is the distance between the target vehicle and a first obstacle in front, and the second distance is the distance between the target vehicle and a second obstacle in rear.

6. The steering control method according to claim 5, characterized in that: The first change rate of the first mapping relationship is not positively correlated with the first distance, and the first change rate is a rate at which the first gain coefficient changes with the first distance.

7. The steering control method according to claim 5, characterized in that: If the second distance is less than or equal to the second distance threshold, the second change rate of the second mapping relationship is positively correlated with the second distance; if the second distance is greater than the second distance threshold, the second change rate of the second mapping relationship is not positively correlated with the second distance; the second change rate is the rate at which the second gain coefficient changes with the second distance.

8. The steering control method according to claim 2, characterized in that: The response acts on the steering operation of the steering wheel of the target vehicle, if the distance is less than a first distance threshold, obtaining a target gain coefficient corresponding to the distance according to a mapping relationship, including: In response to a steering operation applied to a steering wheel of the target vehicle, if the distance is less than a first distance threshold, determining a range in which the distance is located based on a relationship between the distance and a plurality of thresholds; The corresponding target gain coefficient is determined according to the interval in which the distance is located.

9. The steering control method according to claim 8, characterized in that: Different intervals correspond to different target gain coefficients, the target gain coefficient corresponding to the first interval is greater than the target gain coefficient corresponding to the second interval, and the distance in the first interval is less than the distance in the second interval.

10. The steering control method according to claim 1, characterized in that: After the response acts on the steering operation of the steering wheel of the target vehicle, the method further includes: Acquiring a steering angle of the steering wheel according to the steering operation; A basic steering gear ratio of the target vehicle is determined according to the turning angle and the speed of the target vehicle.

11. The steering control method according to claim 10, characterized in that: Determining the basic steering transmission ratio of the target vehicle according to the turning angle and the speed of the target vehicle includes: Obtaining a stability coefficient of the target vehicle, where the stability coefficient is used to measure the stability of the target vehicle; A basic steering transmission ratio of the target vehicle is determined according to the turning angle, the vehicle speed and the stability coefficient.

12. The steering control method according to claim 11, characterized in that: The stability coefficient includes a first stability coefficient and a second stability coefficient, and obtaining the stability coefficient of the target vehicle includes: Determining a first stability coefficient of the target vehicle based on the vehicle speed and a fixed performance parameter of the target vehicle, wherein the fixed performance parameter includes at least one of the axle spacing of the target vehicle wheels, the stiffness of the target vehicle wheels, and the mass of the target vehicle; A second stability coefficient of the target vehicle is determined based on the turning angle and the yaw rate of the target vehicle.

13. The steering control method according to claim 10, characterized in that: The obtaining the steering wheel angle according to the steering operation comprises: Acquiring the steering wheel angle data according to the steering operation; If the message corresponding to the turning angle data is a valid message, determining the turning angle of the steering wheel according to the turning angle data; If the message corresponding to the turning angle data is an abnormal message, the process returns to executing the process of obtaining the turning angle data of the steering wheel according to the steering operation until the message corresponding to the turning angle data obtained according to the steering operation is a valid message.

14. The steering control method according to claim 1, characterized in that: When the speed of the target vehicle is less than or equal to a preset threshold, obtaining the distance between the target vehicle and surrounding obstacles includes: Get the speed of the target vehicle; If the vehicle speed is less than or equal to a preset threshold, and the duration of the vehicle speed is greater than or equal to a preset duration, the distance between the target vehicle and surrounding obstacles is obtained.

15. The steering control method according to claim 14, characterized in that: The obtaining of the speed of the target vehicle comprises: Acquiring speed data of the target vehicle; If the message corresponding to the vehicle speed data is a valid message, determining the speed of the target vehicle according to the vehicle speed data; If the message corresponding to the vehicle speed data is an abnormal message, the process returns to executing the process of obtaining the vehicle speed data of the target vehicle until the message corresponding to the vehicle speed data is obtained to be a valid message.

16. The steering control method according to any one of claims 1 to 15, characterized in that: The step of controlling the steering of the target vehicle according to the target steering transmission ratio comprises: Determining a wheel angle of the target vehicle based on the target steering gear ratio; The steering of the target vehicle is controlled according to the wheel angle.

17. A steering control system, characterized in that: include: A turning angle detection sensor, configured to detect a turning angle of the steering wheel in response to a steering operation applied to the steering wheel of the vehicle, and output turning angle data of the steering wheel; An environmental perception sensor, used to detect the distance between the vehicle and surrounding obstacles and output distance data; The main controller and the execution motor are used to execute the steering control method described in any one of claims 1-16.

18. The steering control system according to claim 17, characterized in that: Also includes: The vehicle speed detection sensor is used to detect the vehicle speed and output the vehicle speed data; The main controller is used to adjust the basic steering transmission ratio corresponding to the steering operation according to the vehicle speed data, the turning angle data and the distance data to obtain a target steering transmission ratio.

19. The steering control system according to claim 18, characterized in that: Also includes: A current driver, used for determining a current input to the actuator motor according to a wheel angle corresponding to the target steering gear ratio; The actuator motor is used to output torque according to the current, and assist the vehicle in steering through the torque.

20. The steering control system according to claim 18, characterized in that: Also includes: A chassis controller, used for filtering the distance data and outputting the filtered distance data; The main controller is used to adjust the basic steering transmission ratio corresponding to the steering operation according to the vehicle speed data, the turning angle data and the filtered distance data to obtain a target steering transmission ratio.

21. An electronic device, characterized in that: The invention comprises one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the steering control method according to any one of claims 1 to 16.

22. 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 by a processor to execute the steering control method according to any one of claims 1 to 16.

23. A vehicle, characterized in that: The vehicle comprises a steering control system as claimed in any one of claims 17 to 20, or an electronic device as claimed in claim 21, or a computer-readable storage medium as claimed in claim 22.

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