Vehicle deviation control method, device, equipment, medium, product and vehicle

Abstract

The invention relates to a vehicle deviation control method, device and equipment, a medium, a product and a vehicle, and the method comprises the steps: determining a yawing moment required for inhibiting deviation of a target vehicle based on steering wheel parameters of the target vehicle by detecting deviation of the target vehicle; and performing deviation control on the target vehicle based on the yawing moment. Therefore, when it is detected that the vehicle deviates, the yawing moment needed for restraining vehicle deviation is determined according to the steering wheel parameters of the vehicle, the yawing moment needed for restraining deviation is directly quantified, the accuracy of vehicle deviation control based on the yawing moment is improved, and the user experience is improved.

Description

Technical Field

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

[0002] The existing control method for suppressing vehicle deviation mainly evaluates the six-component force of the wheel through a dynamic model, determines the influencing factors of vehicle deviation based on the six-component force, and suppresses vehicle deviation by adjusting the influencing factors of vehicle deviation.

[0003] However, the above-mentioned evaluation of the six-component wheel force based on the dynamic model generally results in a small yaw moment causing deviation, and the calculation error may exceed its basic value, resulting in low accuracy in suppressing vehicle deviation. Summary of the invention

[0004] The embodiments of the present application provide a vehicle deviation control method, device, electronic device, storage medium, computer program product and vehicle. When a vehicle deviation is detected, the yaw moment required for suppressing the vehicle deviation is determined according to the steering wheel parameters of the vehicle, and the yaw moment required to suppress the deviation is directly quantified to improve the accuracy of vehicle deviation control based on the yaw moment, thereby improving the user experience.

[0005] The present application provides a vehicle deviation control method, including:

[0006] If the target vehicle is detected to be running off the track, the yaw moment required to suppress the target vehicle from running off the track is determined based on the steering wheel parameters of the target vehicle;

[0007] Based on the yaw moment, the target vehicle is controlled to run sideways.

[0008] Accordingly, an embodiment of the present application provides a vehicle deviation control device, comprising:

[0009] A yaw moment determination module, configured to determine a yaw moment required to suppress the deviation of the target vehicle based on a steering wheel parameter of the target vehicle if deviation of the target vehicle is detected;

[0010] A control module is used to control the deviation of the target vehicle based on the yaw moment.

[0011] In addition, an embodiment of the present application also provides an electronic device, including one or more processors 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 vehicle deviation control method provided in the embodiment of the present application.

[0012] In addition, an embodiment of the present application also provides a storage medium, which stores a computer program. When the computer program is run on an electronic device, the computer program is used to enable the electronic device to execute any vehicle deviation control method provided in the embodiment of the present application.

[0013] In addition, an embodiment of the present application also provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements any vehicle deviation control method provided in the embodiment of the present application.

[0014] In addition, an embodiment of the present application also provides a vehicle, comprising the above-mentioned electronic device.

[0015] In the embodiment of the present application, by detecting that the target vehicle is running off, the yaw moment required to suppress the target vehicle from running off is determined based on the steering wheel parameters of the target vehicle; and the target vehicle is controlled to run off based on the yaw moment. In this way, when it is detected that the vehicle is running off, the yaw moment required to suppress the vehicle from running off is determined based on the steering wheel parameters of the vehicle, and the yaw moment required to suppress the running off is directly quantified, so as to improve the accuracy of the vehicle running off control based on the yaw moment and improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 This is a schematic diagram of an implementation environment scenario of the vehicle deviation control method provided in an embodiment of the present application;

[0018] Figure 2 This is a flow chart of a vehicle deviation control method provided by an embodiment of the present application;

[0019] Figure 3 is a structural schematic diagram of a power steering system provided by an embodiment of the present application;

[0020] Figure 4 It is a flowchart of a specific embodiment of a vehicle deviation control method provided by an embodiment of the present application;

[0021] Figure 5 It is a structural schematic diagram of a vehicle deviation control device provided by an embodiment of the present application;

[0022] Figure 6It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0024] 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.

[0025] The embodiments of the present application provide a vehicle deviation control method, device, electronic device, storage medium, computer program product and vehicle. The vehicle deviation control device can be integrated in an electronic device, which can be a server or a terminal.

[0026] Among them, the server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, network acceleration services (Content Delivery Network, CDN), as well as big data and artificial intelligence platforms.

[0027] The terminal may be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, etc., but is not limited thereto. The terminal and the server may be directly or indirectly connected via wired or wireless communication, and this application does not limit this.

[0028] See also Figure 1 , taking the vehicle deviation control device integrated into the electronic equipment as an example, Figure 1 A schematic diagram of an implementation scenario of the vehicle deviation control method provided in an embodiment of the present application, wherein the electronic device may be a terminal device, which detects that a target vehicle has deviated and, based on the steering wheel parameters of the target vehicle, determines the yaw torque required to suppress the target vehicle from deviating; and controls the target vehicle from deviating based on the yaw torque.

[0029] It should be noted that Figure 1The schematic diagram of the implementation environment scenario of the vehicle deviation control method shown is only an example. The implementation environment scenario of the vehicle deviation control method described in the embodiment of the present application is to more clearly illustrate the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided by the embodiment of the present application. It is known to those skilled in the art that with the evolution of data processing and the emergence of new business scenarios, the technical solution provided by the present application is also applicable to similar technical problems.

[0030] The solutions provided by the embodiments of the present application are specifically described by the following embodiments. It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments.

[0031] This embodiment will be described from the perspective of a vehicle deviation control device. The vehicle deviation control device may be specifically integrated into an electronic device, which may be a terminal and / or a server, and this application does not limit this.

[0032] See also Figure 2 , Figure 2 1 is a flow chart of a vehicle deviation control method provided by an embodiment of the present application. The vehicle deviation control method may include the following steps S101 to S102:

[0033] S101. If it is detected that the target vehicle is running off the track, determine the yaw moment required to suppress the target vehicle from running off the track based on the steering wheel parameters of the target vehicle.

[0034] The target vehicle refers to a vehicle that has a need to suppress deviation, that is, the target vehicle deviates and needs to be controlled to return to a normal driving state.

[0035] Deviation refers to the phenomenon that when a vehicle is driving straight on a flat road, it deviates to one side by itself, causing the line connecting the center of the front and rear axles of the vehicle to be inconsistent with the center line of the driving trajectory. Deviation types include but are not limited to acceleration deviation, constant speed deviation, and braking deviation. Taking constant speed deviation as an example, it is usually defined as the steering wheel driving at a constant speed for a certain period of time. When the steering wheel maintains its center, if the lateral deviation of the vehicle exceeds one lane or a certain width, the vehicle is considered to have uniform speed deviation.

[0036] Steering wheel parameters refer to parameters related to the steering wheel, and their specific contents can be selected according to actual conditions and are not limited in the embodiments of the present application.

[0037] Steering wheel parameters include but are not limited to the torque borne by the steering wheel, steering wheel hand force, steering wheel size information, steering wheel angle, etc. Among them, the torque borne by the steering wheel refers to a special moment that causes the steering wheel to rotate, which is equal to the product of the force and the lever arm. Steering wheel hand force refers to the force required by the driver to turn the steering wheel. Steering wheel size information refers to information related to the size of the steering wheel, such as the steering wheel radius, the effective radius of the steering wheel (indicating the effective radius of the steering wheel force), the steering wheel diameter, etc. The steering wheel angle refers to the angle at which the steering wheel deflects to one side from the center position or the reference position.

[0038] There are many ways to determine the parameters of the steering wheel, which are adjusted according to the actual situation. For example, the torque sensor in the power steering system (located at the steering pinion near the steering wheel end) can be used to collect the torque borne by the steering wheel, and the steering wheel angle sensor can be used to collect the steering wheel angle. The collected data is processed by low-pass filtering to remove noise signals and improve signal stability. The real-time hand force signal of the driver is calculated by the effective radius of the steering wheel and the torque borne by the steering wheel, that is, the steering wheel hand force mentioned in the embodiment of the present application.

[0039] Exemplarily, the steering wheel hand force is calculated according to the following formula:

[0040] F=T1 / r2

[0041] Among them, T1 is the torque borne by the steering wheel, F is the steering wheel hand force, and r2 is the effective radius of the steering wheel.

[0042] It can be seen that the parameters included in the steering wheel parameters can be directly measured by sensors, or calculated from the measured related parameters.

[0043] The yaw moment refers to the moment required to prevent the vehicle from running sideways.

[0044] It should be noted that when a vehicle is driving, the vehicle body will generate a roll moment, that is, a yaw moment generated by the vehicle body itself. The yaw moment of the present application is opposite to the yaw moment generated by the vehicle body, that is, the yaw moment of the present application is a reverse yaw moment. The difference is that the yaw moment of the present application meets the requirement of suppressing the vehicle from running off, so that the accuracy of the vehicle running off control based on the yaw moment is improved, thereby improving the user experience.

[0045] S102: Based on the yaw moment, the target vehicle is controlled to run sideways.

[0046] Among them, deviation control refers to the method of controlling the vehicle to recover from the deviation state to the normal driving state.

[0047] It can be seen that the vehicle deviation control method provided in the embodiment of the present application determines the yaw moment required to suppress the deviation of the target vehicle based on the steering wheel parameters of the target vehicle after detecting the deviation of the target vehicle; and controls the deviation of the target vehicle based on the yaw moment. In this way, when the deviation of the vehicle is detected, the yaw moment required to suppress the deviation of the vehicle is determined based on the steering wheel parameters of the vehicle, and the yaw moment required to suppress the deviation is directly quantified to improve the accuracy of the deviation control of the vehicle based on the yaw moment, thereby improving the user experience.

[0048] It should be noted that there are many ways to calculate the yaw moment required to suppress the deviation of the target vehicle. For example, the reverse yaw moment required to suppress the deviation can be directly quantified by directly converting the steering wheel torque sensor signal to the torque around the kingpin when the deviation occurs.

[0049] In some embodiments, the process of determining the yaw torque required to suppress the target vehicle from running off the track based on the steering wheel parameters of the target vehicle includes: obtaining system parameters of the power steering system; and determining the yaw torque required to suppress the target vehicle from running off the track based on the system parameters and the steering wheel parameters of the target vehicle.

[0050] Among them, the power steering system refers to a system that assists the driver in adjusting the direction of the vehicle by increasing external force, aiming to reduce the driver's steering operation burden.

[0051] System parameters refer to the parameters collected by the power steering system and can be used to quantify the yaw moment required to suppress the target vehicle from running off the track.

[0052] The system parameters are related to the system structure of the power steering system and can be adjusted according to actual conditions.

[0053] For example, see 3, Figure 3 is a schematic diagram of a structure of a power steering system provided in an embodiment of the present application, such as Figure 3 As shown, the above-mentioned power steering system includes a steering rack, a kingpin and a steering tie rod, and the steering rack includes a steering pinion and a rack that are meshed with each other.

[0054] Among them, the kingpin is a key component installed on the front axle of the vehicle, and its upper end is slightly tilted inward.

[0055] Based on this, the above system parameters may include: a transmission ratio parameter of the steering pinion, an angle between the steering rack and the steering tie rod, and a lever arm of the steering tie rod around the king pin.

[0056] The transmission ratio parameter of the steering pinion is an inherent parameter of the power steering system, and specifically refers to the ratio of the deflection angle of the steering wheel to the deflection angle of the steering wheel on the same side.

[0057] The angle between the steering rack and the steering tie rod can be seen in Figure 3 The θ shown in the figure, the moment arm of the steering rod around the kingpin can be seen from Figure 3 l1 shown in .

[0058] The system parameters may also include other parameters, which may be adjusted according to actual conditions. For example, the system parameters may also include an effective force radius of the steering pinion, wherein the effective force radius of the steering pinion and the transmission ratio parameter of the steering pinion have a corresponding relationship as shown in the following formula.

[0059] r1=k1 / 2 / pi / 1000

[0060] Among them, r1 indicates the effective force radius of the steering pinion, k1 indicates the transmission ratio parameter of the steering pinion, and pi indicates the pi.

[0061] In some embodiments, the process of determining the yaw moment required to suppress the target vehicle from running off the track based on the system parameters and the steering wheel parameters of the target vehicle includes: calculating the first force that needs to be applied to the steering rod to suppress the running off the track based on the transmission ratio parameters, the angle and the steering wheel parameters; and determining the yaw moment required to suppress the target vehicle from running off the track based on the first force and the lever arm.

[0062] The first force indicates the reaction force that needs to be applied to the steering rod to prevent the vehicle from running off the track. Assuming that the steering system of the vehicle in a straight-ahead state is symmetrical, the reaction force that needs to be applied to the steering rod can be calculated using a unilateral calculation method.

[0063] Among them, the first force that needs to be applied to the steering rod to suppress deviation can also be determined based on the torque borne by the steering wheel, the hand force threshold, and the effective force radius of the steering pinion.

[0064] Specifically, as shown in the following formula:

[0065] F1=sign(T1)*max(0,(abs(T1)-hand force threshold)) / r1 / cosθ

[0066] Among them, F1 indicates the first force, T1 indicates the torque borne by the steering wheel, the effective force radius of the steering pinion is r1, θ indicates the angle between the steering rack and the steering rod, and the sign() function indicates the sign function. If T1 is a positive number, the sign() value is 1, if T1 is a negative number, the sign() value is -1, and if T1 is 0, the sign() value is 0. The abs() function is used to indicate the function of taking the absolute value. The max() function indicates taking the maximum value.

[0067] In some embodiments, the steering wheel parameters include steering wheel hand force and steering wheel size information.

[0068] Based on this, the above process of calculating the first force required to be applied to the steering rod to suppress running deviation based on the transmission ratio parameters, angle and steering wheel parameters may include: calculating the target torque required to be applied to the steering wheel to suppress running deviation based on the steering wheel hand force, hand force threshold, and steering wheel size information; calculating the first force required to be applied to the steering rod to suppress running deviation based on the transmission ratio parameters, angle and target torque.

[0069] It should be noted that the margin for suppressing vehicle deviation is taken into consideration. By applying a target torque to the steering wheel, the following events can be prevented when suppressing vehicle deviation: the vehicle deviates in the opposite direction due to the yaw moment deviation. Deviation in the opposite direction means that if the vehicle deviates to the left, the vehicle deviates to the right due to excessive yaw moment.

[0070] Specifically, the target torque that needs to be applied to the steering wheel to suppress deviation is calculated according to the following formula:

[0071] T3 = max(0, F*r2-hand force threshold)

[0072] Among them, r2 indicates the steering wheel size information, specifically the effective radius of the steering wheel, T3 indicates the target torque that needs to be applied to the steering wheel to suppress deviation, the max() function indicates the maximum value, and F indicates the steering wheel hand force.

[0073] Specifically, the first force that needs to be applied to the steering rod to suppress deviation is calculated according to the following formula:

[0074] F2=T3 / (k1 / 2 / pi / 1000) / cosθ

[0075] Among them, F2 indicates the first force that needs to be applied to the steering rod to suppress deviation, T3 indicates the target torque, k1 indicates the transmission ratio parameter, and θ indicates the angle between the steering rack and the steering rod.

[0076] In some embodiments, the process of calculating the first force required to be applied to the steering rod to suppress running deviation based on the transmission ratio parameter, the angle and the target torque may include: calculating the second force required to be applied to the steering rack to suppress running deviation based on the transmission ratio parameter and the target torque; and calculating the first force required to be applied to the steering rod to suppress running deviation based on the second force and the angle.

[0077] The second force indicates that the force on the steering rack is the result of the combined action of the left and right steering rods.

[0078] Specifically, the second force that needs to be applied to the steering rack to suppress deviation can be calculated according to the following formula:

[0079] F3=T3 / (k1 / 2 / pi / 1000)

[0080] Among them, F3 indicates the second force that needs to be applied to the steering rack to suppress deviation, T3 indicates the target torque, and k1 indicates the transmission ratio parameter.

[0081] Specifically, the first force that needs to be applied to the steering rod to suppress deviation can be determined according to the following formula:

[0082] F2=F3 / cosθ

[0083] Among them, F2 indicates the first force that needs to be applied to the steering rod to suppress deviation, F3 indicates the second force that needs to be applied to the steering rack to suppress deviation, and θ indicates the angle between the steering rack and the steering rod.

[0084] Summarizing the above process, the yaw moment required to suppress the target vehicle from running off can be determined according to the following formula:

[0085] T2=F2*l1

[0086] Among them, T2 indicates the yaw moment required to suppress the target vehicle from running off, that is, the yaw moment amplitude of the whole vehicle required to suppress the vehicle from running off is T2, F2 indicates the first force applied to the steering rod to suppress the running off, and l1 indicates the lever arm of the steering rod around the kingpin.

[0087] Based on the above embodiment, the reverse yaw moment required to suppress the deviation is directly quantified by converting the steering wheel torque sensor signal into the torque around the kingpin during deviation.

[0088] In some embodiments, the process of controlling the target vehicle to run away based on the yaw moment may include: controlling the active suspension of the target vehicle to change its height based on the yaw moment to control the target vehicle to run away.

[0089] Among them, active suspension refers to a suspension system whose stiffness and damping characteristics can be dynamically and adaptively adjusted according to the vehicle's driving conditions (the vehicle's motion state and road conditions, etc.) so that the suspension system is always in the best vibration reduction state.

[0090] Specifically, the active suspension includes a plurality of sub-suspensions, each of which corresponds to a wheel of the target vehicle. For example, the left front wheel of the vehicle corresponds to the left front sub-suspension, the left rear wheel of the vehicle corresponds to the left rear sub-suspension, and the others are similar.

[0091] Based on this, the above-mentioned process of controlling the height change of the active suspension of the target vehicle based on the yaw moment may include: determining the height change value of each sub-suspension based on the yaw moment; determining the height change direction of each sub-suspension based on the deviation direction of the target vehicle; and controlling the height change of the sub-suspension in the active suspension based on the height change direction and height change value of each sub-suspension.

[0092] The height change value is used to indicate the specific change value that each sub-suspension needs to rise or fall. For example, the height change value of the left front sub-suspension is 0.3 mm, which means that the left front sub-suspension needs to rise or fall by 0.3 mm.

[0093] The deviation direction refers to the position information of the vehicle relative to the straight-line driving. For example, the deviation direction of the vehicle is deviation to the left. For another example, the deviation direction of the vehicle is deviation to the right.

[0094] The height change direction refers to the specific change direction that each sub-suspension needs to rise or fall. For example, the height change direction of the left front sub-suspension is rising.

[0095] Specifically, the process of determining the height change value of each sub-suspension based on the yaw moment may include: determining the toe value that needs to be adjusted to suppress the target vehicle from running sideways based on the yaw moment; and determining the height change value of each sub-suspension based on the suspension characteristic parameters corresponding to each sub-suspension and the toe value.

[0096] Among them, the yaw moment is used as the input of the closed-loop controller generated based on proportional, integral and differential control (Proportional Integral Differential, PID), and the PID output T2 PID The toe value that needs to be adjusted to prevent the target vehicle from running off the track.

[0097] It should be noted that T2 PID Refers to the toe value that needs to be adjusted, that is, after the vehicle is adjusted, the toe value of the adjusted wheel is T2 PID .

[0098] Among them, the suspension characteristic parameters refer to the relevant parameters of the suspension KC characteristics (Kinematics and Compliance: Kinematics, that is, the movement related to the suspension connecting rod without considering force and mass; Compliance, the deformation caused by the applied force, which is related to the deformation of the springs, rubber bushings and components of the suspension system).

[0099] It should be noted that the suspension KC characteristic is generally manifested as: the front suspension bump steering gradient (Bump Steer Front, BSF) is less than zero, and the rear suspension bump steering gradient (Bump Steer Rear, BSR) is greater than zero.

[0100] Among them, the front suspension bounce steering gradient is to assume that the body is stationary, and the toe changes in the negative direction during the wheel center jump, the purpose is to increase the lateral flexibility of the front axle and design a reasonable understeering degree. The purpose of the rear suspension bounce steering gradient is to reduce the lateral flexibility of the rear axle.

[0101] For example, taking the left front sub-suspension as an example, the height change value of the left front sub-suspension can be expressed by the following formula:

[0102]

[0103] Among them, h flnu 'Used to indicate the height change value of the left front sub-suspension, T2 PID It refers to the toe value that needs to be adjusted, and BSF refers to the front suspension bounce steering gradient.

[0104] Taking the left rear sub-suspension as an example, the height change value of the left rear sub-suspension can be expressed by the following formula:

[0105]

[0106] Among them, h rlnu 'Used to indicate the height change value of the left front sub-suspension, T2 PID It refers to the toe value that needs to be adjusted, and BSR refers to the rear suspension steering gradient.

[0107] Specifically, the process of determining the height change direction of each sub-suspension based on the deviation direction of the target vehicle may include: if the deviation direction is deviation to the left, determining the height change directions of the front left, front right, rear left, and rear right sub-suspensions of the target vehicle are as follows: increase, decrease, increase, and decrease, respectively; if the deviation direction is deviation to the right, determining the height change directions of the front left, front right, rear left, and rear right sub-suspensions of the target vehicle are as follows: decrease, increase, decrease, and increase, respectively.

[0108] Specifically, when it is detected that the vehicle is deviating to the left, in order to suppress the vehicle from deviating, the front wheel should be deflected to the right by a small angle, and the rear wheel should be deflected to the left by a small angle. Combined with the suspension KC characteristics, the corresponding sub-suspension changes should be: the front left sub-suspension is raised, the front right sub-suspension is lowered, the rear left sub-suspension is raised, and the rear right sub-suspension is lowered, that is, the left sub-suspension is raised and the right sub-suspension is lowered to suppress the vehicle from deviating to the left; when it is detected that the vehicle is deviating to the right, in order to suppress the vehicle from deviating, the front wheel should be deflected to the left by a small angle, and the rear wheel should be deflected to the right by a small angle. Combined with the suspension KC characteristics, the corresponding sub-suspension changes should be: the front left sub-suspension is lowered, the front right sub-suspension is raised, the rear left sub-suspension is lowered, and the rear right sub-suspension is raised, that is, the left sub-suspension is lowered and the right sub-suspension is raised to suppress the vehicle from deviating to the right.

[0109] It should be noted that the change in suspension height of the active suspension affects the small-angle deflection of the wheel. Based on the suspension KC characteristics and combined with the liftable characteristics of the front and rear active suspensions of the vehicle, PID closed-loop control is performed to fine-tune the vehicle suspension height, thereby changing the vehicle's toe-in, thereby suppressing vehicle deviation and reducing steering wheel force.

[0110] The relationship between the change in suspension height and the change in wheel angle is described below.

[0111] Assuming that the normal state of the suspension is zero position, take the left front quarter suspension, that is, the left front sub-suspension, as an example, the active suspension has a travel h based on the zero position. flu and the descending stroke is h fld , then the left front wheel can change the angle range to (-Δangle fld , Δangle flu in,

[0112]

[0113] By the same method, the variable angle range of the right front wheel, the variable angle range of the left rear wheel, and the variable angle range of the right rear wheel can be determined as (-Δangle frd , Δangle fru ), (-Δangle rld , Δangle rlu ), (-Δangle rrd , Δangle rru ).

[0114] In addition, during the calculation of the above angle range, it is necessary to add the basic toe value during vehicle driving to the upper and lower limits of the above range.

[0115] The base toe value refers to the toe value when the vehicle is traveling in a straight line.

[0116] Based on this, it can be determined that the variable angle range of the left front wheel is (C-Δangle fld ,C+Δangle flu ), where C is the basic toe value. The variable angle ranges of other wheels are similar and will not be elaborated here.

[0117] It should be noted that the change in the left and right suspension heights requires attention, and the maximum left and right height difference should not give the driver and passengers a subjective feeling of vehicle tilt.

[0118] In some embodiments, the process of controlling the height change of the sub-suspension in the active suspension based on the height change direction and height change value of each sub-suspension includes: determining the target height change value of each sub-suspension based on the height change value of each sub-suspension and the maximum threshold of the height change of each sub-suspension in the corresponding height change direction; controlling the active suspension to change the height of the sub-suspension based on the target height change value and height change direction of each sub-suspension.

[0119] Specifically, for each sub-suspension, the height change value and the maximum height change threshold in the corresponding height change direction are compared, and the minimum value is taken as the target height change value of the sub-suspension.

[0120] For example, taking the elevation of the left front sub-suspension as an example, the target height change value of the left front sub-suspension can be determined according to the following formula:

[0121]

[0122] Among them, h flnu is the target height change value of the left front sub-suspension. flu It refers to the maximum threshold of height change of the left front sub-suspension in the lifting direction.

[0123] Other similarities are not repeated here.

[0124] The target height change value of each sub-suspension is used as the height change input information of the active suspension, and the active suspension is controlled to perform a height change that is the same as the corresponding target height change value according to the height change direction of each sub-suspension.

[0125] Through the above embodiments, the active suspension lift characteristics and the suspension KC characteristics are combined, and the front and rear wheels are affected by the suspension KC characteristics when the suspension is raised or lowered to make small angle turns, thereby suppressing the vehicle from running off without affecting the subjective driving experience.

[0126] It should be noted that when the vehicle is detected to be running to the left, in order to suppress the vehicle from running, the toe of the front wheels should be deflected to the right by a small angle, and the rear wheels should be deflected to the left by a small angle. Combined with the suspension KC characteristics, the corresponding suspension changes should be: the front left sub-suspension is raised, the front right sub-suspension is lowered, the rear left sub-suspension is raised, and the rear right sub-suspension is lowered, that is, the left sub-suspension is raised and the right sub-suspension is lowered to suppress the vehicle from running to the left. The above method is used to determine the change in the increase of the front left sub-suspension, the change in the decrease of the front right sub-suspension, the change in the increase of the rear left sub-suspension, and the change in the decrease of the rear right sub-suspension. Through the active suspension control, the posture of the front and rear sub-suspensions on the right side is slightly lowered, and the posture of the front and rear sub-suspensions on the left side is slightly raised. The front left and right wheels turn right at a small angle, and the rear left and right wheels turn left at a small angle to suppress the vehicle from running to the left. When the vehicle is detected to be running to the right, the process is similar and will not be repeated here.

[0127] In some embodiments, the above-mentioned vehicle deviation control method also includes: obtaining the steering wheel parameters of the target vehicle; if the steering wheel parameters meet the deviation judgment conditions and the target vehicle is in a straight-moving state, it is determined that the target vehicle has deviated, otherwise, the target vehicle has not deviated.

[0128] Among them, the steering wheel parameters include steering wheel angle and steering wheel hand force.

[0129] In some embodiments, if the duration that the steering wheel angle is less than the steering wheel angle threshold satisfies a preset time condition, it is determined that the target vehicle is in a straight-moving state.

[0130] The steering wheel angle threshold is used to indicate the threshold for distinguishing whether the driver's driving intention is to go straight or in other states. It can be adjusted according to actual conditions and is not limited in the present application.

[0131] Specifically, in the straight-ahead judgment module, when the steering wheel angle is less than the steering wheel angle threshold and is maintained for a certain period of time, it is determined that the driver's driving intention is to go straight, and the module sends a straight-ahead signal flag bit of 1.

[0132] It should be noted that the vehicle deviation is only judged and the anti-deviation action is performed when the vehicle is moving straight.

[0133] In some embodiments, the above-mentioned steering wheel parameters include steering wheel hand force, and the deviation determination condition includes that the steering wheel hand force is greater than a hand force threshold.

[0134] Among them, the hand force threshold takes into account the left and right driving deviation when driving in a straight line, and the hand force threshold can be considered as a dead zone.

[0135] Specifically, when it is detected that the straight-ahead signal flag in the straight-ahead judgment module is 1 and the amplitude of the steering wheel hand force F is greater than the hand force threshold, the system determines that the vehicle requires external human intervention to suppress the vehicle from running off. At this time, the logic judges that the vehicle is running off, and the module sends a deviation signal flag of 1. When it is detected that the vehicle is running off (the deviation signal flag is 1), the vehicle deviation suppression calculation module participates in the operation, that is, the above-mentioned process of determining the yaw moment required to suppress the target vehicle from running off based on the steering wheel parameters of the target vehicle if it is detected that the target vehicle is running off, and controlling the target vehicle from running off based on the yaw moment is executed.

[0136] The following is an explanation with a specific embodiment. Figure 4 , Figure 4 is a flow chart of a vehicle deviation control method provided by an embodiment of the present application, combined with Figure 4 It can be seen that the vehicle deviation control method provided in the embodiment of the present application may include: real-time detection of signals such as steering wheel angle, torque borne by the steering wheel, etc., inputting the above steering wheel angle and torque borne by the steering wheel into the deviation identification module for deviation identification, and if it is detected that the vehicle has not deviated, then the deviation control of the current steering wheel angle and torque borne by the steering wheel is terminated. If it is detected that the vehicle has deviated, the yaw moment required to suppress the deviation is calculated, the height of the suspension required to change is output based on PID control, the active suspension executes the height change, and the deviation identification is continued. However, if it is identified that the vehicle has not deviated, the process of suppressing the vehicle deviation can be terminated.

[0137] By converting the steering wheel torque sensor signal to the torque around the kingpin when the vehicle is running off the track, the reverse yaw torque required to suppress the vehicle running off the track is directly quantified. Combining the active suspension's liftable characteristics and the suspension's inherent KC characteristics, the suspension's KC characteristics affect the front and rear wheels to make small-angle turns when the suspension is raised or lowered, thus suppressing the vehicle's running off the track without affecting the subjective driving experience.

[0138] In order to facilitate better implementation of the vehicle deviation control method provided in the embodiment of the present application, the embodiment of the present application also provides a device based on the above vehicle deviation control method. The meanings of the terms are the same as those in the above vehicle deviation control method, and the specific implementation details can refer to the description in the method embodiment.

[0139] For example, Figure 5 As shown, the vehicle deviation control device may include a yaw moment determination module 201 and a control module 202, which are specifically as follows:

[0140] A yaw moment determination module 201 is used to determine the yaw moment required to suppress the target vehicle from running off the target vehicle based on the steering wheel parameters of the target vehicle if the target vehicle is detected to be running off the target vehicle;

[0141] The control module 202 is used to control the deviation of the target vehicle based on the yaw moment.

[0142] In some embodiments, the yaw moment determination module 201 includes:

[0143] A system parameter acquisition submodule is used to obtain system parameters of the power steering system;

[0144] The yaw moment determination submodule is used to determine the yaw moment required to suppress the target vehicle from running off the track according to the system parameters and the steering wheel parameters of the target vehicle.

[0145] In some embodiments, the above-mentioned power steering system includes a steering rack, a kingpin and a steering tie rod, and the steering rack includes a steering pinion and a rack meshing with each other;

[0146] The above system parameters at least include: the transmission ratio parameter of the steering pinion, the angle between the steering rack and the steering tie rod, and the moment arm of the steering tie rod around the king pin.

[0147] In some embodiments, the yaw moment determination submodule includes:

[0148] A first force determination unit is used to calculate a first force that needs to be applied to the steering rod to suppress deviation according to a transmission ratio parameter, an angle and a steering wheel parameter;

[0149] The yaw moment determination unit is used to determine the yaw moment required to suppress the target vehicle from running off the track according to the first acting force and the lever arm.

[0150] In some embodiments, the above-mentioned steering wheel parameters include steering wheel hand force and steering wheel size information.

[0151] Based on this, the first force determination unit includes:

[0152] A target torque determination subunit is used to calculate a target torque that needs to be applied to the steering wheel to suppress deviation according to the steering wheel hand force, the hand force threshold, and the steering wheel size information;

[0153] The first force determination subunit is used to calculate the first force that needs to be applied to the steering rod to suppress deviation according to the transmission ratio parameter, the angle and the target torque.

[0154] In some embodiments, the first force determination subunit specifically includes:

[0155] According to the transmission ratio parameter and the target torque, the second force to be applied to the steering rack to suppress deviation is calculated;

[0156] The first force that needs to be applied to the steering rod to suppress deviation is calculated based on the second force and the angle.

[0157] In some embodiments, the control module 202 includes:

[0158] The control submodule is used to control the height change of the active suspension of the target vehicle based on the yaw moment, so as to control the deviation of the target vehicle.

[0159] In some embodiments, the active suspension includes a plurality of sub-suspensions, each of which corresponds to a wheel of the target vehicle.

[0160] Based on this, the above control submodule includes:

[0161] a height change value determination unit, used to determine a height change value of each sub-suspension based on the yaw moment;

[0162] A height change direction determination unit, used to determine the height change direction of each sub-suspension based on the deviation direction of the target vehicle;

[0163] The control unit is used to control each sub-suspension to change its height based on the height change direction and height change value of each sub-suspension.

[0164] In some embodiments, the height change value determining unit includes:

[0165] A toe value determination subunit, used for determining the toe value that needs to be adjusted to suppress deviation of the target vehicle based on the yaw moment;

[0166] The height change value determining subunit is used to determine the height change value of each sub-suspension based on the suspension characteristic parameters and toe value corresponding to each sub-suspension.

[0167] In some embodiments, the height change direction determining unit includes:

[0168] The first subunit for determining the height change direction is used to determine, if the deviation direction is to the left, the height change directions of the front left, front right, rear left, and rear right sub-suspensions of the target vehicle are: rising, falling, rising, and falling respectively;

[0169] The second subunit for determining the height change direction is used to determine, if the deviation direction is to the right, the height change directions of the front left, front right, rear left, and rear right sub-suspensions of the target vehicle are: lowering, raising, lowering, and raising, respectively.

[0170] In some embodiments, the control unit includes:

[0171] a target height change value determination subunit, configured to determine a target height change value of each sub-suspension based on the height change value of each sub-suspension and a maximum height change threshold of each sub-suspension in a corresponding height change direction;

[0172] The control subunit is used to control the active suspension to change the height of each sub-suspension based on the target height change value and height change direction of each sub-suspension.

[0173] In some embodiments, the vehicle deviation control device further includes:

[0174] A steering wheel parameter acquisition module is used to obtain the steering wheel parameters of the target vehicle;

[0175] The deviation determination module is used to determine whether the target vehicle has deviated if the steering wheel parameters meet the deviation determination conditions and the target vehicle is in a straight-ahead state.

[0176] In some embodiments, the above-mentioned steering wheel parameters include steering wheel angles.

[0177] Based on this, the above-mentioned vehicle deviation control device also includes: if the duration of the steering wheel angle being less than the steering wheel angle threshold meets the preset time condition, it is determined that the target vehicle is in a straight-moving state.

[0178] In some embodiments, the steering wheel parameters include steering wheel hand force, and the deviation determination condition includes steering wheel hand force being greater than a hand force threshold.

[0179] It can be seen that the vehicle deviation control device provided in the embodiment of the present application determines the yaw moment required to suppress the deviation of the target vehicle based on the steering wheel parameters of the target vehicle when the yaw moment determination module 201 determines that the target vehicle is deviating; the control module 202 performs deviation control on the target vehicle based on the yaw moment. In this way, when it is detected that the vehicle is deviating, the yaw moment required to suppress the vehicle from deviating is determined based on the steering wheel parameters of the vehicle, and the yaw moment required to suppress the deviation is directly quantified, so as to improve the accuracy of the deviation control of the vehicle based on the yaw moment and improve the user experience.

[0180] 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.

[0181] The present application also provides an electronic device, such as Figure 6 As shown, it shows a schematic diagram of the structure of the electronic device involved in the embodiment of the present application, specifically:

[0182] The electronic device may include components such as a processor 301 with one or more processing cores, a memory 302 with one or more storage media, a power supply 303, and an input unit 304. Those skilled in the art will appreciate that Figure 6 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.

[0183] The processor 301 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 302, and calling data stored in the memory 302. Optionally, the processor 301 may include one or more processing cores; preferably, the processor 301 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 301.

[0184] The memory 302 can be used to store computer programs and modules. The processor 301 executes various functional applications and vehicle deviation control by running the computer programs and modules stored in the memory 302. The memory 302 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, a computer program required for at least one function (such as a wheel angle control function, etc.), etc.; the data storage area can store data created according to the use of the electronic device, etc. In addition, the memory 302 can include a high-speed random access memory, and can 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 302 can also include a memory controller to provide the processor 301 with access to the memory 302.

[0185] The electronic device also includes a power supply 303 for supplying power to each component. Preferably, the power supply 303 can be logically connected to the processor 301 through a power management system, so that the power management system can manage charging, discharging, power consumption and other functions. The power supply 303 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.

[0186] The electronic device may further include an input unit 304, 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.

[0187] 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 301 in the electronic device will load the executable files corresponding to the processes of one or more computer programs into the memory 302 according to the following instructions, and the processor 301 will run the computer programs stored in the memory 302, thereby realizing various functions, such as:

[0188] If the target vehicle is detected to be running off the track, the yaw moment required to suppress the target vehicle from running off the track is determined based on the steering wheel parameters of the target vehicle;

[0189] Based on the yaw moment, the target vehicle is controlled to run sideways.

[0190] It can be seen that the electronic device provided in the embodiment of the present application, by detecting that the target vehicle is running off, determines the yaw moment required to suppress the target vehicle from running off based on the steering wheel parameters of the target vehicle; and controls the target vehicle from running off based on the yaw moment. In this way, when it is detected that the vehicle is running off, the yaw moment required to suppress the vehicle from running off is determined based on the steering wheel parameters of the vehicle, and the yaw moment required to suppress the running off is directly quantified, so as to improve the accuracy of controlling the vehicle from running off based on the yaw moment and improve the user experience.

[0191] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the detailed description of the vehicle deviation control method above, which will not be elaborated here.

[0192] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a storage medium and loaded and executed by a processor.

[0193] To this end, an embodiment of the present application provides a storage medium in which a computer program is stored. The computer program can be loaded by a processor to execute the steps in any vehicle deviation control method provided in the embodiment of the present application. For example, the computer program can execute the following steps:

[0194] If the target vehicle is detected to be running off the track, the yaw moment required to suppress the target vehicle from running off the track is determined based on the steering wheel parameters of the target vehicle;

[0195] Based on the yaw moment, the target vehicle is controlled to run sideways.

[0196] It can be seen that the storage medium provided in the embodiment of the present application, by detecting that the target vehicle is running off, determines the yaw moment required to suppress the target vehicle from running off based on the steering wheel parameters of the target vehicle; and controls the target vehicle from running off based on the yaw moment. In this way, when it is detected that the vehicle is running off, the yaw moment required to suppress the vehicle from running off is determined based on the steering wheel parameters of the vehicle, and the yaw moment required to suppress the running off is directly quantified, so as to improve the accuracy of controlling the vehicle from running off based on the yaw moment and improve the user experience.

[0197] 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.

[0198] The storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0199] Since the computer program stored in the storage medium can execute the steps in any one of the vehicle deviation control methods provided in the embodiments of the present application, the beneficial effects that can be achieved by any one of the vehicle deviation control methods 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.

[0200] According to one aspect of the present application, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a storage medium. A processor of a computer device reads the computer instructions from the storage medium, and the processor executes the computer instructions, so that the computer device executes the above-mentioned vehicle deviation control method.

[0201] The embodiment of the present application also provides a vehicle, which includes the above-mentioned vehicle deviation control device, or the above-mentioned electronic device, or the above-mentioned computer program product. The specific structure of the vehicle is not limited in this application. The specific implementation methods and corresponding beneficial effects of the above-mentioned operations of the electronic device are also applicable to the vehicle. For details, please refer to the detailed description of the vehicle deviation control method above, which will not be repeated here.

[0202] The above is a detailed introduction to a vehicle deviation control method, device, electronic device, storage medium, computer program product and vehicle provided in the embodiments of the present application. Specific examples are used herein 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 ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A vehicle deviation control method, characterized in that: The method comprises: If it is detected that the target vehicle is running off the track, determining the yaw moment required to suppress the target vehicle from running off the track based on the steering wheel parameters of the target vehicle; Based on the yaw moment, the target vehicle is controlled to run sideways.

2. The vehicle deviation control method according to claim 1, characterized in that: The determining, based on the steering wheel parameters of the target vehicle, the yaw moment required to suppress the target vehicle from running off the track comprises: Get the system parameters of the power steering system; A yaw moment required to suppress deviation of the target vehicle is determined according to the system parameters and the steering wheel parameters of the target vehicle.

3. The vehicle deviation control method according to claim 2, characterized in that: The steering power system comprises a steering rack, a kingpin and a steering tie rod, wherein the steering rack comprises a steering pinion and a rack meshing with each other; The system parameters at least include: a transmission ratio parameter of the steering pinion, an angle between the steering rack and the steering tie rod, and a moment arm of the steering tie rod around the king pin.

4. The vehicle deviation control method according to claim 3, characterized in that: Determining the yaw moment required to suppress deviation of the target vehicle according to the system parameters and the steering wheel parameters of the target vehicle includes: Calculating a first force to be applied to the steering rod to suppress deviation according to the transmission ratio parameter, the included angle and the steering wheel parameter; A yaw moment required to suppress deviation of the target vehicle is determined according to the first acting force and the lever arm.

5. The vehicle deviation control method according to claim 4, characterized in that: The steering wheel parameters include steering wheel hand force and steering wheel size information. The first force required to be applied to the steering rod to suppress deviation is calculated according to the transmission ratio parameter, the angle and the steering wheel parameters, including: Calculating a target torque to be applied to the steering wheel to suppress deviation according to the steering wheel hand force, the hand force threshold, and the steering wheel size information; The first force required to be applied to the steering rod to suppress deviation is calculated according to the transmission ratio parameter, the angle and the target torque.

6. The vehicle deviation control method according to claim 5, characterized in that: The calculating, according to the transmission ratio parameter, the angle and the target torque, a first force required to be applied to the steering rod to suppress deviation includes: Calculating, according to the transmission ratio parameter and the target torque, a second force that needs to be applied to the steering rack to suppress deviation; The first force required to be applied to the steering rod to suppress deviation is calculated according to the second force and the included angle.

7. The vehicle deviation control method according to any one of claims 1 to 6, characterized in that: The step of controlling the target vehicle to run off the track based on the yaw moment includes: Based on the yaw moment, the active suspension of the target vehicle is controlled to change its height so as to control the deviation of the target vehicle.

8. The vehicle deviation control method according to claim 7, characterized in that: The active suspension includes a plurality of sub-suspensions, each of which corresponds to a wheel of the target vehicle, and the active suspension of the target vehicle is controlled to change height based on the yaw moment, including: Based on the yaw moment, determining a height change value of each of the sub-suspensions; Determining a height change direction of each of the sub-suspensions based on the deviation direction of the target vehicle; Based on the height change direction and the height change value of each sub-suspension, each sub-suspension is controlled to change its height.

9. The vehicle deviation control method according to claim 8, characterized in that: The determining, based on the yaw moment, a height change value of each of the sub-suspensions comprises: Based on the yaw moment, determining a toe value that needs to be adjusted to suppress deviation of the target vehicle; Based on the suspension characteristic parameters corresponding to each of the sub-suspensions and the toe value, a height change value of each of the sub-suspensions is determined.

10. The vehicle deviation control method according to claim 8, characterized in that: The step of determining the height change direction of each sub-suspension based on the deviation direction of the target vehicle includes: If the deviation direction is to the left, determining the height change directions of the front left, front right, rear left, and rear right sub-suspensions of the target vehicle are: rising, falling, rising, and falling respectively; If the deviation direction is deviation to the right, determine that the height change directions of the front left, front right, rear left, and rear right sub-suspensions of the target vehicle are respectively: lowering, raising, lowering, and raising.

11. The vehicle deviation control method according to claim 8, characterized in that: The controlling each sub-suspension to change its height based on the height change direction and the height change value of each sub-suspension comprises: Determining a target height change value of each sub-suspension based on a height change value of each sub-suspension and a maximum height change threshold of each sub-suspension in a corresponding height change direction; The active suspension is controlled to change the height of each sub-suspension based on the target height change value and the height change direction of each sub-suspension.

12. The vehicle deviation control method according to claim 1, characterized in that: The method further comprises: Get the steering wheel parameters of the target vehicle; If the steering wheel parameters meet the deviation determination conditions and the target vehicle is in a straight-moving state, it is determined that the target vehicle has deviated.

13. The vehicle deviation control method according to claim 12, characterized in that: The steering wheel parameter includes a steering wheel angle, and the method further includes: If the duration that the steering wheel angle is less than the steering wheel angle threshold satisfies a preset time condition, it is determined that the target vehicle is in a straight-moving state.

14. The vehicle deviation control method according to claim 12, characterized in that: The steering wheel parameters include steering wheel hand force, and the deviation determination condition includes that the steering wheel hand force is greater than a hand force threshold.

15. A vehicle deviation control device, characterized in that: The device comprises: A yaw moment determination module, configured to determine a yaw moment required to suppress the deviation of the target vehicle based on a steering wheel parameter of the target vehicle if deviation of the target vehicle is detected; A control module is used to control the target vehicle to run off the track based on the yaw moment.

16. 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 vehicle deviation control method according to any one of claims 1 to 14.

17. A storage medium, characterized in that: It comprises a computer program, and when the computer program is run on an electronic device, the computer program is used to enable the electronic device to execute the steps of the vehicle deviation control method according to any one of claims 1 to 14.

18. A computer program product, characterized in that The method comprises a computer program or an instruction, which, when executed by a processor, implements the steps of the vehicle deviation control method according to any one of claims 1 to 14.

19. A vehicle, characterized in that: The vehicle includes the electronic device as claimed in claim 16.

Images