Steering wheel force feedback method and device

Abstract

The invention discloses a steering wheel force feedback method and device, and relates to the technical field of vehicles. The steering wheel force feedback method comprises the steps that when a vehicle starts a four-wheel independent driving function, wheel driving torque information and wheel turning angle information are obtained; according to the wheel driving torque information and the wheel rotating angle information, the torque generated by four-wheel driving of the vehicle to the vehicle is determined; determining a virtual lateral force ratio of the vehicle front axle to the vehicle rear axle; according to the torque and the virtual lateral force proportion, the target virtual lateral force of the front axle of the vehicle is determined; according to the target virtual lateral force, determining a first steering wheel hand feeling moment needing to be compensated; and performing force feedback on the steering wheel of the vehicle based on the first steering wheel handfeel moment. Through the scheme provided by the invention, the driving safety can be guaranteed.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and in particular, relates to a steering wheel force feedback method and device. Background Art

[0002] With the development of the automobile industry, the automobile steering system has also undergone a development process. The automobile steering system initially adopted pure mechanical steering, then hydraulic power steering, then electronic power steering, and finally wire-controlled steering.

[0003] The steer-by-wire system uses two motors to replace the mechanical connection between the vehicle's steering wheel and wheels. The motors are connected by wire harnesses, which not only improves the vehicle's steering performance, but also improves the vehicle's passive safety in the event of an accident. The force feedback steering wheel is an important part of the steer-by-wire system.

[0004] In the related art, when force feedback is applied to the steering wheel, the force feedback is mainly composed of basic force feedback and road feel feedback, among which the road feel feedback mainly depends on the magnitude of the steering rack force. Under normal circumstances, the steering rack force of the vehicle can well reflect the steering load when the vehicle turns; but when the vehicle starts the four-wheel independent drive function, the unevenly distributed driving torque will change the magnitude of the steering rack force, making it impossible for the force feedback based on the steering rack force to normally reflect the vehicle state, which will cause the driver to misjudge the current state of the vehicle, and may then take unnecessary aggressive actions (for example, slamming the steering wheel or braking suddenly) to endanger driving safety. Summary of the invention

[0005] The embodiments of the present application provide a steering wheel force feedback method and device, which can ensure driving safety.

[0006] In a first aspect, an embodiment of the present application provides a steering wheel force feedback method, comprising:

[0007] When the vehicle starts the four-wheel independent drive function, the wheel driving torque information and wheel angle information are obtained;

[0008] Determine the torque generated by the vehicle's four-wheel drive on the vehicle according to the wheel driving torque information and the wheel angle information;

[0009] Determining a virtual lateral force ratio between a front axle of the vehicle and a rear axle of the vehicle;

[0010] Determine a target virtual lateral force of the front axle of the vehicle according to the ratio of the torque to the virtual lateral force;

[0011] Determining a first steering wheel feel torque that needs to be compensated according to the target virtual lateral force;

[0012] Based on the first steering wheel feel torque, force feedback is performed on the steering wheel of the vehicle.

[0013] In a second aspect, an embodiment of the present application provides a steering wheel force feedback device, comprising:

[0014] An acquisition module, used for acquiring wheel driving torque information and wheel angle information when the vehicle starts the four-wheel independent drive function;

[0015] A first determination module is used to determine the torque generated by the vehicle's four-wheel drive on the vehicle according to the wheel driving torque information and the wheel angle information;

[0016] A second determination module is used to determine the virtual lateral force ratio of the front axle of the vehicle and the rear axle of the vehicle;

[0017] a third determination module, configured to determine a target virtual lateral force of a front axle of the vehicle according to a ratio of the torque to the virtual lateral force;

[0018] a fourth determination module, configured to determine a first steering wheel feel torque that needs to be compensated according to the target virtual lateral force;

[0019] The force feedback module is used to provide force feedback to the steering wheel of the vehicle based on the first steering wheel feel torque.

[0020] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the steps of the steering wheel force feedback method provided in the embodiment of the present application are implemented.

[0021] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the steps of the steering wheel force feedback method provided in the embodiment of the present application are implemented.

[0022] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes computer program instructions. When the computer program instructions are executed by a processor, the steps of the steering wheel force feedback method provided in the embodiment of the present application are implemented.

[0023] In a sixth aspect, an embodiment of the present application provides a vehicle, comprising at least one of the following:

[0024] The steering wheel force feedback device provided in the embodiment of the present application;

[0025] The electronic device provided by the embodiment of the present application;

[0026] The computer-readable storage medium provided by the embodiments of the present application.

[0027] In an embodiment of the present application, when the vehicle starts the four-wheel independent drive function, the wheel drive torque information and wheel angle information are obtained; the torque generated by the vehicle's four-wheel drive on the vehicle is determined according to the wheel drive torque information and wheel angle information; the virtual lateral force ratio of the front axle of the vehicle and the rear axle of the vehicle is determined; the target virtual lateral force of the front axle of the vehicle is determined according to the torque and virtual lateral force ratio; the first steering wheel feel torque that needs to be compensated is determined according to the target virtual lateral force; based on the first steering wheel feel torque, the steering wheel of the vehicle is force feedback. In this way, the steering wheel driving feel can correctly feedback the current state of the vehicle, reduce the risk of the driver making wrong operations that endanger driving safety, and ensure driving safety. In addition, the steering wheel driving feel conforms to the driver's driving habits, making it easier for the driver to accept the wire control steering system and the four-wheel independent drive function, and reducing the driver's resistance to operating habits. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0029] Figure 1 is a flow chart of a steering wheel force feedback method provided in an embodiment of the present application;

[0030] Figure 2 is a schematic diagram of the hardware structure of the steer-by-wire system provided in an embodiment of the present application;

[0031] Figure 3 is a schematic diagram of the forces on the four wheels of a vehicle provided in an embodiment of the present application;

[0032] Figure 4 is a schematic diagram of the process of steering wheel force feedback provided by an embodiment of the present application;

[0033] Figure 5 is a schematic structural diagram of a steering wheel force feedback device provided in an embodiment of the present application;

[0034] Figure 6 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0036] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0037] The steering wheel force feedback method and device provided in the embodiments of the present application are described in detail below through specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0038] Figure 1 is a flow chart of the steering wheel force feedback method provided in the embodiment of the present application. Figure 1 As shown, the steering wheel force feedback method may include:

[0039] Step 101: When the vehicle starts the four-wheel independent drive function, obtain wheel driving torque information and wheel angle information;

[0040] In some possible implementations of the embodiments of the present application, the wheel driving torque information and the wheel angle information may be sent by a vehicle domain controller or measured using underlying sensors.

[0041] Step 102: determining the torque generated by the vehicle's four-wheel drive on the vehicle according to the wheel driving torque information and the wheel angle information;

[0042] In some possible implementations of the present application, the wheel drive torque information may include the longitudinal driving force of each wheel, the distance from the front axle of the vehicle to the center of mass of the vehicle, and the distance from the rear axle of the vehicle to the center of mass of the vehicle. In step 102, the longitudinal torque of each wheel may be calculated according to the longitudinal driving force and the turning angle of each wheel; and the torque generated by the vehicle's four-wheel drive on the vehicle may be determined according to the longitudinal torque of each wheel.

[0043] In some possible implementations of the embodiments of the present application, when calculating the longitudinal torque of each wheel based on the longitudinal driving force and the turning angle corresponding to each wheel, the product of the distance from the axle corresponding to the first wheel to the center of mass of the vehicle and the tangent value of the turning angle of the first wheel can be calculated for the first wheel to obtain a first product value, wherein the first wheel is any one of the four wheels of the vehicle; the sum of half of the distance between the left and right wheels and the first product value is calculated to obtain a first sum value; the product of the longitudinal driving force of the first wheel, the first sum value and the cosine value of the turning angle of the first wheel is calculated to obtain the longitudinal torque of the first wheel.

[0044] In some possible implementations of the embodiments of the present application, the longitudinal moment of the wheel may be calculated by the following formula (1):

[0045]

[0046] In formula (1), M i is the longitudinal moment of wheel numbered i, F i is the longitudinal driving force of the wheel numbered i, L is the distance between the left and right wheels, a is the distance from the axle corresponding to the wheel numbered i to the center of mass of the vehicle, θ i is the turning angle of the first wheel.

[0047] In some possible implementations of the embodiments of the present application, when determining the torque generated by the vehicle's four-wheel drive on the vehicle based on the longitudinal torque of each wheel, the difference between the longitudinal torques of the two front wheels can be calculated to obtain the front wheel longitudinal torque difference; the difference between the longitudinal torques of the two rear wheels can be calculated to obtain the rear wheel longitudinal torque difference; the sum of the front wheel longitudinal torque difference and the rear wheel longitudinal torque difference can be calculated to obtain the torque.

[0048] In some possible implementations of the embodiments of the present application, the torque generated by the vehicle's four-wheel drive on the vehicle can be calculated by the following formula (2):

[0049]

[0050] In formula (2), Mzx is the torque generated by the vehicle's four-wheel drive, and F fx1 、F fx2 、F rx1 and F rx2are the longitudinal driving forces of the left front wheel, right front wheel, left rear wheel and right rear wheel respectively, L is the distance between the left and right wheels, a is the distance from the front axle to the center of mass of the vehicle, b is the distance from the rear axle to the center of mass of the vehicle, θ i is the front wheel turning angle, θ j is the rear wheel turning angle.

[0051] Step 103: Determine the virtual lateral force ratio of the front axle of the vehicle and the rear axle of the vehicle;

[0052] In some possible implementations of the embodiments of the present application, the virtual lateral force in the embodiments of the present application refers to a specific wheel torque and wheel angle signal under four-wheel independent drive conditions. If there is a pair of lateral forces acting on the front axle and the rear axle so that the abstract lateral force has the same effect on the vehicle as the real vehicle torque and angle, then starting the four-wheel independent drive function is equivalent to adding a corresponding virtual lateral force to the vehicle; specifically, it means that under normal circumstances, there is a definite corresponding relationship between the virtual lateral force and the theoretical torque and angle of the vehicle.

[0053] In some possible implementations of the embodiments of the present application, the virtual lateral force ratio of the front axle of the vehicle and the rear axle of the vehicle can be determined according to the vehicle load distribution information. Different vehicle load distributions will change the virtual lateral force ratio of the front axle of the vehicle and the rear axle of the vehicle.

[0054] It should be noted that the virtual lateral force of the front axle of the vehicle and the virtual lateral force of the rear axle of the vehicle are in opposite directions, and the ratio of the virtual lateral force of the front axle of the vehicle to the virtual lateral force of the rear axle of the vehicle is a negative value.

[0055] In some possible implementations of the present application, the load on the front axle of the vehicle and the load on the rear axle of the vehicle can be measured by a pressure sensor. Assuming that the ratio of the load on the front axle of the vehicle to the load on the rear axle of the vehicle is K, the virtual lateral force ratio of the front axle of the vehicle and the rear axle of the vehicle is -K.

[0056] In some possible implementations of the embodiments of the present application, the virtual lateral force ratio of the front axle of the vehicle and the rear axle of the vehicle can be determined according to the distance from the center of mass of the vehicle to the front axle of the vehicle and the rear axle of the vehicle respectively.

[0057] It should be noted that the virtual lateral force ratio is inversely proportional to the distance ratio, wherein the distance ratio is the ratio of the distance from the vehicle's center of mass to the vehicle's front axle to the distance from the vehicle's center of mass to the vehicle's rear axle.

[0058] Exemplarily, assuming that the distance from the center of mass of the vehicle to the front axle of the vehicle is a, and the distance from the center of mass of the vehicle to the rear axle of the vehicle is b, the ratio of the virtual lateral forces of the front axle of the vehicle and the rear axle of the vehicle is -b / a.

[0059] Step 104: determining a target virtual lateral force of the front axle of the vehicle according to the ratio of the torque to the virtual lateral force;

[0060] In some possible implementations of the embodiments of the present application, step 104 may include: calculating the product of the distance from the center of mass of the vehicle to the front axle of the vehicle and the virtual lateral force ratio to obtain a second product value; calculating the product of the virtual lateral force ratio and the torque to obtain a third product value; calculating the ratio of the third product value to the second product value to obtain the target virtual lateral force of the front axle of the vehicle.

[0061] In some possible implementations of the embodiments of the present application, the target virtual lateral force of the front axle of the vehicle may be calculated by the following formula (3):

[0062]

[0063] In formula (3), F fyx is the target virtual lateral force on the front axle of the vehicle, m is the virtual lateral force ratio, Mzx is the torque, a is the distance from the center of mass of the vehicle to the front axle of the vehicle, and b is the distance from the center of mass of the vehicle to the rear axle of the vehicle.

[0064] Step 105: determining a first steering wheel feel torque that needs to be compensated according to the target virtual lateral force;

[0065] In some possible implementations of the embodiments of the present application, step 105 may include: calculating the product of the target virtual lateral force and the proportional coefficient to obtain a first steering wheel feel torque, wherein the proportional coefficient is the ratio of the front axle virtual lateral force to the steering wheel feel torque.

[0066] In some possible implementations of the embodiments of the present application, there is a proportional relationship between the virtual lateral force of the front axle and the steering wheel feel torque, and the proportionality coefficient between the virtual lateral force of the front axle and the steering wheel feel torque can be obtained by theoretical calculation or vehicle calibration. The embodiments of the present application do not elaborate on the process of calculating and calibrating the proportionality coefficient between the virtual lateral force of the front axle and the steering wheel feel torque.

[0067] Step 106: Based on the first steering wheel feel torque, force feedback is performed on the steering wheel of the vehicle.

[0068] In some possible implementations of the embodiments of the present application, step 106 may include: determining the sum of the first steering wheel feel torque and the basic force feedback as the target feel feedback torque; and controlling the motor to generate the target feel feedback torque and feed it back to the steering wheel.

[0069] In some possible implementations of the embodiments of the present application, after the target tactile feedback torque is obtained, the motor can be controlled to generate the target tactile feedback torque and feed it back to the steering wheel to realize tactile feedback.

[0070] Figure 2 It is a schematic diagram of the hardware structure of the wire control steering system provided in the embodiment of the present application. Figure 2The wire control steering system shown includes: a road sensing motor 1, a reducer 2, a steering wheel column 3, a torque and angle sensor 4, a steering wheel 5, a steering motor 6, a steering rack 7 and a wheel. Among them, the steering wheel 5 is not mechanically connected to the steering rack 7, and steering wheel force feedback is required. When the driver starts the four-wheel independent drive function, the torque difference applied to the wheel will affect the steering state of the vehicle, change the lateral force of the wheel acting on the steering rack 7, affect the steering wheel feel, and cause the driver to misjudge the current state of the vehicle, endangering driving safety.

[0071] For example, assuming that the driver activates the four-wheel independent drive function, the forces on the four wheels of the vehicle when turning are as follows: Figure 3 As shown, Figure 3 It is a schematic diagram of the forces acting on the four wheels of a vehicle provided in an embodiment of the present application.

[0072] exist Figure 3 Medium, F fx1 、F fx2 、F rx1 and F rx2 are the longitudinal driving forces of the left front wheel, right front wheel, left rear wheel and right rear wheel, respectively, and F fy1 、F fy2 、Fr y1 and Fr. y2 are the lateral forces of the left front wheel, right front wheel, left rear wheel and right rear wheel respectively; θ f is the front wheel turning angle, the rear wheel turning angle is 0, a is the distance from the front axle to the center of mass of the vehicle; b is the distance from the rear axle to the center of mass of the vehicle, and L is the distance between the left and right wheels. Assume that the center of mass of the vehicle is located on the transverse centerline of the vehicle. Then the front wheel longitudinal moment difference is The rear wheel longitudinal torque difference is

[0073] Then the torque Mzx generated by the vehicle's four-wheel drive is as shown in the following formula (4):

[0074]

[0075] The front wheel longitudinal torque difference is equivalent to the front axle virtual lateral force F fyx The torque M generated on the vehicle fyx , the rear wheel longitudinal torque difference is equivalent to the virtual lateral force F of the rear axle ryx The torque M generated on the vehicle ryx Then we have the following relationship as shown in formula (5):

[0076] Mzx=M fyx +M ryx (5)

[0077] Among them, the virtual lateral force of the front axle F fyx With M fyxThere is a relationship as shown in the following formula (6):

[0078] M fyx =F fyx *a (6)

[0079] Virtual lateral force F on rear axle ryx With M ryx There is a relationship as shown in the following formula (7):

[0080] M ryx =F ryx *b (7)

[0081] Wherein, in formulas (6) and (7), a and b are the distances from the front axle and rear axle of the vehicle to the center of mass of the vehicle, respectively.

[0082] Assuming that the vehicle load is evenly distributed and the center of mass is located at the center of the vehicle, the virtual lateral force F on the front axle of the vehicle is fyx and the virtual lateral force F on the rear axle of the vehicle ryx Equal and opposite direction, virtual lateral force F on the front axle of the vehicle fyx and the virtual lateral force F on the rear axle of the vehicle ryx The relationship is shown in the following formula (8):

[0083]

[0084] From the above formulas (5) to (8), we can get: Wherein, Mzx can be calculated by the above formula (4).

[0085] When the front axle virtual lateral force F is obtained fyx Afterwards, the virtual lateral force F on the front axle can be fyx The first steering wheel feel torque that needs to be compensated is obtained by multiplying the proportional coefficient K of the front axle virtual lateral force and the steering wheel feel torque.

[0086] The first steering wheel feel torque to be compensated and the basic force feedback are summed to obtain the target feel feedback torque.

[0087] After the target feel feedback torque is obtained, the motor can be controlled to generate the target feel feedback torque and feed it back to the steering wheel to realize the feel feedback.

[0088] The above process of force feedback to the reverse disk is as follows: Figure 4 As shown, Figure 4 It is a schematic diagram of the process of steering wheel force feedback provided in an embodiment of the present application.

[0089] exist Figure 4In the process, the torque generated by the vehicle's four-wheel drive on the vehicle is calculated through the wheel driving torque and the wheel angle; the ratio of the virtual lateral force of the front and rear axles is calculated through the vehicle load distribution; the virtual lateral force of the front axle is calculated through the ratio of the torque and lateral force generated by the vehicle's four-wheel drive on the vehicle; the target hand feel feedback torque is calculated through the front axle virtual lateral force and the basic force, and the motor is controlled to generate the target hand feel feedback torque and feed it back to the steering wheel.

[0090] In an embodiment of the present application, when the vehicle starts the four-wheel independent drive function, the wheel drive torque information and wheel angle information are obtained; the torque generated by the vehicle's four-wheel drive on the vehicle is determined according to the wheel drive torque information and wheel angle information; the virtual lateral force ratio of the front axle of the vehicle and the rear axle of the vehicle is determined; the target virtual lateral force of the front axle of the vehicle is determined according to the torque and virtual lateral force ratio; the first steering wheel feel torque that needs to be compensated is determined according to the target virtual lateral force; based on the first steering wheel feel torque, the steering wheel of the vehicle is force feedback. In this way, the steering wheel driving feel can correctly feedback the current state of the vehicle, reduce the risk of the driver making wrong operations that endanger driving safety, and ensure driving safety. In addition, the steering wheel driving feel conforms to the driver's driving habits, making it easier for the driver to accept the wire control steering system and the four-wheel independent drive function, and reducing the driver's resistance to operating habits.

[0091] Corresponding to the above method embodiment, the present application embodiment also provides a steering wheel force feedback device, such as Figure 5 shown. Figure 5 : is a schematic diagram of the structure of a steering wheel force feedback device provided in an embodiment of the present application. The steering wheel force feedback device 500 may include:

[0092] An acquisition module 501 is used to acquire wheel driving torque information and wheel angle information when the vehicle starts the four-wheel independent drive function;

[0093] A first determination module 502 is used to determine the torque generated by the vehicle's four-wheel drive on the vehicle according to the wheel driving torque information and the wheel angle information;

[0094] A second determination module 503 is used to determine the virtual lateral force ratio of the front axle of the vehicle and the rear axle of the vehicle;

[0095] A third determination module 504 is used to determine a target virtual lateral force of the front axle of the vehicle according to the ratio of the torque to the virtual lateral force;

[0096] A fourth determination module 505 is used to determine a first steering wheel feel torque that needs to be compensated according to the target virtual lateral force;

[0097] The force feedback module 506 is used to perform force feedback on the steering wheel of the vehicle based on the first steering wheel feel torque.

[0098] In an embodiment of the present application, when the vehicle starts the four-wheel independent drive function, the wheel drive torque information and wheel angle information are obtained; the torque generated by the vehicle's four-wheel drive on the vehicle is determined according to the wheel drive torque information and wheel angle information; the virtual lateral force ratio of the front axle of the vehicle and the rear axle of the vehicle is determined; the target virtual lateral force of the front axle of the vehicle is determined according to the torque and virtual lateral force ratio; the first steering wheel feel torque that needs to be compensated is determined according to the target virtual lateral force; based on the first steering wheel feel torque, the steering wheel of the vehicle is force feedback. In this way, the steering wheel driving feel can correctly feedback the current state of the vehicle, reduce the risk of the driver making wrong operations that endanger driving safety, and ensure driving safety. In addition, the steering wheel driving feel conforms to the driver's driving habits, making it easier for the driver to accept the wire control steering system and the four-wheel independent drive function, and reducing the driver's resistance to operating habits.

[0099] In some possible implementations of the embodiment of the present application, the first determining module 502 includes:

[0100] A calculation submodule, used for calculating the longitudinal torque of each wheel according to the longitudinal driving force and the turning angle of each wheel;

[0101] The determination submodule is used to determine the torque generated by the vehicle's four-wheel drive on the vehicle according to the longitudinal torque of each wheel.

[0102] In some possible implementations of the embodiments of the present application, the calculation submodule is specifically used for:

[0103] For a first wheel, calculating the product of the distance from the axle corresponding to the first wheel to the center of mass of the vehicle and the tangent value of the turning angle of the first wheel to obtain a first product value, wherein the first wheel is any one of the four wheels of the vehicle;

[0104] Calculate the sum of half of the left and right wheel spacing and the first product value to obtain a first sum value;

[0105] The longitudinal driving force of the first wheel, the first sum value and the product of the cosine value of the turning angle of the first wheel are calculated to obtain the longitudinal torque of the first wheel.

[0106] In some possible implementations of the embodiments of the present application, the determination submodule is specifically used for:

[0107] Calculate the difference of the longitudinal moments of the two front wheels to obtain the front wheel longitudinal moment difference;

[0108] Calculate the difference of the longitudinal moments of the two rear wheels to obtain the rear wheel longitudinal moment difference;

[0109] The torque is obtained by calculating the sum of the front wheel longitudinal moment difference and the rear wheel longitudinal moment difference.

[0110] In some possible implementations of the embodiment of the present application, the second determining module 503 is specifically configured to:

[0111] The virtual lateral force ratio is determined based on the vehicle load distribution information.

[0112] In some possible implementations of the embodiment of the present application, the second determining module 503 is specifically configured to:

[0113] The virtual lateral force ratio is determined according to the distances from the center of mass of the vehicle to the front axle and the rear axle of the vehicle respectively.

[0114] In some possible implementations of the embodiment of the present application, the third determining module 504 is specifically configured to:

[0115] Calculate the product of the distance from the center of mass of the vehicle to the front axle of the vehicle and the ratio of the virtual lateral force to obtain a second product value;

[0116] Calculate the product of the virtual lateral force ratio and the torque to obtain a third product value;

[0117] The ratio of the third product value to the second product value is calculated to obtain the target virtual lateral force of the front axle of the vehicle.

[0118] In some possible implementations of the embodiment of the present application, the fourth determining module 505 is specifically configured to:

[0119] The product of the target virtual lateral force and the proportional coefficient is calculated to obtain a first steering wheel feel torque, wherein the proportional coefficient is a ratio of the front axle virtual lateral force to the steering wheel feel torque.

[0120] In some possible implementations of the embodiment of the present application, the force feedback module 506 is specifically used for:

[0121] The sum of the first steering wheel feel torque and the basic force feedback is determined as the target feel feedback torque;

[0122] The motor is controlled to generate a target feel feedback torque which is fed back to the steering wheel.

[0123] Figure 6 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0124] The electronic device may include a processor 601 and a memory 602 storing computer program instructions.

[0125] Specifically, the processor 601 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0126] The memory 602 may include a large capacity memory for data or instructions. For example, but not limitation, the memory 602 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 602 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 602 may be inside or outside the electronic device. In some specific embodiments, the memory 602 is a non-volatile solid-state memory.

[0127] In some specific embodiments, the memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Therefore, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the steering wheel force feedback method according to the present application.

[0128] The processor 601 implements the steps of the steering wheel force feedback method provided in the embodiment of the present application by reading and executing the computer program instructions stored in the memory 602.

[0129] In one example, the electronic device may further include a communication interface 603 and a bus 610. Figure 6 As shown, the processor 601, the memory 602, and the communication interface 603 are connected via a bus 610 and communicate with each other.

[0130] The communication interface 603 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0131] The bus 610 includes hardware, software or both, coupling the components of the electronic device to each other. For example, but not limitation, the bus may include an accelerated graphics port (Accelerated Graphics Port, AGP) or other graphics bus, an enhanced industry standard architecture (Extended Industry Standard Architecture, EISA) bus, a front side bus (Front Side Bus, FSB), a hypertransport (Hyper Transport, HT) interconnection, an industry standard architecture (Industry Standard Architecture, ISA) bus, an infinite bandwidth interconnection, a low pin count (Low Pin Count, LPC) bus, a memory bus, a micro channel architecture (Micro channel architecture, MCA) bus, a peripheral component interconnect (Peripheral Component Interconnect, PCI) bus, a PCI-Express (PCI-X) bus, a serial advanced technology attachment (Serial Advanced Technology Attachment, SATA) bus, a video electronics standards association local (Videoelectronics standards association Local Bus, VLB) bus or other suitable buses or a combination of two or more of these. Where appropriate, the bus 610 may include one or more buses. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

[0132] The electronic device can execute the steering wheel force feedback method provided in the embodiment of the present application, thereby achieving the corresponding technical effects of the steering wheel force feedback method provided in the embodiment of the present application.

[0133] In addition, in combination with the steering wheel force feedback method in the above embodiment, the embodiment of the present application also provides a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, the steps of the steering wheel force feedback method provided in the embodiment of the present application are implemented. Examples of computer-readable storage media include non-transitory computer-readable media, such as ROM, RAM, magnetic disk or optical disk, etc.

[0134] An embodiment of the present application provides a computer program product, which includes computer program instructions. When the computer program instructions are executed by a processor, the steps of the steering wheel force feedback method provided in the embodiment of the present application are implemented, and the same technical effect can be achieved. To avoid repetition, they are not repeated here.

[0135] An embodiment of the present application provides a vehicle, comprising at least one of the following:

[0136] The steering wheel force feedback device provided in the embodiment of the present application;

[0137] The electronic device provided by the embodiment of the present application;

[0138] The computer-readable storage medium provided by the embodiments of the present application.

[0139] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0140] The functional blocks shown in the structural block diagram described above can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), appropriate firmware, plug-in, function card, etc. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or communication link by a data signal carried in a carrier. "Machine-readable medium" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable read-only memory (Erasable Read Only Memory, EROM), floppy disks, compact discs (Compact Disc Read-Only Memory, CD-ROM), optical disks, hard disks, optical fiber media, radio frequency (Radio Frequency, RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0141] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0142] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0143] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A steering wheel force feedback method, characterized in that: The method comprises: When the vehicle starts the four-wheel independent drive function, the wheel driving torque information and wheel angle information are obtained; Determining the torque generated by the vehicle's four-wheel drive on the vehicle according to the wheel driving torque information and the wheel angle information; Determining a virtual lateral force ratio between a front axle of the vehicle and a rear axle of the vehicle; determining a target virtual lateral force of a front axle of the vehicle according to the torque and the ratio of the virtual lateral force; Determining a first steering wheel feel torque that needs to be compensated according to the target virtual lateral force; Based on the first steering wheel feel torque, force feedback is performed on the steering wheel of the vehicle.

2. The method according to claim 1, characterized in that The step of determining the torque generated by the vehicle's four-wheel drive on the vehicle according to the wheel driving torque information and the wheel angle information comprises: Calculate the longitudinal moment of each wheel based on the longitudinal driving force and the steering angle of each wheel; The torque generated by the vehicle's four-wheel drive on the vehicle is determined based on the longitudinal torque of each wheel.

3. The method according to claim 2, characterized in that The step of calculating the longitudinal torque of each wheel according to the longitudinal driving force and the steering angle of each wheel comprises: For a first wheel, calculating the product of a distance from an axle corresponding to the first wheel to a center of mass of the vehicle and a tangent value of a turning angle of the first wheel to obtain a first product value, wherein the first wheel is any one of the four wheels of the vehicle; Calculate the sum of half of the left and right wheel spacing and the first product value to obtain a first sum value; The longitudinal driving force of the first wheel, the product of the first sum value and the cosine value of the turning angle of the first wheel are calculated to obtain the longitudinal torque of the first wheel.

4. The method according to claim 2, characterized in that: Determining the torque generated by the vehicle's four-wheel drive on the vehicle according to the longitudinal torque of each wheel includes: Calculate the difference of the longitudinal moments of the two front wheels to obtain the front wheel longitudinal moment difference; Calculate the difference of the longitudinal moments of the two rear wheels to obtain the rear wheel longitudinal moment difference; The sum of the front wheel longitudinal moment difference and the rear wheel longitudinal moment difference is calculated to obtain the torque.

5. The method according to claim 1, characterized in that Determining the virtual lateral force ratio of the front axle of the vehicle and the rear axle of the vehicle includes: The virtual lateral force ratio is determined according to the vehicle load distribution information.

6. The method according to claim 1, characterized in that Determining the virtual lateral force ratio of the front axle of the vehicle and the rear axle of the vehicle includes: The virtual lateral force ratio is determined according to the distances from the center of mass of the vehicle to the front axle of the vehicle and the rear axle of the vehicle respectively.

7. The method according to claim 1, characterized in that Determining a target virtual lateral force of the front axle of the vehicle according to the torque and the virtual lateral force ratio includes: Calculating the product of the distance from the center of mass of the vehicle to the front axle of the vehicle and the virtual lateral force ratio to obtain a second product value; Calculating the product of the virtual lateral force ratio and the torque to obtain a third product value; The ratio of the third product value to the second product value is calculated to obtain the target virtual lateral force of the front axle of the vehicle.

8. The method according to claim 1, characterized in that The determining, according to the target virtual lateral force, a first steering wheel feel torque that needs to be compensated comprises: The product of the target virtual lateral force and the proportionality coefficient is calculated to obtain the first steering wheel feel torque, wherein the proportionality coefficient is the ratio of the front axle virtual lateral force to the steering wheel feel torque.

9. The method according to claim 1, characterized in that: The performing force feedback on the steering wheel of the vehicle based on the first steering wheel feel torque includes: Determine the sum of the first steering wheel feel torque and the basic force feedback as the target feel feedback torque; The motor is controlled to generate the target hand-feel feedback torque and feed it back to the steering wheel.

10. A steering wheel force feedback device, characterized in that: The device comprises: An acquisition module, used for acquiring wheel driving torque information and wheel angle information when the vehicle starts the four-wheel independent drive function; A first determination module, configured to determine the torque generated by the vehicle's four-wheel drive on the vehicle according to the wheel driving torque information and the wheel angle information; A second determination module is used to determine the virtual lateral force ratio of the front axle of the vehicle and the rear axle of the vehicle; a third determination module, configured to determine a target virtual lateral force of a front axle of the vehicle according to the torque and the virtual lateral force ratio; a fourth determination module, configured to determine a first steering wheel feel torque that needs to be compensated according to the target virtual lateral force; A force feedback module is used to provide force feedback to the steering wheel of the vehicle based on the first steering wheel feel torque.

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