Vehicle steering wheel return control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle steering wheel aligning control method and device, a vehicle and a storage medium, and the method comprises the steps that interference removal processing is conducted on first active aligning torque, second active aligning torque is obtained, and the first active aligning torque is obtained through calculation based on collected first vehicle parameters; determining a target motor torque based on the second active aligning torque and a road feeling simulation torque of the steering wheel; and controlling the hand feeling motor to provide torque for steering wheel alignment according to the target motor torque. According to the technical scheme, more controllable steering wheel return is achieved on the premise that the road feeling of a driver is not affected as much as possible, and the driving experience of a user is further improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of wire-controlled steering systems, and in particular to a vehicle steering wheel return control method, device, vehicle and storage medium. Background Art

[0002] In the related art, the upper part of the steering shaft of the vehicle is usually fixedly connected to the steering wheel, and the lower part of the steering shaft of the vehicle is usually connected to the steering gear, so that the steering torque applied by the driver on the steering wheel can be transmitted to the steering gear to realize the steering of the vehicle.

[0003] With the development of automobile technology, especially the rapid development of electronic control technology and sensor technology, vehicle steering system technology has also ushered in a new electric power steering system. The return control of the electric power steering-by-wire system is an important component of it, and its performance is related to the comfort and safety of the vehicle during driving and the vehicle's handling stability. In the steering-by-wire system, since there is no steering shaft between the steering wheel and the steering motor, the return of the steering wheel will be affected by the road surface. Summary of the invention

[0004] The embodiments of the present disclosure provide a vehicle steering wheel return control method, device, vehicle and storage medium to solve the problems existing in the related technologies. The technical solutions are as follows:

[0005] As a first aspect of an embodiment of the present disclosure, an embodiment of the present disclosure provides a vehicle steering wheel return control method, comprising:

[0006] Performing interference removal processing on the first active self-aligning torque to obtain a second active self-aligning torque; wherein the first active self-aligning torque is calculated based on the collected first vehicle parameter;

[0007] determining a target motor torque based on the second active return torque and a road feel simulation torque of the steering wheel;

[0008] The hand feel motor is controlled to provide torque for returning the steering wheel to the center position according to the target motor torque.

[0009] In some possible implementations, performing interference removal processing on the first active self-aligning torque to obtain the second active self-aligning torque includes:

[0010] determining an interference torque based on the road-feel simulation torque;

[0011] The second active return torque is obtained by removing the interference torque from the first active return torque.

[0012] In some possible implementations, determining the disturbance torque based on the road feel simulation torque includes:

[0013] determining an adjustment coefficient according to the collected second vehicle parameter;

[0014] The interference torque is calculated based on the road feel simulation torque and the adjustment coefficient; wherein the road feel simulation torque adjustment coefficient is less than 1.

[0015] In some possible implementations, determining the target motor torque based on the second active return torque and the road feel simulation torque of the steering wheel includes:

[0016] The second active return torque and the road feel simulation torque are superimposed to obtain the target motor torque.

[0017] In some possible implementations, the second vehicle parameter includes at least one of current vehicle speed information, rack force information of a steering actuator, and driver steering hand force information.

[0018] In some possible implementations, the first vehicle parameter includes steering wheel angle information and steering torque information.

[0019] In some possible implementations, the road feel simulation torque is calculated based on collected third vehicle parameters, where the third vehicle parameters include steering wheel angle information, current vehicle speed information, and rack force information of a steering actuator.

[0020] As a second aspect of the embodiment of the present disclosure, the embodiment of the present disclosure provides a vehicle steering wheel return control device, the device comprising: a memory and a processor. The memory and the processor communicate with each other through an internal connection path, the memory is used to store instructions, the processor is used to execute the instructions stored in the memory, and when the processor executes the instructions stored in the memory, the processor executes the method in any one of the above-mentioned embodiments.

[0021] As a third aspect of an embodiment of the present disclosure, an embodiment of the present disclosure provides a vehicle, including a vehicle steering wheel return control device of an embodiment of the present disclosure.

[0022] As a fourth aspect of an embodiment of the present disclosure, an embodiment of the present disclosure provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a computer, the method in any one of the above-mentioned embodiments is executed.

[0023] The technical solution of the disclosed embodiment can achieve the following beneficial effects: a more controllable steering wheel return can be achieved without affecting the driver's road feel as much as possible, thereby further improving the user's driving experience.

[0024] The above summary is for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present disclosure will be readily apparent by reference to the accompanying drawings and the detailed description below. The above summary is for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present disclosure will be readily apparent by reference to the accompanying drawings and the detailed description below. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments according to the present disclosure and should not be regarded as limiting the scope of the present disclosure.

[0026] Figure 1 This is a schematic diagram of the implementation flow of a vehicle steering wheel return control method according to an embodiment of the present disclosure;

[0027] Figure 2 This is a schematic diagram of the implementation flow of a vehicle steering wheel return control method according to another embodiment of the present disclosure;

[0028] Figure 3 Schematic diagram of a target motor torque calculation process according to an embodiment of the present disclosure;

[0029] Figure 4 A schematic diagram of an adjustment coefficient calculation process according to an embodiment of the present disclosure;

[0030] Figure 5 A schematic diagram of the architecture of a steer-by-wire system according to an embodiment of the present disclosure;

[0031] Figure 6 The figure is a structural block diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0032] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0033] In order to realize the control of the vehicle's steering wheel returning to the center, the embodiment of the present disclosure provides a vehicle steering wheel returning to the center control method. The technical solution of the present disclosure is described in detail below through embodiments.

[0034] Figure 1FIG. 2 is a schematic diagram showing an implementation flow of a steering wheel return control method according to an embodiment of the present disclosure. Figure 1 As shown, the control method is applied to a wire-controlled steering system, and the control method may specifically include the following steps:

[0035] S101: performing interference removal processing on the first active self-aligning torque to obtain a second active self-aligning torque; wherein the first active self-aligning torque is calculated based on the collected first vehicle parameters.

[0036] S102: Determine a target motor torque based on the second active return torque and a steering wheel road feel simulation torque.

[0037] S103: Control the hand feel motor to provide torque for returning the steering wheel to the center position according to the target motor torque.

[0038] In the related technology, there is no steering shaft between the steering wheel and the steering actuator, and the steering wheel return needs to send the target motor torque to the feel motor through the feel simulation algorithm in the controller. The active return algorithm and the road feel simulation algorithm have a greater impact on the steering wheel return in the wire-controlled steering system. The higher the proportion of active return torque determined by the active return algorithm, the more controllable the steering wheel return process, but it will affect the driver's perception of the road feel. The higher the proportion of road feel simulation torque determined by the road feel simulation algorithm, the clearer the road feel felt by the driver, but the steering wheel return will be greatly disturbed.

[0039] The vehicle steering wheel return control method of the disclosed embodiment obtains a second active return torque by performing interference removal processing on the first active return torque, and then calculates and determines the target motor torque based on the second active return torque and the road feel simulation torque of the steering wheel, and controls the hand feel motor to provide torque for steering wheel return according to the target motor torque, thereby achieving more controllable steering wheel return without affecting the driver's road feel as much as possible, ensuring the driving safety of the vehicle and further improving the user's driving experience.

[0040] The degree of interference removal processing for the first active self-aligning torque can be determined based on the actual driving state parameters and road condition parameters of the vehicle. When the vehicle is at different driving speeds, or the vehicle is in a turning state and has different road condition parameters, the torque for interference removal of the first active self-aligning torque is different.

[0041] Specifically, in the above-mentioned embodiment, the first active self-aligning torque is calculated by collecting the first vehicle parameter. The first active self-aligning torque can be determined by a first preset method, for example, it can be determined by using a PID (Proportion Integration Differentiation, PID) closed-loop control method according to the first vehicle parameter. Among them, the calculation result of the closed-loop control can be adjusted by adjusting the proportional parameter, the integral parameter or the differential parameter. Exemplarily, in the embodiment of the present disclosure, the size of the proportional parameter can be adjusted by adjusting the proportional parameter gain adjustment coefficient, and the size of the differential parameter can be adjusted by adjusting the differential parameter gain adjustment coefficient, and then the result of the active self-aligning closed-loop control calculation to determine the first active self-aligning torque can be further actively adjusted.

[0042] Exemplarily, the first active return torque is calculated by collecting the first vehicle parameter, and the second active return torque can also be determined by querying a preset active return torque table through the first vehicle parameter. It should be noted that the calculation method of the first active return torque is not limited here.

[0043] In one embodiment, the first vehicle parameter includes steering wheel angle information and steering torque information. The steering wheel angle information can be collected by a steering wheel angle sensor, and accurate steering wheel angle information can be obtained through the angle sensor, which can improve the steering wheel return accuracy. The steering torque information can be collected by a steering torque sensor.

[0044] The steering wheel's road feel simulation torque can transmit the road resistance and friction exerted on the wire-controlled steer system to the steering wheel and the driver. The road feel simulation torque can improve the driver's perception of road conditions. If the road feel simulation torque exceeds the threshold, it will make it difficult for the driver to operate the steering, resulting in steering failure.

[0045] Exemplarily, the road feel simulation torque can be calculated by collecting the third vehicle parameter. Exemplarily, the third vehicle parameter may include the rack force information of the vehicle's steering actuator and the vehicle's current speed information. The road feel simulation torque can be determined by a second preset method, for example, it can be determined by using a PID closed-loop control method according to the third vehicle parameter, or the road feel simulation torque can also be determined by querying a preset road feel simulation torque table based on the steering rack force information. It should be noted that the calculation method of the road feel simulation torque is not limited here, and the third vehicle parameter may also include other vehicle actual driving state parameters, which are not limited here and can be determined according to actual conditions.

[0046] The vehicle steering wheel return control method provided by the embodiment of the present disclosure can be applied to the controller of the hand-feel motor. For example, the controller of the hand-feel motor can be a steering controller, a chassis controller or a central controller. For example, after the controller calculates and determines the second active return torque and the road feel simulation torque, it determines the target motor torque according to the second active return torque and the road feel simulation torque. The controller sends a target motor torque request to the hand-feel motor, and the hand-feel motor performs a return action that matches the target motor torque.

[0047] In the above method provided by the embodiment of the present disclosure, the active self-centering algorithm part of the controller determines the second active self-centering torque by de-interference processing on the first active self-centering torque, and then determines the target motor torque according to the road feel simulation torque to control the hand feel motor self-centering. The wire-controlled steering system that executes the method of the embodiment of the present disclosure can enable the driver to maintain a sense of the vehicle's road, improve the vehicle's controllability, ensure the vehicle's safety, achieve more controllable steering wheel self-centering, and further enhance the user's driving experience.

[0048] Figure 2 FIG. 2 is a schematic diagram showing an implementation flow of a steering wheel return control method according to another embodiment of the present disclosure. Figure 2 As shown, the control method may specifically include the following steps:

[0049] S201: determining an interference torque based on a road feel simulation torque; removing the interference torque from a first active self-aligning torque to obtain a second active self-aligning torque; wherein the first active self-aligning torque is calculated based on a collected first vehicle parameter.

[0050] S202: Determine a target motor torque based on the second active return torque and the road feel simulation torque of the steering wheel.

[0051] S203: Control the hand feel motor to provide torque for returning the steering wheel to the center position according to the target motor torque.

[0052] For example, the road sense simulation torque can be calculated by the collected third vehicle parameter, and the first active return torque can be calculated by the collected first vehicle parameter. The specific value of the interference torque can be calculated based on the road sense simulation torque, and the first active return torque removes the interference torque obtained based on the road sense simulation torque, so that the active return torque can be more adapted to the current vehicle condition, thereby achieving a more controllable steering wheel return.

[0053] The steering wheel return control method of the disclosed embodiment processes the road feel simulation torque as interference when determining the second active return torque based on the first active return torque, determines the interference torque based on the road feel simulation torque, and removes the interference torque from the first active return torque. In this way, a balance between the return performance and the road feel clarity can be achieved, thereby ensuring the driving safety of the vehicle and further improving the user's driving experience.

[0054] In a disclosed embodiment, the above step S201 may further include: determining an adjustment coefficient according to the collected second vehicle parameter; and calculating the interference torque based on the road feel simulation torque and the adjustment coefficient.

[0055] The value of the adjustment coefficient is less than 1, so as to avoid a complete loss of road feel. The specific value of the adjustment coefficient is not limited here.

[0056] Figure 3 FIG. 2 is a schematic diagram showing a process of calculating the torque of a target motor according to an embodiment of the present disclosure. Figure 3 As shown, the calculation process is as follows: a first active self-aligning torque is calculated based on a first vehicle parameter, and the first vehicle parameter may include steering wheel angle information and steering torque information. A road feel simulation torque is calculated based on a third vehicle parameter, and the third vehicle parameter may include rack force information of the vehicle's steering actuator and current speed information of the vehicle. An adjustment coefficient is calculated based on a second vehicle parameter, and the second vehicle parameter may include at least one of the vehicle's current speed information, rack force information of the steering actuator, and driver's steering hand force information. The controller determines the interference torque based on the adjustment coefficient and the road feel simulation torque, and the controller determines the second active self-aligning torque based on the first active self-aligning torque and the interference torque. The controller then determines the target motor torque based on the second active self-aligning torque and the road feel simulation torque, and finally outputs a request for the target motor torque.

[0057] The above method provided by the embodiment of the present disclosure treats the road feel simulation torque as noise. In the calculation process of the second active self-aligning torque, the interference torque is determined based on the road feel simulation torque and the adjustment coefficient. The adjustment coefficient is determined based on the second vehicle parameter, so as to achieve a balance between the self-aligning performance and the road feel clarity.

[0058] In one embodiment, the second vehicle parameter may include at least one of current speed information of the vehicle, rack force information of the steering actuator, and steering hand force information of the driver.

[0059] For example, the first adjustment coefficient may be determined according to the current speed information of the vehicle, and may be determined by calculating a preset linear interpolation curve, and the first adjustment coefficient is less than 1. The higher the speed of the vehicle, the larger the first adjustment coefficient.

[0060] For example, the second adjustment coefficient may be determined according to the rack force information of the vehicle, and may be determined by calculation using a preset nonlinear interpolation curve, and the second adjustment coefficient is less than 1. The smaller the rack force of the vehicle, the larger the second adjustment coefficient.

[0061] For example, the third adjustment coefficient may be determined according to the driver's steering force information, and may be determined by using a preset linear interpolation curve, and the third adjustment coefficient is less than 1. The smaller the driver's steering force, the larger the third adjustment coefficient.

[0062] Exemplarily, the adjustment coefficient may be one of the first adjustment coefficient, the second adjustment coefficient or the third adjustment coefficient, or the adjustment coefficient may also be the product of multiple ones of the first adjustment coefficient, the second adjustment coefficient or the third adjustment coefficient.

[0063] Figure 4 FIG. 1 is a schematic diagram of the adjustment coefficient calculation process according to an embodiment of the present disclosure. Figure 4 As shown, the calculation process is as follows: the first adjustment coefficient can be determined according to the current speed information of the vehicle, the second adjustment coefficient can be determined according to the rack force information of the vehicle, and the third adjustment coefficient can be determined according to the steering force information of the driver. The first adjustment coefficient, the second adjustment coefficient and the third adjustment coefficient are multiplied together to determine the adjustment coefficient. In this way, the adjustment coefficient can be determined by comprehensively considering the vehicle speed, the driver's steering hand force and the rack force, so as to achieve a balance between the self-centering performance and the clarity of the road feel.

[0064] For example, the current speed information of the vehicle can be collected from the vehicle's vehicle message, the driver's hand force information can be collected by the steering torque sensor of the steering wheel and then determined by calculation. The rack force information of the steering actuator can be obtained by a sensor set in the steering actuator.

[0065] Reference Figure 3 In a disclosed embodiment, the above step S202 may include: superimposing the second active return torque and the road feel simulation torque to obtain the target motor torque.

[0066] The control method of the disclosed embodiment determines the target motor torque by superimposing the second active self-aligning torque and the road feel simulation torque, thereby achieving a balance between the self-aligning performance and the road feel clarity.

[0067] The present disclosure also provides a vehicle steering wheel return control device, which may include:

[0068] An interference torque processing module is used to perform interference removal processing on the first active return torque to obtain a second active return torque; wherein the first active return torque is calculated based on the collected first vehicle parameters;

[0069] The target torque determination module is used to determine the target motor torque based on the second active return torque and the road feel simulation torque of the steering wheel.

[0070] The control module is used to control the hand feel motor to provide torque for steering wheel return according to the target motor torque.

[0071] The vehicle steering wheel return control device of the embodiment of the present disclosure can be applied to the active return control of the vehicle's steering wheel. The vehicle steering wheel return control device can execute the method of any embodiment of the present disclosure, and the device can be implemented by software and / or hardware methods.

[0072] In a disclosed embodiment, the interference torque processing module may specifically include: an interference torque determination module, used to determine the interference torque based on the road feel simulation torque; an interference torque removal module, used to remove the interference torque from the first active return torque to obtain the second active return torque.

[0073] In a disclosed embodiment, the disturbance torque determination module is specifically used to: determine an adjustment coefficient according to a collected second vehicle parameter; and calculate the disturbance torque based on a road feel simulation torque and the adjustment coefficient, wherein the road feel simulation torque adjustment coefficient is less than 1.

[0074] In a disclosed implementation, the target torque determination module is specifically used to: perform superposition processing on the second active return torque and the road feel simulation torque to obtain the target motor torque.

[0075] In a disclosed embodiment, the second vehicle parameter includes at least one of current vehicle speed information, rack force information of a steering actuator, and driver steering hand force information.

[0076] In one disclosed embodiment, the first vehicle parameter includes steering wheel angle information and steering torque information.

[0077] The functions of each module in each device provided by the embodiment of the present disclosure can refer to the corresponding description in the above method, and will not be repeated here. The above device provided by the embodiment of the present disclosure can obtain the second active self-centering torque by performing interference removal processing on the first active self-centering torque, and then calculate and determine the target motor torque based on the second active self-centering torque and the road feel simulation torque of the steering wheel, and control the hand feel motor to provide torque for steering wheel self-centering according to the target motor torque, thereby achieving a more controllable steering wheel self-centering without affecting the driver's road feel as much as possible, further improving the user's driving experience.

[0078] An embodiment of the present disclosure further provides a vehicle steering wheel return control device, the device comprising: a memory and a processor. The memory and the processor communicate with each other through an internal connection path, the memory is used to store instructions, the processor is used to execute the instructions stored in the memory, and when the processor executes the instructions stored in the memory, the processor executes the method in any one of the above-mentioned embodiments.

[0079] Any of the above-mentioned vehicle steering wheel return control methods, vehicle steering wheel return control devices and vehicle steering wheel return control equipment provided in the embodiments of the present disclosure can be applied to a wire-controlled steering system.

[0080] Figure 5 FIG. 1 is a schematic diagram showing the architecture of a vehicle steer-by-wire system according to an embodiment of the present disclosure. Figure 5 As shown, the wire-controlled steering system may include a steering wheel, an angle sensor, a steering torque sensor, a steering column, a hand-feel motor, a controller, and a steering actuator. Among them, the controller may execute any of the above-mentioned vehicle steering wheel return control methods or include any of the above-mentioned vehicle steering wheel limit control devices. The angle sensor may be used to collect the steering angle of the steering wheel in real time, and the steering torque sensor may be used to collect the steering torque of the steering wheel in real time. The controller may calculate the target motor torque based on the above-mentioned collected data, and control the hand-feel motor to compensate for the steering of the steering wheel according to the target motor torque to provide resistance, which is transmitted to the steering wheel through the steering column. When determining the target motor torque, the controller of the disclosed embodiment may treat the road-feel simulation torque as interference in the calculation of the second active return torque request, so that by treating the road-feel simulation torque as noise and comprehensively considering the current speed information of the vehicle, the driver's steering hand force information, and the rack force information, the balance between the return performance of the vehicle's wire-controlled steering system and the road-feel clarity may be achieved.

[0081] like Figure 5 As shown, the other end of the gear reducer is connected to the hand-feel motor, and the motor shaft of the hand-feel motor is connected to the input end of the gear reducer through a flexible coupling. Among them, one end of the steering column is connected to the steering wheel, and the other end of the steering column is connected to one end of the gear reducer. The steering torque sensor and the angle sensor are arranged between the steering wheel and the gear reducer. The controller receives the steering torque information and the angle information of the steering wheel detected by the steering torque sensor and the angle sensor through the communication bus, determines the driving direction and driving angle, and controls the target motor torque of the hand-feel motor in real time. The target motor torque is decelerated and torque-increased by the gear reducer, and then fed back to the steering column through the steering torque sensor and the angle sensor, and finally acts on the steering wheel.

[0082] When the driver applies steering force to the steering column through the steering wheel to perform steering operations, the steering wheel angle information and steering torque information are collected in real time through the steering torque sensor and angle sensor and transmitted to the controller. Referring to the current vehicle speed information, the controller analyzes and processes the information and transmits the target motor torque to the hand feel motor to generate feedback torque, which is then decelerated by the gear reducer and acts on the steering wheel, allowing the driver to feel the road information in a timely manner.

[0083] The disclosed embodiment can realize a more controllable steering wheel return without affecting the driver's road feel as much as possible. The target motor torque of the hand feel motor is controlled by the controller. The target motor torque is fed back to the steering column through the angle sensor and the steering torque sensor after being decelerated and increased by the gear reducer, and finally fed back to the steering wheel. The device of the disclosed embodiment can control the steering angle of the vehicle through the angle sensor and the steering torque sensor, achieve deceleration and torque increase through the gear reducer, and realize real-time control of the hand feel motor and simulate the road feel when driving the vehicle through the controller. The active return algorithm part of the controller treats the road feel simulation torque as interference noise, thereby realizing a more controllable steering wheel return without affecting the driver's road feel as much as possible, further improving the user's driving experience.

[0084] The present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0085] The computer program product or computer device provided in the embodiments of the present disclosure may also be applied to a vehicle. For example, the electronic device in the vehicle includes, but is not limited to, at least one of an autonomous driving domain control module, a body domain control module, an infotainment domain control module, a driving domain control module, and a robotic arm control unit.

[0086] Figure 6 FIG. 1 is a block diagram showing a structure of an electronic device according to an embodiment of the present disclosure. Figure 6 As shown, the electronic device includes: a memory 601 and a processor 602, and the memory 601 stores a computer program that can be run on the processor 602. When the processor 602 executes the computer program, the method in the above embodiment is implemented. The number of the memory 601 and the processor 602 can be one or more. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0087] The electronic device may also include a communication interface 603 for communicating with external devices and performing data exchange transmission. The various devices are interconnected using different buses and can be installed on a common mainboard or in other ways as needed. The processor 602 can process computer programs executed in the electronic device, including computer programs stored in or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In other embodiments, if necessary, multiple processors and / or multiple buses can be used with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processing system). The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0088] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0089] It should be understood that the above processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. It is worth noting that the processor may be a processor supporting the Advanced RISC Machines (ARM) architecture.

[0090] The embodiments of the present disclosure provide a computer-readable storage medium (such as the memory 601 described above), which stores a computer program. When the computer program is executed by a processor, the method provided in the embodiments of the present disclosure is implemented.

[0091] Optionally, the memory 601 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the control electronic device of the vehicle projection lamp, etc. In addition, the memory 601 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 601 may optionally include a memory generated remotely relative to the processor 602, and these remote memories may be connected to the control electronic device of the vehicle projection lamp via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0092] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other physical types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic disk storage or other magnetic storage media or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined in this article, computer readable media does not include non-transitory media such as modulated data signals and carrier waves.

[0093] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0094] An embodiment of the present disclosure also provides a vehicle, including a controller, which can be used to execute the method of any embodiment of the present disclosure, or the controller can include any device of the embodiment of the present disclosure, or the controller can be any equipment of the embodiment of the present disclosure.

[0095] The vehicle of the embodiment of the present disclosure may be a fuel vehicle, an electric vehicle, a solar vehicle, or any other power-driven vehicle. Other components of the embodiment of the present disclosure, such as the specific structure of the frame and wheels and the connecting and fastening components, may be adopted by various technical solutions known to those skilled in the art now and in the future, and will not be described in detail here.

[0096] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0097] Any process or method description described in the flowchart or otherwise herein can be understood to represent a module, segment or portion of code including one or more executable instructions for implementing the steps of a specific logical function or process. And the scope of the preferred embodiments of the present disclosure includes other implementations, in which the functions may not be performed in the order shown or discussed, including in a substantially simultaneous manner or in a reverse order according to the functions involved.

[0098] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, which can be embodied in any computer-readable medium for use by an instruction execution system, apparatus or device (such as a computer-based system, a system including a processor or other system that can fetch instructions from an instruction execution system, apparatus or device and execute instructions), or used in combination with these instruction execution systems, apparatuses or devices.

[0099] It should be understood that the various parts of the present disclosure may be implemented with hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods may be implemented with software or firmware stored in a memory and executed by a suitable instruction execution system. All or part of the steps of the above embodiment method may be completed by instructing the relevant hardware through a program, which may be stored in a computer-readable storage medium, and when the program is executed, includes one or a combination of the steps of the method embodiment.

[0100] In addition, each functional unit in each embodiment of the present disclosure may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the above-mentioned integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium. The storage medium may be a read-only memory, a disk or an optical disk, etc.

[0101] The above is only a specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A vehicle steering wheel return control method, It is characterized in that include: Performing interference removal processing on the first active self-aligning torque to obtain a second active self-aligning torque; wherein the first active self-aligning torque is calculated based on the collected first vehicle parameter; determining a target motor torque based on the second active return torque and a road feel simulation torque of the steering wheel; The hand feel motor is controlled to provide torque for returning the steering wheel to the center position according to the target motor torque.

2. The method according to claim 1, in, The performing interference removal processing on the first active self-aligning torque to obtain the second active self-aligning torque includes: determining an interference torque based on the road-feel simulation torque; The second active return torque is obtained by removing the interference torque from the first active return torque.

3. The method according to claim 2, in, The determining of the interference torque based on the road feeling simulation torque includes: determining an adjustment coefficient according to the collected second vehicle parameter; The interference torque is calculated based on the road feel simulation torque and the adjustment coefficient; wherein the road feel simulation torque adjustment coefficient is less than 1.

4. The method according to claim 3, in, The determining the target motor torque based on the second active return torque and the road feel simulation torque of the steering wheel includes: The second active return torque and the road feel simulation torque are superimposed to obtain the target motor torque.

5. The method according to claim 3, in, The second vehicle parameter includes at least one of current speed information of the vehicle, rack force information of the steering actuator, and steering hand force information of the driver.

6. The method according to claim 1, in, The first vehicle parameters include steering wheel angle information and steering torque information.

7. The method according to any one of claims 1 to 6, in, The road feel simulation torque is calculated based on the collected third vehicle parameters, where the third vehicle parameters include steering wheel angle information, current vehicle speed information, and rack force information of the steering actuator.

8. A vehicle steering wheel return control device, It is characterized in that include: A processor and a memory, wherein the memory stores instructions, and the instructions are loaded and executed by the processor to implement the method according to any one of claims 1 to 7.

9. A vehicle, It is characterized in that The vehicle steering wheel return control device includes the vehicle steering wheel return control device as claimed in claim 8.

10. A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images