Steering response control method and device, computer equipment and storage medium

Abstract

The invention relates to a steering response control method and device, computer equipment and a storage medium, and the method comprises the steps: obtaining the actual wheel speed of left and right front wheels in response to a steering instruction, so as to obtain the actual wheel speed difference of the left and right front wheels; obtaining a wheel speed difference deviation according to the actual wheel speed difference and a reference wheel speed difference; under the condition that the wheel speed difference deviation is larger than or equal to a first deviation threshold value, the execution torque of a steering wheel steering shaft is determined according to the jolt restraining torque and the request torque of a steering instruction, and the direction of the jolt restraining torque is determined according to the angle deviation of the steering wheel steering shaft; and controlling the steering of the steering wheel steering shaft according to the execution torque so as to eliminate the angle deviation. By adopting the method, the problem that the steering angle of the steering wheel cannot be quickly converged in the prior art can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly to a steering response control method, device, computer device, and storage medium. Background Art

[0002] In complex road driving scenarios, bumpy roads (such as gravel roads, pothole sections, or construction areas) pose special challenges to vehicle handling. Due to the unevenness of such roads, the forces on the wheels are uneven, complicating the vehicle's dynamic response. Especially during turning, the difficulty of direction control increases significantly. The body vibration caused by bumps is transmitted to the steering mechanism through the suspension system, interfering with the precise control of the steering wheel by the intelligent driving module and directly affecting the stability and safety of the driving trajectory.

[0003] In the related art, there is no special improvement in the direction control for bumpy roads. During the steering process, the wheel rotation angle, the angle of the steering shaft of the steering wheel, etc. are affected by the bumpy road and cannot converge quickly. Summary of the Invention

[0004] Based on this, a steering response control method, device, computer device, and storage medium are provided to improve the problem that the steering angle of the steering wheel cannot converge quickly in the prior art.

[0005] On the one hand, a steering response control method is provided, and the method includes:

[0006] In response to a steering command, obtain the actual wheel speeds of the left and right front wheels to obtain the actual wheel speed difference between the left and right front wheels;

[0007] Obtain a wheel speed difference deviation based on the actual wheel speed difference and a reference wheel speed difference;

[0008] In the case where the wheel speed difference deviation is greater than or equal to a first deviation threshold, determine an execution torque of the steering shaft of the steering wheel according to a bump suppression torque and a requested torque of the steering command, wherein the direction of the bump suppression torque is determined according to an angle deviation of the steering shaft of the steering wheel;

[0009] Control the steering of the steering shaft of the steering wheel according to the execution torque to eliminate the angle deviation.

[0010] In one embodiment, before determining the execution torque of the steering shaft of the steering wheel according to the bump suppression torque and the requested torque of the steering command, it further includes:

[0011] In the case where the wheel speed difference deviation is greater than or equal to the first deviation threshold, execute a timing command to obtain a timing value;

[0012] When the timing value reaches a timing threshold, determine the execution torque of the steering shaft of the steering wheel according to the bump suppression torque and the requested torque of the steering command.

[0013] In one embodiment, before determining the execution torque of the steering wheel steering shaft according to the request torque for suppressing the jitter torque and the steering command, the following steps are further included:

[0014] In response to the timing value reaching the timing threshold, execute a counting command to obtain the number of fluctuations in the wheel speed difference, where the determination condition for the wheel speed difference fluctuation is that the wheel speed difference deviation is greater than or equal to the first deviation threshold and the timing value reaches the timing threshold;

[0015] When the number reaches the number threshold, determine the execution torque of the steering wheel steering shaft according to the request torque for suppressing the jitter torque and the steering command.

[0016] In one embodiment, before determining the execution torque of the steering wheel steering shaft according to the request torque for suppressing the jitter torque and the steering command, the following steps are further included:

[0017] Obtain the requested angle and the actual angle of the steering wheel steering shaft, and obtain the angle deviation between the requested angle and the actual angle;

[0018] When the wheel speed difference deviation is greater than or equal to the first deviation threshold and the angle deviation is greater than or equal to the second deviation threshold, determine the execution torque of the steering wheel steering shaft according to the request torque for suppressing the jitter torque and the steering command.

[0019] In one embodiment, after obtaining the angle deviation between the requested angle and the actual angle, the following steps are further included:

[0020] Determine the second deviation threshold according to the vehicle weight, where the second deviation threshold is positively correlated with the vehicle weight.

[0021] In one embodiment, determining the execution torque of the steering wheel steering shaft according to the request torque for suppressing the jitter torque and the steering command includes:

[0022] Determine the jitter suppression torque according to the angle deviation and a preset coefficient.

[0023] In one embodiment, before obtaining the wheel speed difference deviation according to the actual wheel speed difference and the reference wheel speed difference, the following steps are further included:

[0024] Obtain the turning angle;

[0025] Determine the reference wheel speed difference according to the turning angle.

[0026] On the other hand, a steering response control device is provided, and the device includes:

[0027] An acquisition module, configured to obtain the actual wheel speeds of the left and right front wheels in response to a steering instruction, so as to obtain the actual wheel speed difference between the left and right front wheels; and obtain a wheel speed difference deviation according to the actual wheel speed difference and a reference wheel speed difference.

[0028] A torque calculation module, configured to, when the wheel speed difference deviation is greater than or equal to a first deviation threshold, determine an execution torque of the steering wheel steering shaft according to a jolt suppression torque and a requested torque of the steering instruction, wherein a direction of the jolt suppression torque is determined according to an angle deviation of the steering wheel steering shaft.

[0029] An execution module, configured to control the steering of the steering wheel steering shaft according to the execution torque to eliminate the angle deviation.

[0030] In another aspect, provided is a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the processor executes the computer program, the method is implemented.

[0031] Also provided is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method is implemented.

[0032] In the above steering response control method, device, computer device, and storage medium, when a steering instruction is obtained, the actual wheel speeds of the left and right front wheels are obtained, the actual wheel speed difference between the left and right front wheels is calculated, and the wheel speed difference deviation is obtained by comparing it with a reference wheel speed difference. The wheel speed difference deviation is compared with a threshold to determine whether it is on a bumpy road surface, and the bumpy road surface scenario recognition is completed. Thus, during a turning process, according to the jolt suppression torque and the requested torque of the steering instruction, the execution torque of the steering wheel steering shaft is determined, and through the superposition of torques, the steering response of the steering wheel steering shaft is quickly realized, and the steering angle is quickly converged. Description of the Drawings

[0033] Figure 1 It is a schematic flowchart of a steering response control method in an embodiment.

[0034] Figure 2 It is a schematic diagram of signal transmission of a steering response control method in another embodiment.

[0035] Figure 3 It is a structural block diagram of a steering response control device in an embodiment.

[0036] Figure 4 It is an internal structure diagram of a computer device in an embodiment. Detailed Embodiments

[0037] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0038] With the continuous improvement of the capabilities of automotive components, automobiles have gradually evolved into intelligent driving vehicles that can operate without human takeover. The steering gear is one of the most important safety components of an automobile and is crucial for ensuring the normal driving safety of the vehicle. In intelligent driving, the intelligent driving module sends an angle request command to the ECU (Electronic Control Unit) of the EPS (Electric Power Steering, electric power steering system) to control the steering gear to perform steering-related operations. When the wheels pass over a bump or a pothole, the sudden unilateral excitation of the road surface on the wheels will cause the vehicle to steer off course, transmitting energy to the steering tie rod connected to the wheels, causing the internal rack of the steering gear to shift left or right. The steering rack drives the steering shaft of the steering wheel near the driver's seat to rotate. At this time, under intelligent driving, the requested angle of the steering shaft of the steering wheel by the intelligent driving module remains unchanged, and the steering request torque remains unchanged, resulting in a slow convergence of the actual angle to the requested angle, affecting driving safety and ride comfort. In severe cases on a continuously bumpy road surface, it will cause an out-of-tolerance between the requested angle and the actual angle, resulting in an EPS failure, causing the intelligent driving to suddenly exit and resulting in a collision of the vehicle.

[0039] The present invention provides a steering response control method that can be applied in an autonomous driving scenario. By applying a jolt suppression torque to the steering shaft of the steering wheel, it helps the EPS achieve steering angle convergence and enables the vehicle to drive stably on a bumpy road surface.

[0040] In one embodiment, as Figure 1 shown, the steering response control method includes the following steps:

[0041] Step 110, in response to a steering command, obtain the actual wheel speeds of the left and right front wheels to obtain the actual wheel speed difference between the left and right front wheels.

[0042] In an autonomous driving scenario, the steering command can be triggered by the intelligent driving module according to the environment in which the vehicle is located, the path planning requirements, and the real-time perceived input. For example, according to a preset route, at an intersection, turn left, turn right, or make a U-turn, and trigger steering in combination with traffic lights, lane lines, and the status of surrounding vehicles; or, identify lane lines through a camera or lidar, and the intelligent driving module continuously issues a steering command for fine-tuning the direction according to the deviation between the current position of the vehicle and the center of the lane to keep the vehicle driving within the lane; or, when the navigation route needs to change lanes (such as approaching an intersection or a ramp) or the user manually triggers a lane change, the intelligent driving module will plan a lane change path and issue a steering command.

[0043] After the vehicle triggers a steering command, the EPS outputs power through the assist motor, drives the steering gear tie rod, and applies a requested torque corresponding to the steering command to the steering shaft of the steering wheel, so that the steering shaft of the steering wheel reaches the requested angle corresponding to the steering command, and the steering shaft of the steering wheel further drives the vehicle to achieve the steering planned by the intelligent driving module.

[0044] During the steering process, due to different turning radii of the left and right front wheels of the vehicle, the turning radius of the inner wheel is smaller than that of the outer wheel. Therefore, there is a certain wheel speed difference between the left and right front wheels. In the driving environment of a flat road surface, this reference wheel speed difference is related to the turning angle of the vehicle, and a corresponding mapping relationship can be established. In some possible implementation manners, it can be adjusted in combination with the vehicle speed, and the turning angle can be obtained by the intelligent driving module according to the path planning.

[0045] It can be understood that during the steering process on a flat road surface, the wheel speed of the wheel is regarded as the theoretical wheel speed. Generally, the theoretical wheel speed of the wheel can be calculated based on the vehicle kinematic model. In the actual implementation process, the theoretical wheel speed can be obtained through the calibration of the vehicle steering process; when turning on a bumpy road surface, the road bumps cause a significant deviation between the actual wheel speed and the theoretical wheel speed of the wheel due to reasons such as dynamic contact of the tire and deformation of the suspension system.

[0046] In this embodiment, the actual wheel speeds of the left and right front wheels are obtained through the wheel speed sensors, and the actual wheel speed difference is obtained by taking the difference.

[0047] Step 120, obtain a wheel speed difference deviation according to the actual wheel speed difference and the reference wheel speed difference.

[0048] The reference wheel speed difference is obtained by taking the difference between the theoretical wheel speeds of the left and right front wheels in the driving environment of the flat road surface as described above. The mapping relationship between the reference wheel speed difference and the turning angle can be obtained through calibration and is pre-stored in the storage module of the vehicle. In the actual application process, the intelligent driving module determines the reference wheel speed difference from the mapping relationship based on the planned turning angle; for example, by measuring the reference wheel speed differences at various turning angles, a fitting function between the reference wheel speed difference and the turning angle is established through fitting, and in the actual application process, the current reference wheel speed difference is calculated based on the fitting function.

[0049] The influence of the road surface condition on the vehicle is reflected by the fluctuation between the actual wheel speed difference and the reference wheel speed difference.

[0050] Step 130, when the wheel speed difference deviation is greater than or equal to the first deviation threshold, determine the execution torque of the steering shaft of the steering wheel according to the anti-bump torque and the requested torque of the steering command.

[0051] The first deviation threshold is represented by K and is set through calibration. Different vehicle models can have different values.

[0052] When the wheel speed difference deviation is greater than or equal to the first deviation threshold K, it reflects that the vehicle is on a relatively bumpy road surface. Without the intervention of other measures, there is a possibility of affecting vehicle driving. To avoid problems such as untimely response of direction control caused by bumpy road surfaces, the anti-bump torque starts to intervene in the vehicle ESP to assist the steering control of the vehicle ESP, enabling the angle of the steering wheel steering shaft to converge quickly and improving the response speed of the steering control.

[0053] In some possible implementation manners, the magnitude of the anti-bump torque can be a fixed value, such as a value obtained through calibration that can assist the ESP in adjusting the steering angle of the steering wheel steering shaft; in other implementation manners, the magnitude of the anti-bump torque may be a dynamic value determined according to the actual situation. For example, by obtaining the requested angle α1 and the actual angle α2 of the steering wheel steering shaft, and obtaining the angle deviation △α = α1 - α2 between the requested angle α1 and the actual angle α2, and determining the anti-bump torque P_β according to the angle deviation △α and a preset coefficient a (i.e., P_β = a * △α), and the anti-bump torque is positively correlated with the angle deviation. The larger the angle deviation, the larger the anti-bump torque. By calculating the angle deviation, the demand degree of anti-bump suppression is accurately judged, and then an appropriate anti-bump torque is intervened.

[0054] It can be understood that the direction of the anti-bump torque is determined according to the angle deviation of the steering wheel steering shaft. For example, it is defined that the left turn of the steering wheel steering shaft is positive and the right is negative. When △α = α1 - α2 is positive (indicating that the actual angle α2 is insufficient), the anti-bump torque P_β in the left direction is calculated; when △α is negative (indicating that the actual angle α2 is too large), the anti-bump torque P_β in the right direction is calculated.

[0055] In the above process, the requested torque and requested angle of the steering command are calculated by the intelligent driving module in accordance with existing methods, including but not limited to existing methods such as proportional-integral-derivative control, model predictive control, and steering angle-based control. For example, in the proportional-integral-derivative control process, after the intelligent driving module plans the target driving path of the vehicle steering, based on the deviation between the target driving path and the current actual path, three operations of proportional, integral, and derivative are performed on the deviation, and the requested torque and requested angle that the steering wheel steering shaft needs to execute are calculated by weighted calculation and sent to the EPS for execution, so that the actual path of the vehicle is closer to the target driving path.

[0056] Step 140: Control the steering of the steering wheel steering shaft according to the execution torque to eliminate the angle deviation.

[0057] It can be understood that the above anti-bump torque, requested torque, and execution torque are all torques acting on the steering wheel steering shaft. During the execution process of the ESP, the execution torque is converted into the motor torque of the assist motor for execution.

[0058] In the above embodiments, the bumpy road surface is first identified. On the basis of the requested torque of the original steering command, by superimposing the anti-bump torque, the angular deviation of the steering shaft of the steering wheel can be quickly converged. For example, during a left turn, when the actual angle of the steering shaft of the steering wheel is insufficient, an anti-bump torque in the left direction is superimposed; when the actual angle of the steering shaft of the steering wheel is excessive, an anti-bump torque in the right direction is superimposed. By this means, the direction control stability of the automatic driving when passing through a bumpy road surface is improved. Moreover, the above process is applied during the steering process and does not affect the driving experience during normal driving.

[0059] Next, the intervention timing of the anti-bump torque will be further described:

[0060] In one embodiment, the delay judgment of the wheel speed difference is increased. By introducing a time delay, the control logic is optimized, and the stability and reliability of the system are improved. Exemplarily:

[0061] Before determining the execution torque of the steering shaft of the steering wheel according to the anti-bump torque and the requested torque of the steering command, it further includes executing a timing command to obtain a timing value when the wheel speed difference deviation is greater than or equal to the first deviation threshold K; when the timing value reaches the timing threshold, determining the execution torque of the steering shaft of the steering wheel according to the anti-bump torque and the requested torque of the steering command.

[0062] Exemplarily, the timing threshold is defined as t. If the duration during which the wheel speed difference deviation ≥ K reaches t, it is confirmed that the vehicle is affected by a bumpy road surface, reducing the misidentification of multiple fluctuations within a short period caused by signal noise, slight mechanical vibration or instantaneous interference.

[0063] In a further embodiment, counting is also combined to further identify the influence brought by the bumpy road surface:

[0064] Before determining the execution torque of the steering shaft of the steering wheel according to the anti-bump torque and the requested torque of the steering command, it further includes executing a counting command to obtain the number of fluctuations of the wheel speed difference in response to the timing value reaching the timing threshold, that is, obtaining the number of times when the wheel speed difference deviation is greater than or equal to the first deviation threshold K and the timing value reaches the timing threshold t; when the number reaches the number threshold X, determining the execution torque of the steering shaft of the steering wheel according to the anti-bump torque and the requested torque of the steering command.

[0065] Among them, the number threshold X is set according to different vehicle models. For example, when it is 2 times, the electronic control unit of the electric power steering system determines that the vehicle is driving on a bumpy road surface and starts counting after t time. When the count value reaches X, the anti-bump torque starts to intervene. By setting a number filtering mechanism, frequent intervention that causes system oscillation is avoided.

[0066] It can be understood that the timing value is cleared when the wheel speed difference deviation is reduced to the first deviation threshold, and the count value is cleared after the suppression of the jitter torque intervention.

[0067] The above process can provide stable direction control for the vehicle on a continuous bumpy road surface.

[0068] In another embodiment, the intervention timing of the suppression of the jitter torque is jointly determined by combining the wheel speed difference deviation and the angle deviation of the steering wheel steering shaft. Exemplarily:

[0069] Before determining the execution torque of the steering wheel steering shaft according to the request torque of the suppression of the jitter torque and the steering command, it further includes obtaining the requested angle and the actual angle of the steering wheel steering shaft, and obtaining the angle deviation between the requested angle and the actual angle; in the case where the wheel speed difference deviation is greater than or equal to the first deviation threshold and the angle deviation is greater than or equal to the second deviation threshold, the execution torque of the steering wheel steering shaft is determined according to the request torque of the suppression of the jitter torque and the steering command.

[0070] The angle deviation can reflect the influence degree of the unilateral sudden excitation on the steering control. By combining the two, the intervention timing of the suppression of the jitter torque is jointly determined to improve the accuracy of the judgment.

[0071] In some embodiments, the second deviation threshold (denoted by the symbol β) is a fixed value calibrated according to the vehicle model. In another feasible embodiment, the second deviation threshold β is dynamically determined according to the actual situation of the vehicle. For example, the second deviation threshold β is determined according to the vehicle weight, and the second deviation threshold β is positively correlated with the vehicle weight (for example, configured as β = b * w, where b is a vehicle weight coefficient greater than zero and w is the vehicle weight).

[0072] It can be understood that in the case of a heavier vehicle, during the turning process, the wheels exert a stronger external force on the road surface obstacles, and the unstable reaction force is therefore stronger. The increase in vehicle weight will lead to an increase in the instability degree of the wheels under the unilateral sudden excitation. By setting the second deviation threshold β that conforms to the vehicle weight, it is possible to avoid the repeated intervention of the suppression of the jitter torque and increase the instability of vehicle driving.

[0073] In the above process, the intervention timing of the suppression of the jitter torque can be judged by combining multiple conditions. The following, as Figure 2 shown in the signal transmission schematic diagram, exemplarily illustrates the process of the steering response control method in an embodiment:

[0074] When the vehicle is driving on a bumpy road in the intelligent driverless mode, the road surface transmits vibration excitation to the wheels, causing the wheels to shift. The energy is transmitted to the steering gear tie rod connected to the wheels, causing the rack inside the steering gear to displace left or right by S. The steering rack drives the steering shaft of the steering wheel near the driver's seat to rotate. The angle sensor monitors the actual angle α2 of the steering shaft of the steering wheel in real time. The vehicle intelligent driving module sends an angle request to the vehicle CPU based on information such as the driving route. The CPU makes a judgment based on the external environment of the vehicle and issues a requested angle α1 (positive for left and negative for right). By calculating the angle difference between α1 and the actual angle α2, when |α1 - α2| ≥ β and the wheel speed difference deviation between the left and right front wheels reaches K, the electronic control unit of the electric power steering system determines that the vehicle is driving on a bumpy road and starts counting after t seconds. When the count value reaches X and α1 - α2 ≥ β, the torque P_β in the left direction is calculated as P_β = a * β (where both a and β are predefined fixed values). When the count value reaches X and α1 - α2 ≤ -β, the torque P_β in the right direction is calculated as P_β = -a * β. If the requested torque P1 = b * α1 (where b is the assist curve coefficient according to vehicle speed) is calculated only using the requested angle in the existing manner, when passing through a bumpy road, due to the angle difference of the wheels caused by road surface excitation, it cannot quickly converge to the requested angle α1, seriously affecting driving safety. By adding the response input torque P_β + the conventional requested torque P1, the steering angle of the vehicle is controlled to quickly converge to the requested angle α1, avoiding the situation where the steering angle of the vehicle does not follow.

[0075] It should be understood that although Figure 2 the steps in the flowchart of Figure 2 are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise clearly stated in this article, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover,

[0076] In one embodiment, as Figure 3 shown, a steering response control device is provided, including: an acquisition module 210, a torque calculation module 220, and an execution module 230, where:

[0077] The acquisition module 210 is configured to, in response to a steering instruction, acquire the actual wheel speeds of the left and right front wheels to obtain the actual wheel speed difference between the left and right front wheels; and obtain the wheel speed difference deviation based on the actual wheel speed difference and the reference wheel speed difference;

[0078] A torque calculation module 220 is configured to determine the execution torque of the steering wheel steering shaft according to the anti-bump torque and the requested torque of the steering command when the wheel speed difference deviation is greater than or equal to a first deviation threshold, wherein the direction of the anti-bump torque is determined according to the angle deviation of the steering wheel steering shaft;

[0079] An execution module 230 is configured to control the steering of the steering wheel steering shaft according to the execution torque to eliminate the angle deviation.

[0080] When the above device obtains a steering command, it obtains the actual wheel speeds of the left and right front wheels, calculates the actual wheel speed difference between the left and right front wheels, compares it with the reference wheel speed difference to obtain the wheel speed difference deviation, and performs a threshold comparison on the wheel speed difference deviation to determine whether it is on a bumpy road surface, completing the recognition of the bumpy road surface scenario. Thus, during a turn, according to the anti-bump torque and the requested torque of the steering command, the execution torque of the steering wheel steering shaft is determined, and through the superposition of torques, a fast steering response of the steering wheel steering shaft is achieved, and a fast convergence of the steering angle is achieved.

[0081] In one embodiment, the torque calculation module 220 is further configured to execute a timing command to obtain a timing value when the wheel speed difference deviation is greater than or equal to the first deviation threshold; and determine the execution torque of the steering wheel steering shaft according to the anti-bump torque and the requested torque of the steering command when the timing value reaches the timing threshold.

[0082] In one embodiment, the torque calculation module 220 is further configured to execute a counting command to obtain the number of fluctuations of the wheel speed difference in response to the timing value reaching the timing threshold, wherein the determination condition for the wheel speed difference fluctuation is that the wheel speed difference deviation is greater than or equal to the first deviation threshold and the timing value reaches the timing threshold; and determine the execution torque of the steering wheel steering shaft when the number reaches the number threshold.

[0083] In one embodiment, an acquisition module 210 is configured to acquire the requested angle and the actual angle of the steering wheel steering shaft, and obtain the angle deviation between the requested angle and the actual angle;

[0084] The torque calculation module 220 is further configured to determine the execution torque of the steering wheel steering shaft according to the anti-bump torque and the requested torque of the steering command when the wheel speed difference deviation is greater than or equal to the first deviation threshold and the angle deviation is greater than or equal to a second deviation threshold.

[0085] In one embodiment, the torque calculation module 220 determines the anti-bump torque according to the angle deviation and a preset coefficient.

[0086] The torque calculation module 220 determines the second deviation threshold according to the vehicle weight, wherein the second deviation threshold is positively correlated with the vehicle weight.

[0087] In one embodiment, the obtaining module 210 obtains the turning angle and determines the reference wheel speed difference according to the turning angle.

[0088] For the specific limitations of the steering response control device, reference may be made to the limitations of the steering response control method in the foregoing text, which will not be elaborated here. Each module in the above steering response control device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so as to facilitate the processor to call and execute the operations corresponding to the above modules.

[0089] In one embodiment, a computer device is provided. The computer device can be a terminal, and its internal structure diagram can be as Figure 4 shown. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a steering response control method. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the housing of the computer device, or an external keyboard, a touchpad, or a mouse, etc.

[0090] Those skilled in the art can understand that Figure 4 the structure shown in

[0091] is only a block diagram of some structures related to the solution of the present invention, and does not constitute a limitation on the computer device to which the solution of the present invention is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have a different component layout.

[0092] In response to a steering instruction, obtain the actual wheel speeds of the left and right front wheels to obtain the actual wheel speed difference between the left and right front wheels;

[0093] Obtain a wheel speed difference deviation according to the actual wheel speed difference and the reference wheel speed difference;

[0094] When the wheel speed difference deviation is greater than or equal to the first deviation threshold, determine the execution torque of the steering wheel steering shaft according to the anti-bump torque and the requested torque of the steering command, wherein the direction of the anti-bump torque is determined according to the angle deviation of the steering wheel steering shaft;

[0095] Control the steering of the steering wheel steering shaft according to the execution torque to eliminate the angle deviation.

[0096] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0097] When the wheel speed difference deviation is greater than or equal to the first deviation threshold, execute the timing instruction to obtain the timing value;

[0098] When the timing value reaches the timing threshold, determine the execution torque of the steering wheel steering shaft according to the anti-bump torque and the requested torque of the steering command.

[0099] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0100] In response to the timing value reaching the timing threshold, execute the counting instruction to obtain the number of fluctuations of the wheel speed difference, wherein the judgment condition for the wheel speed difference fluctuation is that the wheel speed difference deviation is greater than or equal to the first deviation threshold and the timing value reaches the timing threshold;

[0101] When the number reaches the number threshold, determine the execution torque of the steering wheel steering shaft according to the anti-bump torque and the requested torque of the steering command.

[0102] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0103] Obtain the requested angle and the actual angle of the steering wheel steering shaft, and obtain the angle deviation between the requested angle and the actual angle;

[0104] When the wheel speed difference deviation is greater than or equal to the first deviation threshold and the angle deviation is greater than or equal to the second deviation threshold, determine the execution torque of the steering wheel steering shaft according to the anti-bump torque and the requested torque of the steering command.

[0105] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0106] Determine the anti-bump torque according to the angle deviation and the preset coefficient.

[0107] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0108] Determine the second deviation threshold according to the vehicle weight, wherein the second deviation threshold is positively correlated with the vehicle weight.

[0109] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0110] Obtain the turning angle;

[0111] Determine the reference wheel speed difference according to the turning angle.

[0112] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0113] In response to a steering instruction, obtain the actual wheel speeds of the left and right front wheels to obtain the actual wheel speed difference between the left and right front wheels;

[0114] Obtain the wheel speed difference deviation according to the actual wheel speed difference and the reference wheel speed difference;

[0115] When the wheel speed difference deviation is greater than or equal to the first deviation threshold, determine the execution torque of the steering wheel steering shaft according to the anti-bump torque and the requested torque of the steering instruction, wherein the direction of the anti-bump torque is determined according to the angle deviation of the steering wheel steering shaft;

[0116] Control the steering of the steering wheel steering shaft according to the execution torque to eliminate the angle deviation.

[0117] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0118] When the wheel speed difference deviation is greater than or equal to the first deviation threshold, execute a timing instruction to obtain a timing value;

[0119] When the timing value reaches the timing threshold, determine the execution torque of the steering wheel steering shaft according to the anti-bump torque and the requested torque of the steering instruction.

[0120] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0121] In response to the timing value reaching the timing threshold, execute a counting instruction to obtain the number of fluctuations of the wheel speed difference, wherein the judgment condition for the wheel speed difference fluctuation is that the wheel speed difference deviation is greater than or equal to the first deviation threshold and the timing value reaches the timing threshold;

[0122] When the number reaches the number threshold, determine the execution torque of the steering wheel steering shaft according to the anti-bump torque and the requested torque of the steering instruction.

[0123] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0124] Obtain the requested angle and the actual angle of the steering wheel steering shaft, and obtain the angle deviation between the requested angle and the actual angle;

[0125] When the wheel speed difference deviation is greater than or equal to the first deviation threshold and the angle deviation is greater than or equal to the second deviation threshold, determine the execution torque of the steering wheel steering shaft according to the anti-judder torque and the requested torque of the steering command.

[0126] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0127] Determine the anti-judder torque according to the angle deviation and a preset coefficient.

[0128] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0129] Determine the second deviation threshold according to the vehicle weight, where the second deviation threshold is positively correlated with the vehicle weight.

[0130] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0131] Obtain the turning angle;

[0132] Determine the reference wheel speed difference according to the turning angle.

[0133] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided by the present invention can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0134] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0135] The above embodiments only express several implementation manners of the present invention, and the description is relatively specific and detailed. However, it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the invention patent shall be subject to the appended claims.

Claims

1. A steering response control method, characterized in that: include: In response to the steering command, obtaining the actual wheel speeds of the left and right front wheels to obtain the actual wheel speed difference between the left and right front wheels; Obtaining a wheel speed difference deviation according to the actual wheel speed difference and the reference wheel speed difference; When the wheel speed difference deviation is greater than or equal to a first deviation threshold, determining the execution torque of the steering wheel steering shaft according to the anti-bumping torque and the request torque of the steering command, wherein the direction of the anti-bumping torque is determined according to the angular deviation of the steering wheel steering shaft; The steering of the steering shaft of the steering wheel is controlled according to the execution torque to eliminate the angle deviation.

2. The steering response control method according to claim 1, characterized in that: Before determining the execution torque of the steering wheel steering shaft according to the turbulence suppression torque and the request torque of the steering command, the method further includes: When the wheel speed difference deviation is greater than or equal to a first deviation threshold, executing a timing instruction to obtain a timing value; When the timing value reaches a timing threshold, the execution torque of the steering wheel steering shaft is determined according to the turbulence suppression torque and the request torque of the steering command.

3. The steering response control method according to claim 2, characterized in that: When the timing value reaches the timing threshold, determining the execution torque of the steering shaft of the steering wheel according to the turbulence suppression torque and the request torque of the steering command, further comprising: In response to the timing value reaching the timing threshold, executing a counting instruction to obtain the number of wheel speed difference fluctuations, wherein the judgment condition of the wheel speed difference fluctuation is that the wheel speed difference deviation is greater than or equal to the first deviation threshold and the timing value reaches the timing threshold; When the number of times reaches a number threshold, the execution torque of the steering wheel steering shaft is determined according to the jolt suppression torque and the request torque of the steering command.

4. The steering response control method according to claim 1, characterized in that: Before determining the execution torque of the steering wheel steering shaft according to the turbulence suppression torque and the request torque of the steering command, the method further includes: Obtaining a requested angle and an actual angle of a steering axis of a steering wheel, and obtaining the angle deviation between the requested angle and the actual angle; When the wheel speed difference deviation is greater than or equal to a first deviation threshold and the angle deviation is greater than or equal to a second deviation threshold, the execution torque of the steering wheel steering shaft is determined according to the bump suppression torque and the request torque of the steering command.

5. The steering response control method according to claim 4, characterized in that: After obtaining the angle deviation between the requested angle and the actual angle, the method further includes: The second deviation threshold is determined according to the vehicle weight, wherein the second deviation threshold is positively correlated with the vehicle weight.

6. The steering response control method according to claim 1, characterized in that: The step of determining the execution torque of the steering wheel steering shaft according to the turbulence suppression torque and the request torque of the steering command comprises: The jolt suppression torque is determined according to the angle deviation and a preset coefficient.

7. The steering response control method according to claim 1, characterized in that: Before obtaining the wheel speed difference deviation according to the actual wheel speed difference and the reference wheel speed difference, the method further includes: Get the turning angle; The reference wheel speed difference is determined according to the turning angle.

8. A steering response control device, characterized in that: The device comprises: An acquisition module, configured to acquire the actual wheel speeds of the left and right front wheels in response to the steering command to obtain an actual wheel speed difference between the left and right front wheels; and to obtain a wheel speed difference deviation according to the actual wheel speed difference and a reference wheel speed difference; a torque calculation module, configured to determine an execution torque of a steering wheel steering shaft according to a jolt suppression torque and a request torque of a steering command when the wheel speed difference deviation is greater than or equal to a first deviation threshold, wherein a direction of the jolt suppression torque is determined according to an angle deviation of the steering wheel steering shaft; An execution module is used to control the steering of the steering shaft of the steering wheel according to the execution torque to eliminate the angle deviation.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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