Steering wheel road feeling feedback method, device and equipment and medium

Abstract

The invention discloses a road feeling feedback method, device and equipment for a steering wheel and a medium, and the method comprises the steps: obtaining the current vehicle speed, the steering angle and the front axle wheel speed of a vehicle, and judging whether the current road condition meets a preset road feeling feedback condition or not according to the vehicle speed, the steering angle and the front axle wheel speed; when the road surface condition meets the road feeling feedback condition, the current rack force of the vehicle is obtained, and the additional road feeling motor torque is determined according to the rack force and a preset road feeling feedback coefficient; according to the current preset target road feeling motor torque and the additional road feeling motor torque of the vehicle, road feeling feedback torque is determined, and the road feeling feedback torque is transmitted to a steering wheel through a road feeling motor. The road condition can be recognized based on the current vehicle speed, the steering angle and the front axle wheel speed of the vehicle, road feeling feedback is provided for a driver based on the rack force when the road condition meets the road feeling feedback condition, and therefore the driving experience feeling of the driver is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a method, device, terminal equipment and computer-readable storage medium for road feel feedback of a steering wheel. Background Art

[0002] In a vehicle's steer-by-wire system, since there is no mechanical connection between the steering system and the steering actuator, the driver cannot directly feel the changes in driving feel caused by changes in road conditions during driving, which affects the driving experience. The road feel feedback used for the steering wheel in the prior art usually lacks consideration of the impact of changes in road conditions on road feel feedback, and thus cannot provide the driver with matching road feel feedback when road conditions change. Summary of the invention

[0003] The present invention provides a steering wheel road feel feedback method, device, equipment and medium, which can identify the road condition based on the vehicle's current speed, steering angle and front axle wheel speed, and provide the driver with road feel feedback based on rack force when the road condition meets the road feel feedback conditions, thereby improving the driver's driving experience.

[0004] In order to solve the above technical problem, a first aspect of an embodiment of the present invention provides a road feel feedback method of a steering wheel, comprising the following steps:

[0005] Obtaining the current vehicle speed, steering angle and front axle wheel speed of the vehicle, and judging whether the current road condition meets the preset road feeling feedback condition according to the vehicle speed, the steering angle and the front axle wheel speed;

[0006] When the road condition meets the road sense feedback condition, obtaining the current rack force of the vehicle, and determining the additional road sense motor torque according to the rack force and a preset road sense feedback coefficient;

[0007] The road sense feedback torque is determined according to the target road sense motor torque currently preset by the vehicle and the additional road sense motor torque, and the road sense feedback torque is transmitted to the steering wheel through the road sense motor.

[0008] As a preferred solution, judging whether the current road condition meets the preset road feeling feedback condition according to the vehicle speed, the steering angle and the front axle wheel speed specifically includes the following steps:

[0009] Based on a preset front axle wheel speed threshold comparison table, a target front axle wheel speed threshold is determined from the front axle wheel speed threshold comparison table according to the vehicle speed and the steering angle; wherein the front axle wheel speed threshold comparison table records the front axle wheel speed thresholds corresponding to different vehicle speeds and steering angles;

[0010] comparing the front axle wheel speed with the target front axle wheel speed threshold;

[0011] When the front axle wheel speed is less than or equal to the target front axle wheel speed threshold, determining that the road condition does not meet the road sense feedback condition;

[0012] When the front axle wheel speed is greater than the target front axle wheel speed threshold, it is determined that the road condition meets the road feel feedback condition.

[0013] As a preferred solution, the front axle wheel speed includes a front axle left wheel speed and a front axle right wheel speed; the target front axle wheel speed threshold includes a target front axle left wheel speed threshold and a target front axle right wheel speed threshold;

[0014] The comparing the front axle wheel speed with the target front axle wheel speed threshold specifically comprises the following steps:

[0015] Performing high-pass filtering on the front axle left wheel speed and the front axle right wheel speed to obtain a front axle left wheel speed high-frequency signal and a front axle right wheel speed high-frequency signal;

[0016] Compare the maximum amplitude of the front axle left wheel speed high-frequency signal and the maximum amplitude of the front axle right wheel speed high-frequency signal with the target front axle left wheel speed threshold and the target front axle right wheel speed threshold respectively;

[0017] When the maximum amplitude of the front axle left wheel speed high-frequency signal is less than or equal to the target front axle left wheel speed threshold, and the maximum amplitude of the front axle right wheel speed high-frequency signal is less than or equal to the target front axle right wheel speed threshold, it is determined that the front axle wheel speed is less than or equal to the target front axle wheel speed threshold;

[0018] When the maximum amplitude of the front axle left wheel speed high-frequency signal is greater than the target front axle left wheel speed threshold, or the maximum amplitude of the front axle right wheel speed high-frequency signal is greater than the target front axle right wheel speed threshold, it is determined that the front axle wheel speed is greater than the target front axle wheel speed threshold.

[0019] As a preferred solution, the additional road sense motor torque is determined according to the rack force and a preset road sense feedback coefficient, specifically comprising the following steps:

[0020] Based on a preset road feel feedback coefficient comparison table, determining a target road feel feedback coefficient from the road feel feedback coefficient comparison table according to the vehicle speed; wherein the road feel feedback coefficient comparison table records the road feel feedback coefficients corresponding to different vehicle speeds;

[0021] The additional road feel motor torque is determined according to the rack force and the target road feel feedback coefficient.

[0022] As a preferred solution, determining the additional road feel motor torque according to the rack force and the target road feel feedback coefficient specifically includes the following steps:

[0023] The additional steering wheel hand force is determined according to the product of the rack force and the target road feel feedback coefficient, and the additional road feel motor torque is determined according to the additional steering wheel hand force.

[0024] As a preferred solution, the road sense feedback torque is determined according to the target road sense motor torque currently preset by the vehicle and the additional road sense motor torque, and specifically includes the following steps:

[0025] The road sense feedback torque is determined according to the sum of the target road sense motor torque and the additional road sense motor torque.

[0026] As a preferred solution, the high-pass filtering of the front axle left wheel speed and the front axle right wheel speed to obtain the front axle left wheel speed high-frequency signal and the front axle right wheel speed high-frequency signal specifically includes the following steps:

[0027] The front axle left wheel speed and the front axle right wheel speed are subjected to high-pass filtering through a high-pass filter to obtain a high-frequency signal of the front axle left wheel speed and a high-frequency signal of the front axle right wheel speed.

[0028] A second aspect of an embodiment of the present invention provides a road feel feedback device for a steering wheel, comprising:

[0029] A road feeling feedback condition judgment module is used to obtain the current vehicle speed, steering angle and front axle wheel speed of the vehicle, and judge whether the current road condition meets the preset road feeling feedback condition according to the vehicle speed, the steering angle and the front axle wheel speed;

[0030] an additional road sense motor torque determination module, configured to obtain a current rack force of the vehicle when the road condition meets the road sense feedback condition, and determine an additional road sense motor torque according to the rack force and a preset road sense feedback coefficient;

[0031] The road sense feedback module is used to determine the road sense feedback torque according to the target road sense motor torque currently preset by the vehicle and the additional road sense motor torque, and transmit the road sense feedback torque to the steering wheel through the road sense motor.

[0032] A third aspect of an embodiment of the present invention provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the road feel feedback method for the steering wheel as described in any one of the first aspects when executing the computer program.

[0033] A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the road feel feedback method for the steering wheel as described in any one of the first aspects.

[0034] Compared with the prior art, the beneficial effect of the embodiments of the present invention is that it can identify the road condition based on the vehicle's current speed, steering angle and front axle wheel speed, and provide the driver with road feel feedback based on rack force when the road condition meets the road feel feedback conditions, thereby improving the driver's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a schematic flow chart of a road sense feedback method for a steering wheel in an embodiment of the present invention;

[0036] Figure 2 Schematic diagram of the structure of the road sense feedback device of the steering wheel in an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] See also Figure 1 According to a first aspect of an embodiment of the present invention, a method for road feel feedback of a steering wheel is provided, comprising the following steps S1 to S3:

[0039] Step S1, obtaining the current vehicle speed, steering angle and front axle wheel speed of the vehicle, and judging whether the current road condition meets the preset road feeling feedback condition according to the vehicle speed, the steering angle and the front axle wheel speed;

[0040] Step S2, when the road condition meets the road sense feedback condition, obtaining the current rack force of the vehicle, and determining the additional road sense motor torque according to the rack force and a preset road sense feedback coefficient;

[0041] Step S3, determining a road sense feedback torque according to a currently preset target road sense motor torque of the vehicle and the additional road sense motor torque, and transmitting the road sense feedback torque to the steering wheel through the road sense motor.

[0042] Specifically, this embodiment identifies the current road condition based on the current vehicle speed, steering angle and front axle wheel speed to determine whether it meets the road sense feedback condition. It is understandable that when the vehicle passes through a road surface such as a speed bump or a pothole, changes in the road condition will cause an impact on the vehicle, so it is necessary to provide road sense feedback to the driver through the steering wheel. Further, when the road condition meets the road sense feedback condition, the additional road sense motor torque is determined based on the current rack force of the vehicle, and it is worth noting that during the vehicle driving process, the controller in the wire control steering system has determined a target road sense motor torque in advance according to the vehicle's motion state in order to generate a steering wheel return torque in the steering system. In order to provide the driver with matching road sense feedback when the road condition changes, this embodiment determines the road sense feedback torque based on the above-mentioned target road sense motor torque and the additional road sense motor torque and transmits it to the steering wheel through the road sense motor.

[0043] A steering wheel road feel feedback method provided in an embodiment of the present invention can identify road conditions based on the vehicle's current speed, steering angle and front axle wheel speed, and provide road feel feedback to the driver based on rack force when the road condition meets the road feel feedback conditions, thereby improving the driver's driving experience.

[0044] As a preferred solution, judging whether the current road condition meets the preset road feeling feedback condition according to the vehicle speed, the steering angle and the front axle wheel speed specifically includes the following steps:

[0045] Based on a preset front axle wheel speed threshold comparison table, a target front axle wheel speed threshold is determined from the front axle wheel speed threshold comparison table according to the vehicle speed and the steering angle; wherein the front axle wheel speed threshold comparison table records the front axle wheel speed thresholds corresponding to different vehicle speeds and steering angles;

[0046] comparing the front axle wheel speed with the target front axle wheel speed threshold;

[0047] When the front axle wheel speed is less than or equal to the target front axle wheel speed threshold, determining that the road condition does not meet the road sense feedback condition;

[0048] When the front axle wheel speed is greater than the target front axle wheel speed threshold, it is determined that the road condition meets the road feel feedback condition.

[0049] Specifically, when driving on normal roads such as non-speed bumps and non-potholes, the vehicle usually has corresponding front axle wheel speeds at different vehicle speeds and steering angles. Therefore, there is a comparison relationship between the vehicle speed, steering angle and front axle wheel speed. Therefore, this embodiment pre-sets a front axle wheel speed threshold comparison table, so that the current target front axle wheel speed threshold can be determined according to the vehicle's current vehicle speed and steering angle.

[0050] Furthermore, since a sudden change in the road surface condition when the vehicle passes through a road surface such as a speed bump or a pothole will cause a sudden change in the front axle wheel speed, the present embodiment compares the current front axle wheel speed with the target front axle wheel speed threshold. When the front axle wheel speed is less than or equal to the target front axle wheel speed threshold, it indicates that the current road surface condition is a conventional road surface such as a non-speed bump or a pothole, and therefore it is determined that the condition does not meet the road sense feedback condition; when the front axle wheel speed is greater than the target front axle wheel speed threshold, it indicates that the current road surface condition may be a road surface such as a speed bump or a pothole, and therefore it is determined that the condition meets the road sense feedback condition.

[0051] As a preferred solution, the front axle wheel speed includes a front axle left wheel speed and a front axle right wheel speed; the target front axle wheel speed threshold includes a target front axle left wheel speed threshold and a target front axle right wheel speed threshold;

[0052] The comparing the front axle wheel speed with the target front axle wheel speed threshold specifically comprises the following steps:

[0053] Performing high-pass filtering on the front axle left wheel speed and the front axle right wheel speed to obtain a front axle left wheel speed high-frequency signal and a front axle right wheel speed high-frequency signal;

[0054] Compare the maximum amplitude of the front axle left wheel speed high-frequency signal and the maximum amplitude of the front axle right wheel speed high-frequency signal with the target front axle left wheel speed threshold and the target front axle right wheel speed threshold respectively;

[0055] When the maximum amplitude of the front axle left wheel speed high-frequency signal is less than or equal to the target front axle left wheel speed threshold, and the maximum amplitude of the front axle right wheel speed high-frequency signal is less than or equal to the target front axle right wheel speed threshold, it is determined that the front axle wheel speed is less than or equal to the target front axle wheel speed threshold;

[0056] When the maximum amplitude of the front axle left wheel speed high-frequency signal is greater than the target front axle left wheel speed threshold, or the maximum amplitude of the front axle right wheel speed high-frequency signal is greater than the target front axle right wheel speed threshold, it is determined that the front axle wheel speed is greater than the target front axle wheel speed threshold.

[0057] Specifically, this embodiment takes into account that when a vehicle passes through a road surface such as a speed bump or a pothole, a sudden change in the road surface condition will cause a sudden change in the front axle wheel speed, generating a high-frequency signal. Therefore, the front axle left wheel speed and the front axle right wheel speed are subjected to high-pass filtering to obtain a front axle left wheel speed high-frequency signal and a front axle right wheel speed high-frequency signal. Furthermore, since when the current front axle wheel speed is greater than the target front axle wheel speed threshold, it indicates that the current road surface condition may be a special road surface such as a speed bump or a pothole. Therefore, this embodiment directly compares the maximum amplitude of the front axle left wheel speed high-frequency signal and the maximum amplitude of the front axle right wheel speed high-frequency signal with the target front axle left wheel speed threshold and the target front axle right wheel speed threshold, respectively, thereby improving data processing efficiency.

[0058] When the maximum amplitudes of the front axle left wheel speed high-frequency signal and the front axle right wheel speed high-frequency signal are respectively less than or equal to the target front axle left wheel speed threshold and the target front axle right wheel speed threshold, it is determined that the front axle wheel speed is less than or equal to the target front axle wheel speed threshold, indicating that the current road condition is a conventional road surface such as non-speed bumps and non-potholes, and does not meet the road feel feedback condition; when the maximum amplitude of any one of the front axle left wheel speed high-frequency signal and the front axle right wheel speed high-frequency signal is greater than the corresponding target front axle wheel speed threshold, that is, the front axle left wheel speed high-frequency signal is compared with the target front axle left wheel speed threshold, and the front axle right wheel speed high-frequency signal is compared with the target front axle right wheel speed threshold, it is determined that the front axle wheel speed is greater than the target front axle wheel speed threshold, indicating that the current road condition may be a special road surface such as speed bumps and potholes, which meets the road feel feedback condition.

[0059] As a preferred solution, the additional road sense motor torque is determined according to the rack force and a preset road sense feedback coefficient, specifically comprising the following steps:

[0060] Based on a preset road feel feedback coefficient comparison table, determining a target road feel feedback coefficient from the road feel feedback coefficient comparison table according to the vehicle speed; wherein the road feel feedback coefficient comparison table records the road feel feedback coefficients corresponding to different vehicle speeds;

[0061] The additional road feel motor torque is determined according to the rack force and the target road feel feedback coefficient.

[0062] Specifically, the present embodiment pre-sets a comparison relationship between different vehicle speeds and different road feel feedback coefficients, and generates a road feel feedback coefficient comparison table. It can be understood that for the same special road surface, such as speed bumps, potholes, etc., the degree of impact caused by the road surface on the vehicle is different when passing through at different vehicle speeds. Accordingly, the road feel feedback provided to the driver should also be different. Therefore, the present embodiment introduces a road feel feedback coefficient, determines the current target road feel feedback coefficient based on the current vehicle speed, and determines the current additional road feel motor torque based on the rack force output by the steering actuator in the wire-controlled steering system.

[0063] As a preferred solution, determining the additional road feel motor torque according to the rack force and the target road feel feedback coefficient specifically includes the following steps:

[0064] The additional steering wheel hand force is determined according to the product of the rack force and the target road feel feedback coefficient, and the additional road feel motor torque is determined according to the additional steering wheel hand force.

[0065] As a preferred solution, the road sense feedback torque is determined according to the target road sense motor torque currently preset by the vehicle and the additional road sense motor torque, and specifically includes the following steps:

[0066] The road sense feedback torque is determined according to the sum of the target road sense motor torque and the additional road sense motor torque.

[0067] As a preferred solution, the high-pass filtering of the front axle left wheel speed and the front axle right wheel speed to obtain the front axle left wheel speed high-frequency signal and the front axle right wheel speed high-frequency signal specifically includes the following steps:

[0068] The front axle left wheel speed and the front axle right wheel speed are subjected to high-pass filtering through a high-pass filter to obtain a high-frequency signal of the front axle left wheel speed and a high-frequency signal of the front axle right wheel speed.

[0069] See also Figure 2 According to a second aspect of an embodiment of the present invention, a road feeling feedback device for a steering wheel is provided, comprising:

[0070] The road feeling feedback condition judgment module 201 is used to obtain the current vehicle speed, steering angle and front axle wheel speed of the vehicle, and judge whether the current road condition meets the preset road feeling feedback condition according to the vehicle speed, the steering angle and the front axle wheel speed;

[0071] The additional road sense motor torque determination module 202 is used to obtain the current rack force of the vehicle when the road condition meets the road sense feedback condition, and determine the additional road sense motor torque according to the rack force and a preset road sense feedback coefficient;

[0072] The road sense feedback module 203 is used to determine the road sense feedback torque according to the target road sense motor torque currently preset by the vehicle and the additional road sense motor torque, and transmit the road sense feedback torque to the steering wheel through the road sense motor.

[0073] As a preferred solution, the road feeling feedback condition judgment module 201 is used to judge whether the current road condition meets the preset road feeling feedback condition according to the vehicle speed, the steering angle and the front axle wheel speed, specifically including:

[0074] Based on a preset front axle wheel speed threshold comparison table, a target front axle wheel speed threshold is determined from the front axle wheel speed threshold comparison table according to the vehicle speed and the steering angle; wherein the front axle wheel speed threshold comparison table records the front axle wheel speed thresholds corresponding to different vehicle speeds and steering angles;

[0075] comparing the front axle wheel speed with the target front axle wheel speed threshold;

[0076] When the front axle wheel speed is less than or equal to the target front axle wheel speed threshold, determining that the road condition does not meet the road sense feedback condition;

[0077] When the front axle wheel speed is greater than the target front axle wheel speed threshold, it is determined that the road condition meets the road feel feedback condition.

[0078] As a preferred solution, the front axle wheel speed includes a front axle left wheel speed and a front axle right wheel speed; the target front axle wheel speed threshold includes a target front axle left wheel speed threshold and a target front axle right wheel speed threshold;

[0079] The road feeling feedback condition judgment module 201 is used to compare the front axle wheel speed with the target front axle wheel speed threshold, specifically including:

[0080] Performing high-pass filtering on the front axle left wheel speed and the front axle right wheel speed to obtain a front axle left wheel speed high-frequency signal and a front axle right wheel speed high-frequency signal;

[0081] Compare the maximum amplitude of the front axle left wheel speed high-frequency signal and the maximum amplitude of the front axle right wheel speed high-frequency signal with the target front axle left wheel speed threshold and the target front axle right wheel speed threshold respectively;

[0082] When the maximum amplitude of the front axle left wheel speed high-frequency signal is less than or equal to the target front axle left wheel speed threshold, and the maximum amplitude of the front axle right wheel speed high-frequency signal is less than or equal to the target front axle right wheel speed threshold, it is determined that the front axle wheel speed is less than or equal to the target front axle wheel speed threshold;

[0083] When the maximum amplitude of the front axle left wheel speed high-frequency signal is greater than the target front axle left wheel speed threshold, or the maximum amplitude of the front axle right wheel speed high-frequency signal is greater than the target front axle right wheel speed threshold, it is determined that the front axle wheel speed is greater than the target front axle wheel speed threshold.

[0084] As a preferred solution, the additional road feel motor torque determination module 202 is used to determine the additional road feel motor torque according to the rack force and a preset road feel feedback coefficient, specifically including:

[0085] Based on a preset road feel feedback coefficient comparison table, determining a target road feel feedback coefficient from the road feel feedback coefficient comparison table according to the vehicle speed; wherein the road feel feedback coefficient comparison table records the road feel feedback coefficients corresponding to different vehicle speeds;

[0086] The additional road feel motor torque is determined according to the rack force and the target road feel feedback coefficient.

[0087] As a preferred solution, the additional road feel motor torque determination module 202 is used to determine the additional road feel motor torque according to the rack force and the target road feel feedback coefficient, specifically including:

[0088] The additional steering wheel hand force is determined according to the product of the rack force and the target road feel feedback coefficient, and the additional road feel motor torque is determined according to the additional steering wheel hand force.

[0089] As a preferred solution, the road sense feedback module 203 is used to determine the road sense feedback torque according to the target road sense motor torque currently preset by the vehicle and the additional road sense motor torque, specifically including:

[0090] The road sense feedback torque is determined according to the sum of the target road sense motor torque and the additional road sense motor torque.

[0091] As a preferred solution, the road sense feedback condition judgment module 201 is used to perform high-pass filtering on the front axle left wheel speed and the front axle right wheel speed to obtain a front axle left wheel speed high-frequency signal and a front axle right wheel speed high-frequency signal, specifically including:

[0092] The front axle left wheel speed and the front axle right wheel speed are subjected to high-pass filtering through a high-pass filter to obtain a high-frequency signal of the front axle left wheel speed and a high-frequency signal of the front axle right wheel speed.

[0093] It should be noted that a steering wheel road feel feedback device provided in an embodiment of the present invention can implement all processes of the steering wheel road feel feedback method described in any of the above embodiments, and the functions of each module in the device and the technical effects achieved are respectively the same as the functions and technical effects achieved by the steering wheel road feel feedback method described in the above embodiments, and will not be repeated here.

[0094] A third aspect of an embodiment of the present invention provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the road feel feedback method for the steering wheel as described in any embodiment of the first aspect is implemented.

[0095] The terminal device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The terminal device may include, but is not limited to, a processor and a memory. The terminal device may also include an input / output device, a network access device, a bus, etc.

[0096] The 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. The processor is the control center of the terminal device, and uses various interfaces and lines to connect various parts of the entire terminal device.

[0097] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the terminal device by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0098] A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the road feel feedback method for the steering wheel as described in any embodiment of the first aspect.

[0099] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present invention can be implemented by means of software plus a necessary hardware platform, and of course can also be implemented entirely by hardware. Based on such an understanding, all or part of the contribution of the technical solution of the present invention to the background technology can be embodied in the form of a software product, and the computer software product can be stored in a storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present invention or certain parts of the embodiments.

[0100] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A road feel feedback method for a steering wheel, It is characterized in that The steps include: Obtaining the current vehicle speed, steering angle and front axle wheel speed of the vehicle, and judging whether the current road condition meets the preset road feeling feedback condition according to the vehicle speed, the steering angle and the front axle wheel speed; When the road condition meets the road sense feedback condition, obtaining the current rack force of the vehicle, and determining the additional road sense motor torque according to the rack force and a preset road sense feedback coefficient; The road sense feedback torque is determined according to the target road sense motor torque currently preset by the vehicle and the additional road sense motor torque, and the road sense feedback torque is transmitted to the steering wheel through the road sense motor.

2. The road feel feedback method of the steering wheel as claimed in claim 1, It is characterized in that The determining whether the current road condition meets the preset road feeling feedback condition according to the vehicle speed, the steering angle and the front axle wheel speed specifically includes the following steps: Based on a preset front axle wheel speed threshold comparison table, a target front axle wheel speed threshold is determined from the front axle wheel speed threshold comparison table according to the vehicle speed and the steering angle; wherein the front axle wheel speed threshold comparison table records the front axle wheel speed thresholds corresponding to different vehicle speeds and steering angles; comparing the front axle wheel speed with the target front axle wheel speed threshold; When the front axle wheel speed is less than or equal to the target front axle wheel speed threshold, determining that the road condition does not meet the road sense feedback condition; When the front axle wheel speed is greater than the target front axle wheel speed threshold, it is determined that the road condition meets the road feel feedback condition.

3. The road feel feedback method of the steering wheel as claimed in claim 2, It is characterized in that The front axle wheel speed includes a front axle left wheel speed and a front axle right wheel speed; the target front axle wheel speed threshold includes a target front axle left wheel speed threshold and a target front axle right wheel speed threshold; The comparing the front axle wheel speed with the target front axle wheel speed threshold specifically comprises the following steps: Performing high-pass filtering on the front axle left wheel speed and the front axle right wheel speed to obtain a front axle left wheel speed high-frequency signal and a front axle right wheel speed high-frequency signal; Compare the maximum amplitude of the front axle left wheel speed high-frequency signal and the maximum amplitude of the front axle right wheel speed high-frequency signal with the target front axle left wheel speed threshold and the target front axle right wheel speed threshold respectively; When the maximum amplitude of the front axle left wheel speed high-frequency signal is less than or equal to the target front axle left wheel speed threshold, and the maximum amplitude of the front axle right wheel speed high-frequency signal is less than or equal to the target front axle right wheel speed threshold, it is determined that the front axle wheel speed is less than or equal to the target front axle wheel speed threshold; When the maximum amplitude of the front axle left wheel speed high-frequency signal is greater than the target front axle left wheel speed threshold, or the maximum amplitude of the front axle right wheel speed high-frequency signal is greater than the target front axle right wheel speed threshold, it is determined that the front axle wheel speed is greater than the target front axle wheel speed threshold.

4. The road feel feedback method of the steering wheel as claimed in claim 1, It is characterized in that The step of determining the additional road sense motor torque according to the rack force and the preset road sense feedback coefficient specifically includes the following steps: Based on a preset road feel feedback coefficient comparison table, determining a target road feel feedback coefficient from the road feel feedback coefficient comparison table according to the vehicle speed; wherein the road feel feedback coefficient comparison table records the road feel feedback coefficients corresponding to different vehicle speeds; The additional road feel motor torque is determined according to the rack force and the target road feel feedback coefficient.

5. The road feel feedback method of the steering wheel as claimed in claim 4, It is characterized in that Determining the additional road feel motor torque according to the rack force and the target road feel feedback coefficient specifically includes the following steps: The additional steering wheel hand force is determined according to the product of the rack force and the target road feel feedback coefficient, and the additional road feel motor torque is determined according to the additional steering wheel hand force.

6. The road feel feedback method of a steering wheel as claimed in claim 1, It is characterized in that The determining of the road sense feedback torque according to the target road sense motor torque currently preset by the vehicle and the additional road sense motor torque specifically includes the following steps: The road sense feedback torque is determined according to the sum of the target road sense motor torque and the additional road sense motor torque.

7. The road feel feedback method of a steering wheel as claimed in claim 3, It is characterized in that The high-pass filtering of the front axle left wheel speed and the front axle right wheel speed to obtain the front axle left wheel speed high-frequency signal and the front axle right wheel speed high-frequency signal specifically includes the following steps: The front axle left wheel speed and the front axle right wheel speed are subjected to high-pass filtering through a high-pass filter to obtain a high-frequency signal of the front axle left wheel speed and a high-frequency signal of the front axle right wheel speed.

8. A road feel feedback device for a steering wheel, It is characterized in that include: A road feeling feedback condition judgment module is used to obtain the current vehicle speed, steering angle and front axle wheel speed of the vehicle, and judge whether the current road condition meets the preset road feeling feedback condition according to the vehicle speed, the steering angle and the front axle wheel speed; an additional road sense motor torque determination module, configured to obtain a current rack force of the vehicle when the road condition meets the road sense feedback condition, and determine an additional road sense motor torque according to the rack force and a preset road sense feedback coefficient; The road sense feedback module is used to determine the road sense feedback torque according to the target road sense motor torque currently preset by the vehicle and the additional road sense motor torque, and transmit the road sense feedback torque to the steering wheel through the road sense motor.

9. A terminal device, It is characterized in that The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the road sense feedback method of the steering wheel as claimed in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the road feel feedback method for a steering wheel according to any one of claims 1 to 7.

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