Road feeling feedback system and method, storage medium, program product, equipment and vehicle

Abstract

The invention relates to a road feeling feedback system and method, a storage medium, a program product, equipment and a vehicle. The road feeling feedback system comprises a motor integrated control system, a steering wheel motor and a steering wheel, and the steering wheel motor is connected with the steering wheel; the motor integrated control system can control the steering wheel motor to vibrate according to the road feeling data, and the vibration of the steering wheel motor can be transmitted to the steering wheel, so that a driver can perceive the current road state according to the vibration of the steering wheel and is assisted in adjusting driving operation according to the fed-back road feeling data, and stable driving of the vehicle is kept; and the driving safety of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a road sense feedback system, method, storage medium, program product, device and vehicle. Background Art

[0002] Road sense data refers to various data related to the road surface of the road the vehicle is currently on. The driver can perceive the driving status and driving environment of the vehicle through road sense data, thereby ensuring stable driving of the vehicle and improving driving safety. However, how to feed back road sense data to the driver is a technical problem that needs to be solved urgently. Summary of the invention

[0003] The embodiments of the present application provide a road sense feedback system, method, storage medium, program product, device and vehicle, which can feed back road sense data to the driver to at least partially solve the above-mentioned technical problems.

[0004] In order to achieve the above-mentioned purpose, according to the first aspect of the present application, a road feel feedback system is provided, which comprises: a motor integrated control system, a steering wheel motor and a steering wheel; wherein the steering wheel motor is connected to the steering wheel; the motor integrated control system is used to: control the vibration of the steering wheel motor according to road feel data to make the steering wheel vibrate.

[0005] Optionally, the road feel feedback system further includes a data acquisition module; wherein the data acquisition module is used to send road feel data to the motor integrated control system.

[0006] Optionally, the data acquisition module includes at least one of the following: an angle sensor, a wheel speed sensor, a gyroscope sensor, a radar sensor, a vibration sensor, and a steering motor controller.

[0007] Optionally, the communication connection between the data acquisition module and the motor integrated control system includes at least one of the following: CAN bus, LIN bus, FlexRay, Ethernet.

[0008] Optionally, the road sense feedback system further includes a multimedia device; wherein the multimedia device is used to send road sense data to the motor integrated control system.

[0009] Optionally, the multimedia device is further used to: acquire road sense data according to a virtual scene.

[0010] Optionally, the communication connection between the multimedia device and the motor integrated control system includes at least one of the following: MOST, Ethernet.

[0011] Optionally, the road feel feedback system also includes a steering motor; wherein the steering motor is connected to the steering wheel motor; and the motor integrated control system is used to: control the vibration of the steering motor according to the road feel data to make the steering wheel motor vibrate.

[0012] Optionally, the road feel feedback system also includes an inverter and a steering motor controller; wherein the motor integrated control system is used to: generate motor vibration data based on road feel data; and send the motor vibration data to the steering motor controller; the steering motor controller is used to: send a first modulation wave corresponding to the motor vibration data to the inverter; and the inverter is used to: control the steering motor vibration according to the first modulation wave.

[0013] Optionally, the motor integrated control system includes at least one of the following: a motor controller, a vehicle controller, a power domain controller, and a steering controller.

[0014] Optionally, the road feel feedback system also includes a multimedia device; wherein the motor integrated control system is further used to: generate motor vibration data based on road feel data; send the motor vibration data to the multimedia device; and the multimedia device is used to: play audio corresponding to the motor vibration data.

[0015] According to a second aspect of the present application, a road feel feedback method is provided, the method comprising: controlling the vibration of a steering wheel motor according to road feel data to cause the steering wheel to vibrate.

[0016] Optionally, controlling the vibration of the steering wheel motor according to the road feeling data includes: generating motor vibration data according to the road feeling data; and controlling the vibration of the steering wheel motor according to the motor vibration data.

[0017] Optionally, the road feel data includes at least one of the following: driving vibration data, vehicle operation data.

[0018] Optionally, the motor vibration data includes vibration frequency.

[0019] Optionally, controlling the vibration of the steering wheel motor according to the motor vibration data includes: controlling the vibration of the steering wheel motor according to a second modulation wave corresponding to the vibration frequency.

[0020] Optionally, the method further includes: playing audio corresponding to the vibration frequency.

[0021] Optionally, controlling the vibration of the steering wheel motor according to the road feeling data includes: controlling the vibration of the steering motor according to the road feeling data to vibrate the steering wheel motor connected to the steering motor.

[0022] According to a third aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned road sense feedback method is implemented.

[0023] According to a fourth aspect of the present application, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the above-mentioned road sense feedback method is implemented.

[0024] According to a fifth aspect of the present application, an electronic device is provided, comprising: a memory on which a computer program is stored; and a processor for executing the computer program in the memory to implement the above-mentioned road sense feedback method.

[0025] According to a sixth aspect of the present application, a vehicle is provided, comprising the above-mentioned electronic device or the above-mentioned road sense feedback system.

[0026] In summary, the technical solution provided by the embodiment of the present application is that the road sense feedback system includes a motor integrated control system, a steering wheel motor and a steering wheel, and the steering wheel motor is connected to the steering wheel. Among them, the motor integrated control system can control the vibration of the steering wheel motor according to the road sense data, and the vibration of the steering wheel motor can be transmitted to the steering wheel, so that the driver can perceive the current road state according to the vibration of the steering wheel, and assist the driver to adjust the driving operation according to the feedback road sense data, maintain the stable driving of the vehicle, and improve the safety of vehicle driving.

[0027] Other features and advantages of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0029] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0030] Figure 1 is a structural schematic diagram of a road sense feedback system provided in an embodiment of the present application; Figure 2 is a structural schematic diagram of another road sense feedback system provided in an embodiment of the present application; Figure 3 is a structural schematic diagram of another road sense feedback system provided in an embodiment of the present application; Figure 4is a structural schematic diagram of another road sense feedback system provided in an embodiment of the present application; Figure 5 is a structural schematic diagram of another road sense feedback system provided in an embodiment of the present application; Figure 6 is a structural schematic diagram of another road sense feedback system provided in an embodiment of the present application; Figure 7 is a flow chart of a road sense feedback method provided in an embodiment of the present application; Figure 8 It is a schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0032] As vehicles become more intelligent, connected, and integrated, the use of vehicles is becoming more diverse. Vehicles are not only used as a means of transportation, but also have social and entertainment attributes.

[0033] Road sense data refers to various data related to the road surface of the road the vehicle is currently on. For example, road sense data may include data such as vehicle trajectory, traffic flow, road conditions, etc. It may also include data related to the vehicle's motion state, such as vehicle speed, steering wheel angle, etc. The acquisition of road sense data helps determine the vehicle's driving state and driving environment, and ensures the vehicle's stable driving.

[0034] In view of this, embodiments of the present application provide a road sense feedback system, method, storage medium, program product, device and vehicle, which can feed back road sense data to the driver to at least partially solve the above technical problems.

[0035] According to a first aspect of the present application, an embodiment of the present application provides a road sense feedback system.

[0036] See also Figure 1 , Figure 1 Schematic diagram of a road sense feedback system provided in an embodiment of the present application. Figure 1As shown, the road sense feedback system includes: a motor integrated control system 100, a steering wheel motor 210, and a steering wheel 220. The steering wheel motor 210 is connected to the steering wheel 220. In addition, the steering wheel motor 210 can also be connected to the motor integrated control system 100. The motor integrated control system 100 is used to control the vibration of the steering wheel motor 210 according to the road sense data, so as to make the steering wheel 220 vibrate.

[0037] The steering wheel motor 210 may be installed inside or near the steering wheel 220. The steering wheel motor 210 is used to control the steering operation of the steering wheel 220, such as the torque and / or speed of the power steering wheel 220. In an autonomous vehicle, the steering wheel 220 may be automatically controlled to rotate by the steering wheel motor 210, replacing the manual operation of the driver.

[0038] The steering wheel motor 210 of the embodiment of the present application can be mechanically connected to the steering wheel 220. When the steering wheel motor 210 vibrates, the vibration of the steering wheel motor 210 will be transmitted to the steering wheel 220, causing the steering wheel 220 to vibrate along with the vibration of the steering wheel motor 210, so that the driver can perceive the road feel data through the vibration of the steering wheel 220, thereby realizing road feel feedback.

[0039] In some embodiments, different road sense data may correspond to different forms of vibration. For example, for different road sense data such as an obstacle in front of the driving road, the vehicle needs to change lanes or turn, and the vehicle's driving speed is greater than a preset value, different frequencies of vibration are set, or different vibration gaps are set, so that the driver can perceive different vibration feedback under different road conditions.

[0040] In some embodiments, the steering wheel motor 210 may be a steering wheel power motor. The steering wheel power motor is used to assist the driver in turning the steering wheel during steering operations. The steering wheel power motor helps the driver to control the vehicle more accurately and improves driving comfort and safety by providing appropriate assistance or damping. When road sense feedback is performed through the steering wheel power motor, the motor integrated control system 100 controls the vibration of the steering wheel power motor according to the road sense data, so that the steering wheel 220 vibrates under the vibration of the steering wheel power motor, thereby giving the driver road sense feedback.

[0041] It can be understood that the embodiment of the present application does not limit the form of the steering wheel motor 210. As long as it is a control motor connected to both the steering wheel 220 and the motor integrated control system 100, it can vibrate under the control of the motor integrated control system 100 and transmit the vibration to the motor of the steering wheel 220.

[0042] In summary, the road sense feedback system provided in the embodiment of the present application includes a motor integrated control system, a steering wheel motor and a steering wheel, and the steering wheel motor is connected to the steering wheel. The motor integrated control system can control the vibration of the steering wheel motor according to the road sense data, and the vibration of the steering wheel motor can be transmitted to the steering wheel, so that the driver can perceive the current road state according to the vibration of the steering wheel, and assist the driver to adjust the driving operation according to the feedback road sense data, ensure the stable driving of the vehicle, and improve the safety of vehicle driving.

[0043] The road feel feedback system provided in the embodiment of the present application can be applicable to a traditional steering system as well as a wire-controlled steering system, and has good compatibility.

[0044] In some embodiments, Figure 2 As shown, the road feeling feedback system further includes a data acquisition module 010 ; the data acquisition module 010 is connected to the motor integrated control system 100 and is used to send road feeling data to the motor integrated control system 100 .

[0045] The data acquisition module 010 is connected to the motor integrated control system 100 and is used to collect road feeling data when the vehicle is driving, and send the collected road feeling data to the motor integrated control system 100 so that the motor integrated control system 100 can control the steering wheel motor 210 according to the road feeling data.

[0046] In some embodiments, the data acquisition module 010 includes at least one of the following: an angle sensor, a wheel speed sensor, a gyroscope sensor, a radar sensor, a vibration sensor, and a steering motor controller.

[0047] An angle sensor can be used to collect steering angle data, such as collecting angle values ​​or angle change values. The steering angle data collected by the angle sensor can determine the driving state of the vehicle and / or the state of the road surface on which the vehicle is driving. Exemplarily, the angle sensor can be used to collect data such as the steering angle of the steering wheel 220, the steering angle of the wheel, and the tilt angle of the vehicle. The wheel speed sensor can be used to collect wheel speed. The wheel speed data collected by the wheel speed sensor can determine the driving speed of the vehicle, and when the vehicle speed exceeds the threshold, it can respond in time to ensure the stable driving of the vehicle. The gyroscope sensor can be used to collect the angular velocity of the vehicle, and the angular velocity collected by the gyroscope sensor can determine the stability of the vehicle. The radar sensor can detect the distance, speed, angle and other data of the target object through radio waves. The radar sensor can detect the distance or speed of the vehicle in front of or around the vehicle, provide a safety warning for the vehicle, and assist the automatic control of the vehicle when driving. The vibration sensor can be used to determine the vibration state, such as detecting vibration data such as vibration acceleration, vibration velocity or vibration displacement. The vibration sensor can respond in time when the core components of the vehicle such as the engine and chassis vibrate abnormally, thereby improving the safety of the vehicle. The steering motor controller can be used to control the steering motor. The steering motor controller can control the steering motor according to the driving state of the vehicle and the driver's operating intention. When the data acquisition module 010 is a steering motor controller, the control data of the steering motor controller on the steering motor, that is, data related to vehicle steering, can be collected.

[0048] The embodiment of the present application collects vehicle status data and / or driving environment data during actual driving of the vehicle through the data acquisition module 010 to form road sense data, so that the motor integrated control system 100 can perform road sense feedback control according to the road sense data.

[0049] In some embodiments, the communication connection between the data acquisition module 010 and the motor integrated control system 100 includes at least one of the following: CAN bus, LIN bus, FlexRay, Ethernet.

[0050] The Controller Area Network (CAN) bus is a serial data communication bus that enables communication between different electronic control units (ECUs) in a vehicle. It can be used for the data acquisition module 010 to transmit data with high real-time requirements to the motor integrated control system 100, such as data collected by angle sensors, wheel speed sensors, gyroscope sensors, and radar sensors. The Local Interconnect Network (LIN) bus is a low-cost serial communication network that can be used for distributed electronic system control in vehicles. The communication speed of the LIN bus is low, but the structure is simple and the cost is low. It can be used for data with small data volume and low real-time requirements, such as data collected by vibration sensors, or low-data control data in steering motor controllers. FlexRay is a protocol standard dedicated to the vehicle's internal local area network. FlexRay has fault tolerance and high transmission rate. It can be used in wire control situations with high safety requirements and output transmission scenarios with high bandwidth requirements. Ethernet is a local area network technology in the car, which can be used for high-speed data transmission in the driving system, such as sensor data such as radar sensors.

[0051] In some embodiments, Figure 3 As shown, the road sense feedback system further includes a multimedia device 020. The multimedia device 020 is used to send road sense data to the motor integrated control system 100.

[0052] The vehicle is equipped with multimedia devices 020 to enrich the functions of the vehicle. Traditional multimedia devices 020 can be used for audio playback, navigation, calls and other interactions. With the development of vehicle intelligence, drivers can also use the multimedia devices 020 in the vehicle for entertainment interactions such as surfing the Internet and playing games. Multimedia devices 020 can enhance the driving experience of the driver and the riding experience of the passengers, and can also improve the overall intelligence level and safety of the vehicle.

[0053] For example, when the driver plays a car game through the multimedia device 020 in the vehicle, the car game also includes road sense data, and the road sense data in the game is virtual road sense data. The multimedia device 020 of the embodiment of the present application can send the virtual road sense data to the motor integrated control system 100, so that the motor integrated control system 100 also performs road sense feedback on the virtual road sense data, giving the player a real game experience and improving the user experience.

[0054] In some embodiments, the multimedia device 020 is further used to obtain road sense data according to the virtual scene.

[0055] The virtual scene is different from the actual driving scene of the vehicle, and can be a virtual driving environment in a car game, which can be run in the multimedia device 020. When the driver plays the driving game, the multimedia device 020 can obtain virtual road feeling data in combination with the virtual scene simulated in the driving game, and send the virtual road feeling data to the motor integrated control system 100. The specific content of the virtual road feeling data can be referred to the above embodiment, and will not be repeated here.

[0056] In some embodiments, the communication connection between the multimedia device 020 and the motor integrated control system 100 includes at least one of the following: MOST, Ethernet.

[0057] Media Oriented Systems Transport (MOST) is a system transmission bus for media data, which can be used in automotive infotainment systems and can be applied to multimedia data transmission between multimedia devices and motor control systems. Ethernet is a local area network technology in the car, which can be applied to high-speed data of multimedia data in multimedia devices.

[0058] In some embodiments, the multimedia device 020 can also be connected to the data acquisition module 010, and the virtual road sense data in the multimedia device 020 and the actual road sense data in the data acquisition module 010 are combined to provide the driver with integrated road sense feedback. For example, when the driver is playing a driving game, the steering data of the steering wheel 220 will be collected by the data acquisition module 010, and the motor integrated control system 100 can combine the road sense data collected by the data acquisition module 010 with the road sense data in the multimedia device 020 to provide road sense feedback.

[0059] In addition to obtaining actual road sense data collected by the data acquisition module 010 during actual driving of the vehicle, the motor integrated control system 100 of the embodiment of the present application can also receive virtual road sense data sent by the multimedia device 020, and can also combine the road sense data of the data acquisition module 010 and the road sense data of the multimedia device 020 to implement road sense feedback, thereby restoring the real driving environment and vehicle status and improving user experience.

[0060] In some embodiments, Figure 4 As shown, the road feeling feedback system further includes a steering motor 310. The steering motor 310 is connected to the steering wheel motor 210. The motor integrated control system 100 is used to control the steering motor 310 to vibrate according to the road feeling data, so as to make the steering wheel motor 210 vibrate.

[0061] The steering motor 310 can control the steering of the wheels and is usually arranged near the wheels. In the embodiment of the present application, the steering motor 310 can be connected to the steering wheel motor 210. When the motor integrated control system 100 controls the vibration of the steering motor 310 according to the road sense data, since the steering motor 310 is connected to the steering wheel motor 210, the vibration of the steering motor 310 can be transmitted to the steering wheel motor 210, causing the steering wheel motor to vibrate. It can be understood that since the vibration of the steering motor 310 needs to be transmitted to the steering wheel motor 210, the steering motor 310 can be mechanically connected to the steering wheel motor 210.

[0062] In summary, the embodiments of the present application can be applied to traditional steering control systems. When the steering motor is hard-connected to the steering wheel motor, the steering motor is controlled to vibrate through the motor integrated control system, which drives the steering wheel motor to vibrate, and then the steering wheel vibrates under the vibration of the steering wheel motor, so that the driver can intuitively feel the road feel feedback. It can be understood that in addition to being applied to traditional steering control systems, the embodiments of the present application can also be applied to wire-controlled steering systems to vibrate the steering wheel through the vibration of the steering wheel motor, and can be applied to vehicles with different steering systems, with good compatibility.

[0063] In some embodiments, Figure 5 As shown, the road sense feedback system further includes an inverter 320 and a steering motor controller 330. The motor integrated control system 100 is used to: generate motor vibration data according to the road sense data; and send the motor vibration data to the steering motor controller 330. The steering motor controller 330 is used to: send a first modulation wave corresponding to the motor vibration data to the inverter 320. The inverter 320 is used to: control the vibration of the steering motor 310 according to the first modulation wave.

[0064] The steering motor controller 330 is used to control the working state of the steering motor 310. The steering motor controller 330 controls the speed and torque of the steering motor 310 under the control of the vehicle control system to achieve precise steering control of the wheels. The steering motor controller 330 can receive control instructions issued by the motor integrated control system 100, and the inverter 320 can convert a DC signal into an AC signal according to the control instructions of the steering motor controller 330, and output the AC signal to the steering motor 310 to drive the rotor in the steering motor 310 to rotate.

[0065] When the motor integrated control system 100 controls the steering motor 310 to vibrate according to the road sense data, the motor integrated control system 100 can generate motor vibration data according to the road sense data, and transmit the generated motor vibration data to the steering motor controller 330. The steering motor controller 330 can generate a first modulation wave corresponding to the motor vibration data according to the motor vibration data, so that the inverter 320 inverts the DC signal into a harmonic AC signal according to the first modulation wave sent by the steering motor controller 330, and injects the harmonic AC signal into the steering motor 310 control signal, so that the harmonic AC signal generates an alternating magnetic field in the rotor air gap through the stator winding of the steering motor 310, thereby controlling the vibration frequency of the rotor, so that the stator and the housing of the motor generate vibrations of a specified frequency.

[0066] In some embodiments, the motor integrated control system 100 includes at least one of the following: a motor controller, a vehicle controller, a power domain controller, and a steering controller.

[0067] The motor integrated control system 100 in the road feel feedback system of the embodiment of the present application can be any control-related controller in the vehicle. In actual applications, different controllers can be selected for road feel feedback control according to needs.

[0068] The motor controller can be used to control the motor speed, torque, etc. The motor controlled by the motor controller can be a steering motor 310, a steering wheel motor 210, etc. The vehicle controller can be used to control and manage the entire vehicle. The power domain controller can be responsible for power system control. The steering controller can be used to control the vehicle steering system to ensure that the vehicle turns according to the driver's intention. It can be understood that, unlike the steering motor controller 330, the steering controller controls the steering system of the entire vehicle, while the steering motor controller 330 only controls the steering motor.

[0069] The motor controller, the vehicle controller, the power domain controller, and the steering controller can all be used to connect to the steering wheel motor 210 and control the vibration of the steering wheel motor 210 according to the road sense data so as to make the steering wheel 220 vibrate.

[0070] To sum up, the motor integrated control system provided in the embodiment of the present application can also be connected to the steering motor, and the vibration of the steering motor is controlled to drive the steering wheel motor to vibrate, and finally the steering wheel vibration is used for road feel feedback, thereby improving the safety and reliability of vehicle driving.

[0071] In some embodiments, the road sense feedback system may also be deployed in the multimedia device 020 , and the multimedia device 020 processes the road sense data to generate motor vibration data, and then controls the vibration of the steering wheel motor 210 according to the motor vibration data.

[0072] In some embodiments, the road sense feedback system further includes a multimedia device 020. The motor integrated control system 100 is further configured to generate motor vibration data according to the road sense data and send the motor vibration data to the multimedia device 020. The multimedia device 020 is configured to play audio corresponding to the motor vibration data.

[0073] Please continue reading Figure 3 The road sense feedback system shown, the embodiment of the present application can also perform road sense feedback through the multimedia device 020. Exemplarily, the motor integrated control system 100 can generate motor vibration data based on the road sense data, and the multimedia device 020 can correspond the motor vibration data with the audio to be played, and convert the audio to be played into a target audio related to the motor vibration data. For example, the signal frequency of the audio to be played can be corresponded to the frequency of the vibration data, such as setting the frequency of the audio to be played to the frequency of the motor vibration data; the signal amplitude of the audio to be played can also be corresponded to the frequency of the vibration data, such as determining the amplitude of the audio according to the frequency of the motor vibration data.

[0074] In summary, this application combines the vibration of the steering wheel with the audio played by the multimedia device, so that the driver can perceive the road feeling data in multiple dimensions and improve the restoration of the road feeling data. Different from the perception of road feeling feedback through torque simulation, this application realizes the perception of road feeling data from multiple dimensions through vibration perception, audio playback, etc., and improves the feedback effect and reliability of road feeling data.

[0075] Below, the road sense feedback system provided in the embodiment of the present application is introduced and explained by taking an example.

[0076] In some embodiments, Figure 6 As shown, a specific road sense feedback system is provided, including: a motor integrated control system 100, a data acquisition module 010, a multimedia device 020, a steering wheel motor 210, a steering wheel 220, a steering motor 310, an inverter 320 and a steering motor controller 330. Among them: The data acquisition module 010 and the multimedia device 020 are both connected to the motor integrated control system 100 and are used to send road sense data to the motor integrated control system 100. The data acquisition module 010 can collect road sense data of the vehicle during actual driving, and the multimedia device 020 can determine virtual road sense data in virtual scenes such as vehicle games.

[0077] It can be understood that the embodiments of the present application can provide feedback perception of road feel data during actual driving of the vehicle, and can also provide feedback on virtual road feel data in simulated road conditions during simulated driving. It can also combine the actual status data of the vehicle with the virtual driving environment to obtain road feel data to improve user experience.

[0078] The motor integrated control system 100 is used to generate motor vibration data according to the road feel data, and directly or indirectly control the vibration of the steering wheel motor 210 so that the steering wheel 220 can vibrate under the vibration of the steering wheel motor 210, so that the driver can get road feel feedback through the vibration of the steering wheel 220.

[0079] When the vehicle is a steer-by-wire system, the motor integrated control system 100 may be connected to the steering wheel motor 210, and the steering wheel motor 210 is connected to the steering wheel 220. The motor integrated control system 100 may control the vibration of the steering wheel motor 210 according to the motor vibration data, and the steering wheel motor 210 transmits the vibration to the steering wheel 220 connected to the steering wheel motor 210, thereby achieving the vibration of the steering wheel 220.

[0080] When the vehicle is a mechanical steering system, the steering wheel motor 210 can be connected to the steering motor 310, and the steering motor 310 is also connected to the inverter 320, and the inverter 320 is connected to the steering motor controller 330, and the steering motor controller 330 is also connected to the motor integrated control system 100. The motor integrated control system 100 controls the steering motor controller 330 to generate a second modulation wave corresponding to the vibration frequency in the motor vibration data according to the motor vibration data, and then generates a vibration control signal according to the second modulation wave output by the steering motor controller 330 through the inverter 320, so as to control the vibration of the steering motor 310 through the vibration control signal output by the inverter 320. Since the steering motor 310 is hard-connected to the steering wheel motor 210, the vibration of the steering motor 310 is transmitted to the steering wheel motor 210, thereby causing the steering wheel 220 to vibrate.

[0081] In some embodiments, the multimedia device 020 is also used to provide road sense feedback by playing audio to achieve multi-dimensional and multi-sensory road sense feedback, improve driving safety and reliability, and enhance the user's driving experience.

[0082] According to the second aspect of the present application, an embodiment of the present application provides a road sense feedback method.

[0083] See also Figure 7 , Figure 7 is a flow chart of a road sense feedback method provided in an embodiment of the present application. Figure 7 As shown, the road sense feedback method includes: Step S700: Controlling the steering wheel motor to vibrate according to the road feeling data to make the steering wheel vibrate.

[0084] In the embodiment of the present application, the motor integrated control system can directly control the vibration of the steering wheel motor according to the road feeling data, so that the steering wheel connected to the steering wheel motor can also vibrate with the vibration of the steering wheel motor. The driver can sense the road feeling data through the vibration of the steering wheel to achieve road feeling feedback.

[0085] The road sense data may be road sense data collected by a data acquisition module during the actual driving process of the vehicle; or it may be road sense data set in a multimedia device, such as a virtual scene in a car game.

[0086] To sum up, the embodiment of the present application realizes road feel feedback by controlling the vibration of the steering wheel, and can timely feed back driving environment data and vehicle status data to the driver through the vibration of the steering wheel, which can improve the driver's driving experience, and can also facilitate the driver to respond in time, thereby improving the safety of vehicle driving.

[0087] In some embodiments, controlling the vibration of the steering wheel motor according to the road feeling data in step S700 includes: generating motor vibration data according to the road feeling data; and controlling the vibration of the steering wheel motor according to the motor vibration data.

[0088] The motor integrated control system obtains the road feeling data of the vehicle in actual driving or virtual scenes, and generates the motor vibration data according to the road feeling data. The steering wheel motor can generate vibration according to the motor vibration data, such as forming the vibration frequency, vibration amplitude, vibration gap, etc. of the steering wheel motor according to the motor vibration data.

[0089] In the embodiment of the present application, the motor vibration data is related to the road feeling data. The motor integrated control system determines the motor vibration data according to the acquired road feeling data, and then controls the steering wheel motor vibration according to the motor vibration data.

[0090] In some embodiments, the road feeling data includes at least one of the following: driving vibration data, vehicle operation data.

[0091] Driving vibration data can be vibration data generated by vehicle components during driving, such as engine vibration, tire vibration, brake vibration, wake vibration of the preceding vehicle, etc. Unlike motor vibration data, vibrations of the vehicle chassis, engine, tires, etc. can be related to the driving state and / or driving environment of the vehicle. Motor vibration data is generated by the motor integrated control system based on driving vibration data, and is used to control the vibration of the steering wheel motor and / or steering motor.

[0092] The vehicle operation data may be data related to the operation state generated during the driving process of the vehicle. The vehicle operation data may be angle data, speed data, motor state data, pedal state data, battery state data, etc. For example, the angle data may be the steering angle, angle change value, angular velocity, etc. of the wheels and / or steering wheel in the vehicle. The speed data may be the wheel speed, acceleration, angular velocity, etc. of the vehicle.

[0093] The motor status data may be the operating status of the motor, such as whether the motor is running, etc. The pedal status data may be the accelerator pedal depth and / or brake pedal depth of the vehicle. The battery status data may be the remaining battery power, etc. The driving status of the vehicle may be determined based on the vehicle operating data.

[0094] To summarize, the embodiment of the present application generates motor vibration data based on road feel data, and then controls the steering wheel motor to vibrate according to the generated motor vibration data, so that the steering wheel can also vibrate under the vibration of the steering wheel motor, so that the driver can receive feedback on the road feel data, and can adjust the vehicle's driving strategy according to the perceived road feel data, thereby improving the safety of vehicle driving.

[0095] In some embodiments, the motor vibration data includes vibration frequency.

[0096] The vibration frequency can be the number of times a signal vibrates per unit time. When the embodiment of the present application generates motor vibration data based on road sense data, different vibration frequencies can be determined based on the road sense data, and the road sense data can be distinguished by different vibration frequencies, so that the driver can judge different road sense data based on different vibration frequencies when receiving road sense feedback. For example, when there is a safety hazard in the driving conditions corresponding to the road sense data, motor vibration data with a vibration frequency greater than a first preset value can be generated to warn the driver through high-frequency vibration.

[0097] It should be understood that the motor vibration data can also be implemented as other contents, for example, the motor vibration data can also include but not limited to: vibration amplitude, vibration period, etc. The motor vibration data can include one or more contents, for example, the motor vibration data includes vibration frequency and vibration amplitude. In practical applications, the specific content of the motor vibration data can be flexibly determined according to demand.

[0098] In some embodiments, controlling the vibration of the steering wheel motor according to the motor vibration data includes: controlling the vibration of the steering wheel motor according to a second modulation wave corresponding to the vibration frequency.

[0099] The second modulation wave can control the vibration of the steering wheel motor. Exemplarily, the second modulation wave can be a PWM modulation wave, which controls the steering wheel motor to vibrate at a specific frequency by changing the pulse width of the signal to accurately simulate road feel data.

[0100] It should be understood that, for the sake of distinction, in the embodiment of the present application, the modulation wave used to control the vibration of the steering motor is referred to as the first modulation wave, and the modulation wave used to control the vibration of the steering wheel motor is referred to as the second modulation wave. In practical applications, if the steering motor and the steering wheel motor are motors of the same type or model, the first modulation wave and the second modulation wave may be the same. Of course, the first modulation wave and the second modulation wave may also be different.

[0101] In some embodiments, the road sense feedback method further includes: playing audio corresponding to the vibration frequency.

[0102] In addition to controlling the vibration of the steering wheel, the present application can also provide road feel feedback by playing audio to improve the authenticity of the road feel feedback, improve the degree of restoration of road feel data while driving, and achieve multi-dimensional and multi-angle road feel feedback.

[0103] When road feel feedback is performed by playing audio, the audio corresponding to the vibration frequency can be determined according to the vibration frequency in the motor vibration data, or the audio to be played can be modulated according to the vibration frequency and the frequency of the audio to be played can be modulated to be the same as the vibration frequency.

[0104] For example, when a user is playing a driving game, there are a large number of audio files in the game program of the vehicle, such as background music, game sound effects, etc. When the virtual road feeling data in the driving game is fed back with road feeling, the audio of the background music or game sound effects in the driving game can be converted into audio playback corresponding to the vibration frequency.

[0105] In some embodiments, when it is determined that the current situation is an emergency situation based on the road sense data, the steering wheel motor can be controlled to vibrate at a high frequency or play high-frequency audio, so as to warn the driver from the two dimensions of touch and hearing that the current driving environment or vehicle state is dangerous, thereby improving driving safety. For example, high-frequency vibration can be achieved by adjusting the vibration frequency of the motor vibration data, high-frequency audio can be generated by high-frequency vibration, or the frequency of the audio to be played in the multimedia device can be adjusted according to the high-frequency vibration frequency.

[0106] To summarize, the embodiments of the present application can combine audio and vibration to realize road feel feedback in multiple dimensions, simulate real road feel or realize the effect of music coordination during road feel feedback, improve the degree of restoration of road feel data, and effectively improve the driver's monitoring and perception of the road condition and vehicle status.

[0107] The embodiment of the present application can use the steering wheel as an interactive device with a somatosensory transmission function when using the car entertainment software, thereby improving the user experience.

[0108] In some embodiments, controlling the vibration of the steering wheel motor according to the road sense data includes: controlling the vibration of the steering motor according to the road sense data to vibrate the steering wheel motor connected to the steering motor.

[0109] In a traditional mechanical steering system, the steering wheel motor is connected to the steering motor so that the steering wheel motor can follow the steering motor. In the embodiment of the present application, the motor integrated control system can control the vibration of the steering motor according to the road sense data, so that the vibration of the steering motor is transmitted to the steering wheel motor, causing the steering wheel motor to vibrate, and then the steering wheel is vibrated by the vibration of the steering wheel motor.

[0110] In summary, the road feel feedback method of the embodiment of the present application can be used not only in a steer-by-wire system, but also in a traditional mechanical steering system, and has high compatibility.

[0111] The road sense feedback method provided in the embodiments of the present application is introduced and explained below with several examples.

[0112] In some embodiments, a road feel feedback method is provided, which is applied to a steer-by-wire system, and includes the following steps: (A1) Obtaining road sense data sent by multimedia devices and data acquisition modules.

[0113] The multimedia device may send road sense data in a virtual scene, such as road surface information contained in environmental road conditions preset in a car game.

[0114] The data acquisition module may send environmental data or vehicle status data during actual vehicle driving, such as data sent by angle sensors, wheel speed sensors, gyroscope sensors, radar sensors, vibration sensors, steering motor controllers, etc. collected by the data acquisition module.

[0115] (A2) Generate motor vibration data based on road feeling data.

[0116] The motor integrated control system can generate motor vibration data according to the acquired road feeling data, determine the second modulation wave according to the vibration frequency in the motor vibration data, and control the steering wheel motor through the second modulation wave. Exemplarily, the frequency range of the vibration frequency can be 0-10Mhz.

[0117] In addition, the motor integrated control system can also convert the frequency of the audio to be played according to the motor vibration modulation, or can determine the audio playback corresponding to the vibration frequency.

[0118] (A3) Controlling the vibration of the steering wheel motor according to the second modulation wave to cause the steering wheel to vibrate.

[0119] The steering wheel motor vibrates under the control of the second modulation wave. In addition, when there is audio corresponding to the motor vibration data, the audio signal can be superimposed on the vibration signal. When the steering wheel motor vibrates, the audio is played through the multimedia device to restore the real road feel.

[0120] In some embodiments, a road feel feedback method is provided, which is applied to a traditional steering system and includes the following steps: (B1) Obtaining road sense data sent by the multimedia device and the data acquisition module.

[0121] (B2) Extracting driving vibration data from road feel data.

[0122] The driving vibration data may be the vibration caused by the road when the vehicle is on a very flat road surface, or may be the vibration emitted by the rotating tires and wheels of the vehicle, or may be the vibration caused by the braking of the vehicle brakes, or may be the vibration caused by the design of the vehicle bearings, or may be the vibration caused by the inconsistency of the vehicle wheels, or may be the vibration caused by the wake of the preceding vehicle, etc. The driving vibration data may become more obvious as the vehicle speed increases, the traffic increases, or the weather conditions deteriorate.

[0123] (B3) Obtain vehicle operation data.

[0124] The vehicle operation data may include the operating status data of each motor in the vehicle, such as whether the motor is running; it may also include the steering status of the steering motor, the vehicle's pedal status, the remaining battery power, and other data representing the current operating status of the vehicle.

[0125] (B4) Controlling the steering motor to vibrate according to the driving vibration data and the vehicle operation data, so as to vibrate a steering wheel motor connected to the steering motor, thereby vibrating the steering wheel.

[0126] Motor vibration data is generated based on driving vibration data and vehicle operation data to control the vibration of the steering motor according to the motor vibration data, and then the vibration on the steering motor is transmitted to the steering wheel motor to vibrate the steering wheel motor, and finally the steering wheel vibrates to achieve road feel feedback.

[0127] In the embodiment of the present application, in a traditional steering system, the steering wheel motor can be vibrated by controlling the vibration of the steering motor, thereby vibrating the steering wheel and achieving road feel feedback.

[0128] To sum up, the road feel feedback method of the embodiment of the present application can achieve road feel feedback through the vibration of the steering wheel, which can provide road feel feedback more intuitively, improve the driver's driving experience, improve the safety of vehicle operation, and do not require additional road feel feedback motors, thereby reducing the development cost and structural complexity of the road feel feedback system.

[0129] According to the third aspect of the present application, the embodiment of the present application further provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the above-mentioned road sense feedback method are implemented. The non-transitory computer-readable storage medium has all the beneficial effects of the above-mentioned road sense feedback method, and the present application will not repeat them here.

[0130] According to the fourth aspect of the present application, an embodiment of the present application further provides a computer program product, including a computer program. When the computer program is executed by a processor, the computer program implements the above-mentioned road sense feedback method and has all the beneficial effects of the above-mentioned road sense feedback method. The present application will not go into details here.

[0131] According to the fifth aspect of the present application, an embodiment of the present application further provides an electronic device, comprising: a memory and a processor, wherein a computer program is stored in the memory; and the processor is used to execute the computer program in the memory to implement the steps of the above-mentioned road sense feedback method. The electronic device has all the beneficial effects of the above-mentioned road sense feedback method, which will not be described in detail in this application.

[0132] The computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof, which is not specifically limited in the present application. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0133] In some embodiments, computer readable storage media may be any tangible media that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0134] The computer-readable storage medium may be included in the electronic device or may exist independently without being installed in the electronic device. The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device controls the steering wheel motor to vibrate according to the road sense data, so as to vibrate the steering wheel.

[0135] Computer program code for performing the operations of some embodiments of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network (including a local area network (LAN) or a wide area network (WAN)), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0136] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a portion of a code, which contains one or more executable instructions for implementing a specified logical function.

[0137] It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures.

[0138] For example, two boxes shown in succession may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of boxes in the block diagram and / or flow chart, can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0139] The units described in some embodiments of the present application may be implemented by software or hardware, and the units described may also be arranged in a processor.

[0140] The functions described above in this article may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: Field Programmable Gate Array (FPGA), Application Specific Integrated Circuit (ASIC), Application Specific Standard Parts (ASSP), System on Chip (SOC), Complex Programmable Logic Device (CPLD), etc.

[0141] According to the sixth aspect of the present application, Figure 8 As shown, the embodiment of the present application further provides a vehicle 800, which includes the above electronic device, or includes the above road sense feedback system. The vehicle has all the beneficial effects of the above electronic device or road sense feedback system, etc., which will not be described in detail in this application.

[0142] The vehicle may be a fuel vehicle, a plug-in hybrid vehicle or a new energy vehicle, etc., and this application does not make any specific limitation on this.

[0143] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0144] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0145] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0146] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. Although the descriptions of various embodiments in the embodiments of the present application have different focuses, for parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A road feeling feedback system, characterized in that: The road sense feedback system comprises: a motor integrated control system (100), a steering wheel motor (210) and a steering wheel (220); wherein the steering wheel motor (210) is connected to the steering wheel (220); The motor integrated control system (100) is used to control the vibration of the steering wheel motor (210) according to road sense data, so as to cause the steering wheel (220) to vibrate.

2. The road feeling feedback system according to claim 1, characterized in that: The road sense feedback system further includes a data acquisition module (010); wherein: The data acquisition module (010) is used to send road sense data to the motor integrated control system (100).

3. The road feeling feedback system according to claim 2, characterized in that: The data acquisition module (010) comprises at least one of the following: an angle sensor, a wheel speed sensor, a gyroscope sensor, a radar sensor, a vibration sensor, and a steering motor controller.

4. The road feeling feedback system according to claim 2, characterized in that: The communication connection between the data acquisition module (010) and the motor integrated control system (100) includes at least one of the following: CAN bus, LIN bus, FlexRay, Ethernet.

5. The road feeling feedback system according to claim 1, characterized in that: The road sense feedback system further includes a multimedia device (020); wherein: The multimedia device (020) is used to send road sense data to the motor integrated control system (100).

6. The road feeling feedback system according to claim 5, characterized in that: The multimedia device (020) is further used to obtain road sense data according to the virtual scene.

7. The road feeling feedback system according to claim 5, characterized in that: The communication connection between the multimedia device (020) and the motor integrated control system (100) includes at least one of the following: MOST, Ethernet.

8. The road feeling feedback system according to claim 1, characterized in that: The road sense feedback system further comprises a steering motor (310); wherein the steering motor (310) is connected to the steering wheel motor (210); The motor integrated control system (100) is used to control the steering motor (310) to vibrate according to road sense data, so as to cause the steering wheel motor (210) to vibrate.

9. The road feeling feedback system according to claim 8, characterized in that: The road sense feedback system further includes an inverter (320) and a steering motor controller (330); wherein: The motor integrated control system (100) is used to: generate motor vibration data according to road feeling data; and send the motor vibration data to the steering motor controller (330); The steering motor controller (330) is used to: send a first modulation wave corresponding to the motor vibration data to the inverter (320); The inverter (320) is used to control the vibration of the steering motor (310) according to the first modulation wave.

10. The road feeling feedback system according to claim 1, characterized in that: The motor integrated control system (100) comprises at least one of the following: a motor controller, a vehicle controller, a power domain controller, and a steering controller.

11. The road feeling feedback system according to claim 1, characterized in that: The road sense feedback system further includes a multimedia device (020); wherein, The motor integrated control system (100) is further used to: generate motor vibration data according to the road feeling data; and send the motor vibration data to the multimedia device (020); The multimedia device (020) is used to play audio corresponding to the motor vibration data.

12. A road feeling feedback method, characterized in that: The method comprises: The steering wheel motor is controlled to vibrate according to the road sense data so that the steering wheel vibrates.

13. The road feeling feedback method according to claim 12, characterized in that: The controlling the vibration of the steering wheel motor according to the road sense data comprises: Generate motor vibration data based on road sense data; The steering wheel motor vibration is controlled according to the motor vibration data.

14. The road feeling feedback method according to claim 13, characterized in that: The road feeling data includes at least one of the following: driving vibration data and vehicle operation data.

15. The road feeling feedback method according to claim 13, characterized in that: The motor vibration data includes vibration frequency.

16. The road feeling feedback method according to claim 15, characterized in that: The controlling the vibration of the steering wheel motor according to the motor vibration data comprises: The steering wheel motor is controlled to vibrate according to the second modulation wave corresponding to the vibration frequency.

17. The road feeling feedback method according to claim 15, characterized in that: The method further comprises: Play the audio corresponding to the vibration frequency.

18. The road feeling feedback method according to claim 12, characterized in that: The controlling the vibration of the steering wheel motor according to the road sense data comprises: The steering motor is controlled to vibrate according to the road feeling data, so that a steering wheel motor connected to the steering motor is vibrated.

19. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the road sense feedback method according to any one of claims 12 to 18 is implemented.

20. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the road sense feedback method according to any one of claims 12 to 18 is implemented.

21. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the road sense feedback method according to any one of claims 12 to 18.

22. A vehicle, characterized in that: It comprises the road sense feedback system as described in any one of claims 1 to 11, or the electronic device as described in claim 21.

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