Road sense feedback system, method, storage medium, program product, device and vehicle

Abstract

The present application relates to a road feel feedback system, method, storage medium, program product, device, and vehicle. The road feel feedback system includes 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 can control the vibration of the steering wheel motor based on road feel data, and the vibration of the steering wheel motor can be transmitted to the steering wheel. Thus, the driver can perceive the current road state based on the vibration of the steering wheel, assisting the driver in adjusting driving operations based on the feedback road feel data, maintaining stable vehicle driving, and improving vehicle driving safety.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a road feel 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 on which the vehicle is currently traveling. This data allows the driver to perceive the vehicle's driving status and surroundings, thereby ensuring stable driving and improving driving safety. However, how to provide driver feedback on this data remains a pressing technical challenge. Summary of the Invention

[0003] Embodiments of the present application provide a road feel feedback system, method, storage medium, program product, device, and vehicle, which can provide feedback of road feel 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 includes: 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 configured 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, and Ethernet.

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

[0009] Optionally, the multimedia device is further used to obtain road sense data according to the 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 further 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 so as to cause the steering wheel motor to 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 the 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, so as 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 feel feedback method is implemented.

[0023] According to a fourth aspect of the present application, a computer program product is provided, comprising a computer program, wherein the computer program implements the above-mentioned road feel feedback method when executed by a processor.

[0024] According to a fifth aspect of the present application, an electronic device is provided, comprising: a memory storing a computer program; and a processor configured to execute the computer program in the memory to implement the above-mentioned road feel 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 feel feedback system.

[0026] In summary, the technical solution provided by the embodiments of the present application comprises a road feel feedback system comprising 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 can control the vibration of the steering wheel motor based on road feel data, and the vibration of the steering wheel motor can be transmitted to the steering wheel. This allows the driver to perceive the current road conditions based on the vibration of the steering wheel, assisting the driver in adjusting driving operations based on the feedback of road feel data, maintaining vehicle stability, and improving vehicle driving safety.

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

[0028] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[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 drawing numbers represent the same parts in the following description.

[0030] Figure 1 Schematic diagram of a road feel feedback system provided in an embodiment of the present application;

[0031] Figure 2 is a structural diagram of another road feel feedback system provided in an embodiment of the present application;

[0032] Figure 3 is a structural diagram of another road feel feedback system provided in an embodiment of the present application;

[0033] Figure 4 is a structural diagram of another road feel feedback system provided in an embodiment of the present application;

[0034] Figure 5 is a structural diagram of another road feel feedback system provided in an embodiment of the present application;

[0035] Figure 6 is a structural diagram of another road feel feedback system provided in an embodiment of the present application;

[0036] Figure 7 This is a flow chart of a road feel feedback method provided by an embodiment of the present application;

[0037] Figure 8 It is a schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not 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.

[0039] As vehicles become more intelligent, connected, and integrated, their usage is becoming more diverse. Vehicles are no longer just a means of transportation; they also have social and entertainment functions.

[0040] Road sense data refers to various data related to the road surface of the vehicle. For example, this data can include vehicle trajectory, traffic flow, road conditions, and other data. It can also include data related to the vehicle's motion, such as speed and steering wheel angle. Acquiring road sense data helps determine the vehicle's driving status and driving environment, ensuring stable driving.

[0041] In view of this, embodiments of the present application provide a road feel feedback system, method, storage medium, program product, device and vehicle, which can feed back road feel data to the driver to at least partially solve the above technical problems.

[0042] According to a first aspect of the present application, an embodiment of the present application provides a road feel feedback system.

[0043] See also Figure 1 , Figure 1 This is a schematic diagram of the structure of a road feeling feedback system provided by an embodiment of the present application. Figure 1As shown, the road feel 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. Furthermore, the steering wheel motor 210 can also be connected to the motor integrated control system 100. The motor integrated control system 100 is configured to control the vibration of the steering wheel motor 210 based on the road feel data, thereby causing the steering wheel 220 to vibrate.

[0044] The steering wheel motor 210 can be mounted 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 can be automatically rotated by the steering wheel motor 210, replacing the driver's manual operation.

[0045] The steering wheel motor 210 in 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 road feel data through the vibration of the steering wheel 220 and realize road feel feedback.

[0046] In some embodiments, different road feel data can correspond to different forms of vibration. For example, different vibration frequencies or vibration intervals can be set for different road feel data, such as the presence of an obstacle ahead, the need to change lanes or turn, or the vehicle's speed exceeding a preset value. This allows the driver to perceive different vibration feedback under different road conditions.

[0047] In some embodiments, the steering wheel motor 210 may be a power steering motor. This motor assists the driver in turning the steering wheel during steering maneuvers. By providing appropriate assistance or damping, the power steering motor helps the driver more precisely control the vehicle, improving driving comfort and safety. When providing road feel feedback via the power steering motor, the motor integrated control system 100 controls the vibration of the power steering motor based on the road feel data, causing the steering wheel 220 to vibrate in response to the vibration of the power steering motor, thereby providing the driver with road feel feedback.

[0048] 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.

[0049] In summary, the road feel feedback system provided in the embodiments of the present application includes a motor integrated control system, a steering wheel motor, and a steering wheel, with the steering wheel motor being connected to the steering wheel. The motor integrated control system can control the vibration of the steering wheel motor based on road feel data, and the vibration of the steering wheel motor can be transmitted to the steering wheel. This allows the driver to perceive the current road conditions based on the vibration of the steering wheel, assisting the driver in adjusting driving operations based on the feedback road feel data, ensuring stable driving of the vehicle and improving vehicle safety.

[0050] The road feel feedback system provided in the embodiment of the present application can be applied to traditional steering systems as well as to wire-controlled steering systems, and has good compatibility.

[0051] In some embodiments, as 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 .

[0052] The data acquisition module 010 is connected to the motor integrated control system 100 and is used to collect road feel data when the vehicle is driving, and send the collected road feel 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 feel data.

[0053] 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.

[0054] An angle sensor can be used to collect steering angle data, such as angle values ​​or angle changes. The steering angle data collected by the angle sensor can be used to determine the vehicle's driving state and / or the state of the road surface on which the vehicle is traveling. For example, the angle sensor can be used to collect data such as the steering angle of the steering wheel 220, the steering angle of the wheels, and the vehicle's tilt angle. A wheel speed sensor can be used to collect wheel speed. The wheel speed data collected by the wheel speed sensor can be used to determine the vehicle's driving speed. When the vehicle speed exceeds a threshold, a timely response can be provided to ensure stable driving of the vehicle. A gyroscope sensor can be used to collect the vehicle's angular velocity, which can be used to determine the vehicle's driving stability. A radar sensor can use radio waves to detect data such as the distance, speed, and angle of a target object. Radar sensors can detect the distance or speed of vehicles in front of or around the vehicle, providing safety warnings and assisting in automatic control during driving. A vibration sensor can be used to determine vibration status, such as detecting vibration data such as vibration acceleration, vibration velocity, or vibration displacement. The vibration sensor can respond promptly to abnormal vibrations in core vehicle components such as the engine and chassis, improving vehicle safety. A steering motor controller can be used to control the steering motor. The steering motor controller can control the steering motor according to the vehicle's driving state and the driver's operating intention. When the data acquisition module 010 is a steering motor controller, it can collect control data of the steering motor by the steering motor controller, that is, data related to vehicle steering.

[0055] 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 feel data, so that the motor integrated control system 100 can perform road feel feedback control based on the road feel data.

[0056] 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, and Ethernet.

[0057] 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 is suitable for transmitting real-time data from the data acquisition module 010 to the motor integrated control system 100, such as data collected by angle sensors, wheel speed sensors, gyroscopes, and radar sensors. The Local Interconnect Network (LIN) bus is a low-cost serial communication network used for controlling distributed electronic systems in a vehicle. While the LIN bus has a relatively low communication speed, its structure is simple and low-cost. It is suitable for data with small data volumes and low real-time requirements, such as data collected by vibration sensors or low-volume control data in steering motor controllers. FlexRay is a protocol standard specifically designed for in-vehicle local area networks (LANs). FlexRay offers fault tolerance and high transmission rates, making it suitable for safety-critical drive-by-wire applications and bandwidth-demanding output transmission scenarios. Ethernet is an in-vehicle LAN technology suitable for high-speed data transmission within driving systems, such as sensor data from radar sensors.

[0058] In some embodiments, as Figure 3 As shown, the road feeling feedback system further includes a multimedia device 020. The multimedia device 020 is used to send road feeling data to the motor integrated control system 100.

[0059] The addition of multimedia devices 020 to vehicles can enrich their functionality. Traditional multimedia devices 020 can be used for audio playback, navigation, and phone calls. With the development of intelligent vehicles, drivers can also use multimedia devices 020 for entertainment, such as surfing the Internet and playing games. Multimedia devices 020 can enhance the driving experience for drivers and passengers, and can also improve the overall intelligence and safety of the vehicle.

[0060] For example, when a driver plays a car game via multimedia device 020 in a vehicle, the car game also includes virtual road feel data. The multimedia device 020 in this embodiment of the present application can transmit the virtual road feel data to the motor integrated control system 100, so that the motor integrated control system 100 also provides road feel feedback for the virtual road feel data, giving the player a realistic gaming experience and improving the user experience.

[0061] In some embodiments, the multimedia device 020 is further used to obtain road sense data based on the virtual scene.

[0062] 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 on the multimedia device 020. When the driver is playing the driving game, the multimedia device 020 can obtain virtual road feel data based on the virtual scene simulated in the driving game and send the virtual road feel data to the motor integrated control system 100. The details of the virtual road feel data can be found in the above embodiments and will not be elaborated here.

[0063] 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.

[0064] Media Oriented Systems Transport (MOST) is a media data bus used in automotive infotainment systems, specifically for transmitting multimedia data between multimedia devices and motor control systems. Ethernet, an in-car local area network (LAN) technology, is suitable for high-speed multimedia data transmission between multimedia devices.

[0065] In some embodiments, multimedia device 020 may also be connected to data acquisition module 010 to combine virtual road feel data from multimedia device 020 with actual road feel data from data acquisition module 010 to provide the driver with integrated road feel feedback. For example, when the driver is playing a driving game, steering data from steering wheel 220 may be collected by data acquisition module 010. The motor integrated control system 100 may combine the road feel data collected by data acquisition module 010 with the road feel data from multimedia device 020 to provide road feel feedback.

[0066] In addition to obtaining the actual road feel data collected by the data acquisition module 010 during the actual driving of the vehicle, the motor integrated control system 100 of the embodiment of the present application can also receive virtual road feel data sent by the multimedia device 020, and can also combine the road feel data of the data acquisition module 010 and the road feel data of the multimedia device 020 to realize road feel feedback, which can restore the real driving environment and vehicle status and improve the user experience.

[0067] In some embodiments, as Figure 4 As shown, the road feel 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 feel data, so as to vibrate the steering wheel motor 210.

[0068] The steering motor 310 can control the steering of the wheels and is typically located 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 based on the road sense data, the vibration of the steering motor 310 can be transmitted to the steering wheel motor 210 due to the connection between the steering motor 310 and the steering wheel motor 210, causing the steering wheel motor to vibrate. It is 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.

[0069] In summary, the embodiments of the present application can be applied to traditional steering control systems. When the steering motor and the steering wheel motor are hard-connected, the motor integrated control system controls the vibration of the steering motor, thereby driving the vibration of the steering wheel motor. This in turn causes the steering wheel to vibrate under the vibration of the steering wheel motor, allowing the driver to intuitively feel the road feel feedback. It can be understood that in addition to being applicable to traditional steering control systems, the embodiments of the present application can also be applied to wire-controlled steering systems, where the steering wheel vibrates through the vibration of the steering wheel motor. This makes it suitable for vehicles with different steering systems and has good compatibility.

[0070] In some embodiments, as Figure 5 As shown, the road feel feedback system also includes an inverter 320 and a steering motor controller 330. The motor integrated control system 100 is configured to generate motor vibration data based on the road feel data and transmit the motor vibration data to the steering motor controller 330. The steering motor controller 330 is configured to transmit a first modulated wave corresponding to the motor vibration data to the inverter 320. The inverter 320 is configured to control the vibration of the steering motor 310 based on the first modulated wave.

[0071] The steering motor controller 330 is used to control the operating state of the steering motor 310. Under the control of the vehicle control system, the steering motor controller 330 controls the speed and torque of the steering motor 310 to achieve precise steering control of the wheels. The steering motor controller 330 receives control commands from the motor integrated control system 100. Based on the control commands from the steering motor controller 330, the inverter 320 converts the DC signal into an AC signal and outputs the AC signal to the steering motor 310, thereby driving the rotor in the steering motor 310 to rotate.

[0072] When the motor integrated control system 100 controls the steering motor 310 to vibrate based on the road feel data, the motor integrated control system 100 can generate motor vibration data based on the road feel 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 based on the motor vibration data, causing the inverter 320 to invert the DC signal into a harmonic AC signal based on the first modulation wave emitted by the steering motor controller 330. The inverter 320 then injects the harmonic AC signal into the steering motor 310 control signal, causing the harmonic AC signal to generate 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 and causing the stator and housing of the motor to vibrate at a specified frequency.

[0073] 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.

[0074] 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.

[0075] The motor controller can be used to control motor speed, torque, and other factors. The motors controlled by the motor controller can include the steering motor 310, the steering wheel motor 210, and so on. The vehicle controller can be used to control and manage the entire vehicle. The power domain controller can be responsible for powertrain control. The steering controller can be used to control the vehicle's steering system, ensuring that the vehicle steers according to the driver's intent. It will be appreciated that, unlike the steering motor controller 330, the steering controller controls the entire vehicle's steering system, while the steering motor controller 330 controls only the steering motor.

[0076] The motor controller, vehicle controller, power domain controller, and steering controller can all be used to connect to the steering wheel motor 210 and control the steering wheel motor 210 to vibrate according to the road sense data, so as to make the steering wheel 220 vibrate.

[0077] 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 by controlling the vibration of the steering motor to drive the vibration of the steering wheel motor, the steering wheel vibration is finally used to provide road feel feedback, thereby improving the safety and reliability of vehicle driving.

[0078] 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.

[0079] In some embodiments, the road feel feedback system further includes a multimedia device 020. The motor integrated control system 100 is further configured to generate motor vibration data based on the road feel 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.

[0080] Please continue reading Figure 3 The road feel feedback system shown in the figure, the embodiment of the present application can also perform road feel feedback through the multimedia device 020. For example, the motor integrated control system 100 can generate motor vibration data based on the road feel data, and the multimedia device 020 can match 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 matched with 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 matched with the frequency of the vibration data, such as determining the amplitude of the audio according to the frequency of the motor vibration data.

[0081] In summary, this application combines steering wheel vibration with audio played by multimedia devices, allowing drivers to perceive road feel data in multiple dimensions, improving the fidelity of road feel data. Unlike torque simulation, this application uses vibration perception, audio playback, and other methods to achieve multi-dimensional perception of road feel data, improving the feedback effect and reliability of road feel data.

[0082] Below, an example is used to introduce and illustrate the road feel feedback system provided in an embodiment of the present application.

[0083] In some embodiments, as Figure 6 As shown, a specific road feel 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:

[0084] 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 feel data to the motor integrated control system 100. The data acquisition module 010 can collect road feel data of the vehicle during actual driving, and the multimedia device 020 can determine virtual road feel data in virtual scenes such as vehicle games.

[0085] It can be understood that the embodiments of the present application can provide feedback perception of road feel data during actual vehicle driving, 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.

[0086] The motor integrated control system 100 is used to generate motor vibration data based on 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.

[0087] When the vehicle uses a steer-by-wire system, the motor integrated control system 100 can be connected to the steering wheel motor 210, which is in turn connected to the steering wheel 220. The motor integrated control system 100 can control the vibration of the steering wheel motor 210 based on the motor vibration data. The steering wheel motor 210 transmits the vibration to the steering wheel 220 connected to the steering wheel motor 210, thereby causing the steering wheel 220 to vibrate.

[0088] When the vehicle has a mechanical steering system, the steering wheel motor 210 can be connected to the steering motor 310. The steering motor 310 is also connected to the inverter 320. The inverter 320 is connected to the steering motor controller 330. 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 based on the motor vibration data to generate a second modulated wave corresponding to the vibration frequency in the motor vibration data. Then, the inverter 320 generates a vibration control signal based on the second modulated wave output by the steering motor controller 330. The vibration control signal output by the inverter 320 controls the vibration of the steering motor 310. Because the steering motor 310 is hard-wired 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.

[0089] 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.

[0090] According to the second aspect of the present application, an embodiment of the present application provides a road feel feedback method.

[0091] See also Figure 7 , Figure 7 This is a flow chart of a road sense feedback method provided by an embodiment of the present application. Figure 7 As shown, the road feeling feedback method includes:

[0092] Step S700: Controlling the steering wheel motor to vibrate according to the road feeling data to make the steering wheel vibrate.

[0093] In the embodiment of the present application, the motor integrated control system can directly control the vibration of the steering wheel motor based on the road feel 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 perceive the road feel data through the vibration of the steering wheel, realizing road feel feedback.

[0094] The road sense data can be collected by the data acquisition module and formed during the actual driving process of the vehicle; it can also be set in a multimedia device, such as road sense data in a virtual scene in a car game.

[0095] 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, facilitate the driver to respond in time, and improve the safety of vehicle driving.

[0096] 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.

[0097] The motor integrated control system acquires road feel data from actual vehicle driving or virtual scenarios and generates motor vibration data based on this data. The steering wheel motor then vibrates based on this vibration data, such as determining the steering wheel motor's vibration frequency, amplitude, and clearance.

[0098] In the embodiment of the present application, the motor vibration data is related to the road feel data. The motor integrated control system determines the motor vibration data based on the acquired road feel data, and then controls the steering wheel motor vibration based on the motor vibration data.

[0099] In some embodiments, the road feeling data includes at least one of the following: driving vibration data, vehicle operation data.

[0100] Driving vibration data can be derived from vibrations generated by components within the vehicle while driving, such as engine vibration, tire vibration, brake vibration, and wake vibration from the preceding vehicle. Unlike motor vibration data, vibrations from the vehicle chassis, engine, and tires can be related to the vehicle's driving state and / or driving environment. Motor vibration data, on the other hand, is generated by the motor integrated control system based on driving vibration data and is used to control the vibrations of the steering wheel motor and / or steering motor.

[0101] Vehicle operation data may be data related to the vehicle's operating status generated during driving. This data may include angle data, speed data, motor status data, pedal status data, battery status data, and the like. For example, angle data may include the steering angle, angle change, and angular velocity of the vehicle's wheels and / or steering wheel. Velocity data may include the vehicle's wheel speed, acceleration, and angular velocity.

[0102] Motor status data may include the operating status of the motor, such as whether the motor is running. Pedal status data may include the accelerator pedal depth and / or brake pedal depth of the vehicle. Battery status data may include the remaining battery charge. The vehicle's driving status can be determined based on the vehicle operating data.

[0103] To sum up, 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 from 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.

[0104] In some embodiments, the motor vibration data includes vibration frequency.

[0105] The vibration frequency can be the number of times a signal vibrates per unit time. When generating motor vibration data based on road feel data, embodiments of the present application can determine different vibration frequencies based on the road feel data, and differentiate the road feel data through different vibration frequencies, allowing the driver to discern different road feel data based on the different vibration frequencies when receiving road feel feedback. For example, when the road condition corresponding to the road feel data presents a safety hazard, motor vibration data with a vibration frequency greater than a first preset value can be generated to alert the driver through high-frequency vibration.

[0106] It should be understood that motor vibration data can also be implemented as other content. For example, motor vibration data can also include, but is not limited to, vibration amplitude, vibration period, etc. Motor vibration data can include one or more content, for example, motor vibration data includes vibration frequency and vibration amplitude. In actual applications, the specific content of motor vibration data can be flexibly determined according to needs.

[0107] 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.

[0108] The second modulation wave can control the vibration of the steering wheel motor. For example, 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.

[0109] It should be understood that, for ease of distinction, in the present embodiment, 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 actual applications, if the steering motor and the steering wheel motor are of the same type or model, the first modulation wave and the second modulation wave can be the same. Of course, the first modulation wave and the second modulation wave can also be different.

[0110] In some embodiments, the road feel feedback method further includes: playing audio corresponding to the vibration frequency.

[0111] In addition to controlling the vibration of the steering wheel, this application can also provide road feel feedback by playing audio to improve the authenticity of the road feel feedback, improve the restoration of road feel data during driving, and achieve multi-dimensional and multi-angle road feel feedback.

[0112] When road feel feedback is performed by playing audio, the audio corresponding to the vibration frequency can be determined based on the vibration frequency in the motor vibration data, or the audio to be played can be modulated based on the vibration frequency to make the frequency of the audio to be played the same as the vibration frequency.

[0113] For example, when a user is playing a driving game, the vehicle's game program contains a large number of audio files, such as background music and game sound effects. When providing road feel feedback for the virtual road feel data in the driving game, the background music or game sound effects in the driving game can be converted into audio corresponding to the vibration frequency for playback.

[0114] In some embodiments, when an emergency situation is determined based on road sense data, the steering wheel motor can be controlled to vibrate at a high frequency or play high-frequency audio, alerting the driver to the dangers of the current driving environment or vehicle status through both tactile and auditory means, 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 on the multimedia device can be adjusted based on the high-frequency vibration frequency.

[0115] To sum up, the embodiments of the present application can combine audio and vibration to realize road feel feedback in multiple dimensions, simulate real road feel or achieve the effect of musical coordination during road feel feedback, improve the restoration of road feel data, and effectively improve the driver's monitoring and perception of the road conditions and vehicle status.

[0116] The embodiment of the present application can use the steering wheel as an interactive device with somatosensory transmission function when using car entertainment software, thereby improving the user experience.

[0117] In some embodiments, 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, so as to vibrate the steering wheel motor connected to the steering motor.

[0118] In traditional mechanical steering systems, the steering wheel motor is connected to the steering motor so that it 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 based on road feel 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 vibration of the steering wheel motor causes the steering wheel to vibrate.

[0119] 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.

[0120] The road feel feedback method provided in the embodiments of the present application is introduced and explained below with several examples.

[0121] In some embodiments, a road feel feedback method is provided for use in a steer-by-wire system, comprising the following steps:

[0122] (A1) Obtain road sensing data sent by the multimedia device and the data acquisition module.

[0123] The multimedia device may send road sense data in a virtual scene, such as road surface information contained in the environmental road conditions preset in the car game.

[0124] 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.

[0125] (A2) Generate motor vibration data based on road feeling data.

[0126] The motor integrated control system can generate motor vibration data based on the acquired road feel data, and determine a second modulation wave based on the vibration frequency in the motor vibration data to control the steering wheel motor using the second modulation wave. For example, the vibration frequency can range from 0 to 10 MHz.

[0127] 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.

[0128] (A3) Controlling the steering wheel motor to vibrate according to the second modulation wave to cause the steering wheel to vibrate.

[0129] 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 feeling.

[0130] In some embodiments, a road feel feedback method is provided, which is applied to a conventional steering system and includes the following steps:

[0131] (B1) Obtaining road sensing data sent by the multimedia device and the data acquisition module.

[0132] (B2) Extracting driving vibration data from the road feel data.

[0133] Driving vibration data can include vibrations caused by the road when the vehicle is on a very flat surface, vibrations from the rotating tires and wheels, vibrations caused by the braking of the vehicle, vibrations caused by the design of the vehicle's bearings, vibrations caused by misalignment of the vehicle's wheels, vibrations caused by the tailwind of the preceding vehicle, etc. Driving vibration data may become more pronounced as vehicle speed increases, traffic increases, or weather conditions worsen.

[0134] (B3) Obtain vehicle operation data.

[0135] 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 that characterize the vehicle's current operating status.

[0136] (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.

[0137] Motor vibration data is generated based on driving vibration data and vehicle operation data to control the steering motor vibration based on the motor vibration data. The vibration on the steering motor is then transmitted to the steering wheel motor, causing the steering wheel motor to vibrate, and finally the steering wheel to vibrate, thereby achieving road feel feedback.

[0138] In a traditional steering system, the embodiments of the present application can control the vibration of the steering motor to vibrate the steering wheel motor, thereby vibrating the steering wheel to achieve road feel feedback.

[0139] In summary, 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, and improve the safety of vehicle operation. There is no need to add an additional road feel feedback motor, which reduces the development cost and structural complexity of the road feel feedback system.

[0140] According to a third aspect of the present application, embodiments of the present application further provide a non-transitory computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the aforementioned road feel feedback method. This non-transitory computer-readable storage medium has all the beneficial effects of the aforementioned road feel feedback method, and this application will not further elaborate on them.

[0141] 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, it implements the above-mentioned road feel feedback method and has all the beneficial effects of the above-mentioned road feel feedback method. This application will not go into details here.

[0142] According to a fifth aspect of the present application, an embodiment of the present application further provides an electronic device comprising: a memory and a processor, wherein the memory stores a computer program; the processor is configured to execute the computer program in the memory to implement the steps of the aforementioned road feel feedback method. This electronic device has all the beneficial effects of the aforementioned road feel feedback method, and this application will not further elaborate on them.

[0143] The computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or any combination thereof, and this application does not specifically limit this. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having 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.

[0144] In some embodiments, computer readable storage media may be any tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0145] The computer-readable storage medium may be included in the electronic device or may exist independently and not incorporated into the electronic device. The computer-readable storage medium carries one or more programs. When executed by the electronic device, the electronic device controls the steering wheel motor to vibrate based on the road sense data, thereby vibrating the steering wheel.

[0146] 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 stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through 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., through the Internet using an Internet service provider).

[0147] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, 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, program segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function.

[0148] 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.

[0149] For example, two blocks shown in succession may actually be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functionality involved. It should also be noted that each block in the block diagrams and / or flow charts, and combinations of blocks in the block diagrams and / or flow charts, may be implemented using a dedicated hardware-based system that performs the specified functions or operations, or may be implemented using a combination of dedicated hardware and computer instructions.

[0150] The units described in some embodiments of the present application may be implemented in software or hardware, and may also be provided in a processor.

[0151] The functions described above may be at least partially performed by one or more hardware logic components. For example, and 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), and the like.

[0152] According to the sixth aspect of this application, Figure 8 As shown, the embodiment of the present application further provides a vehicle 800, which includes the above-mentioned electronic device or the above-mentioned road feel feedback system. The vehicle has all the beneficial effects of the above-mentioned electronic device or road feel feedback system, etc., and this application will not repeat them here.

[0153] 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 restrictions on this.

[0154] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0155] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0156] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other unless there is any conflict.

[0157] The above are merely preferred embodiments of the present application and do not constitute any form of limitation to the present application. Although the descriptions of each embodiment 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 feel feedback system, characterized in that: The road feel 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 feeling data, so that the vibration of the steering wheel motor (210) is transmitted to the steering wheel (220), so that the steering wheel (220) vibrates along with the vibration of the steering wheel motor (210); The road feel feedback system further comprises a steering motor (310), an inverter (320) and a steering motor controller (330); wherein the steering motor (310) is connected to the steering wheel motor (210); The motor integrated control system (100) is further configured to: generate motor vibration data according to the road feeling data; send the motor vibration data to the steering motor controller (330); the steering motor controller (330) is configured to: send a first modulation wave corresponding to the motor vibration data to the inverter (320); the inverter (320) is configured to: control the steering motor (310) to vibrate according to the first modulation wave, so as to cause the steering wheel motor (210) to vibrate; The road feeling data includes at least one of the following: driving vibration data, vehicle operation data; different road feeling data correspond to different forms of vibration; The road feeling feedback system further includes a multimedia device (020) for: acquiring the road feeling data according to a virtual scene; and sending the road feeling data to the motor integrated control system (100).

2. The road feel feedback system according to claim 1, characterized in that: The road feeling 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 feel feedback system according to claim 2, characterized in that: 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.

4. The road feel 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, and Ethernet.

5. The road feel feedback system according to claim 1, 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.

6. The road feel 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.

7. The road feel 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.

8. A road feel feedback method, characterized in that: The method comprises: controlling the vibration of the steering wheel motor according to the road feeling data, so that the vibration of the steering wheel motor is transmitted to the steering wheel, causing the steering wheel to vibrate along with the vibration of the steering wheel motor; The controlling the steering wheel motor to vibrate according to the road sense data includes: controlling the steering motor controller to send a first modulation wave to the inverter according to the road sense data, so that the inverter controls the steering motor to vibrate according to the first modulation wave, thereby vibrating the steering wheel motor connected to the steering motor; The road feeling data includes at least one of the following: driving vibration data, vehicle operation data; different road feeling data corresponds to different forms of vibration; The method further includes: obtaining road sense data in a virtual scene sent by a multimedia device.

9. The road feeling feedback method according to claim 8, characterized in that: The controlling of the steering wheel motor vibration according to the road sense data includes: Generate motor vibration data based on road sense data; The steering wheel motor vibration is controlled according to the motor vibration data.

10. The road feeling feedback method according to claim 9, characterized in that: The motor vibration data includes vibration frequency.

11. The road feeling feedback method according to claim 10, characterized in that: The controlling the steering wheel motor vibration according to the motor vibration data includes: The steering wheel motor is controlled to vibrate according to the second modulation wave corresponding to the vibration frequency.

12. The road feeling feedback method according to claim 10, characterized in that: The method further comprises: Play the audio corresponding to the vibration frequency.

13. 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 8 to 12 is implemented.

14. 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 8 to 12 is implemented.

15. 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 8 to 12.

16. A vehicle, characterized in that: The device comprises the road sense feedback system according to any one of claims 1 to 7, or the electronic device according to claim 15.

Images