Vehicle control method and device, electronic equipment and storage medium

Abstract

The invention provides a vehicle control method and device, electronic equipment and a storage medium, a vehicle is provided with a steer-by-wire system, the steer-by-wire system comprises a steering wheel and a steering wheel actuator electrically connected with the steering wheel, and the method comprises the steps that in response to operation of a driver on the steering wheel, system kinetic parameters of the steering wheel actuator are obtained; determining an initial input torque of a driver to a steering wheel according to the system kinetic parameters; inputting the initial input torque and the system kinetic parameters into a pre-constructed state space model of a steering wheel actuator to obtain a target input torque; and controlling the vehicle based on the target input torque. According to the invention, the hardware arrangement cost in the steer-by-wire system can be reduced, and the accuracy of estimating the input torque of the steering wheel by a driver can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automobiles, and particularly to a control method and device for a vehicle, an electronic device, and a storage medium. Background Art

[0002] With the rapid development of automotive intelligence and electrification, the mechanical steering system gradually shows limitations in terms of flexibility, safety, and compatibility with autonomous driving, and the steer-by-wire technology for automobiles emerges as the times require.

[0003] In a steer-by-wire system, the mechanical steering column is cancelled, and there is no direct physical connection between the steering wheel and the wheels. Steering operations are achieved through sensors, an electronic control unit (ECU), actuators, etc., that is, steering commands are completely transmitted through electronic signals. Among them, the hand wheel actuator (HWA) is one of the core components of the steer-by-wire system.

[0004] In related technologies, the hand wheel actuator needs to measure the input torque of the driver on the steering wheel through a torque sensor, calculate data such as the steering angle and steering torque, and then transmit them to the steering actuator to achieve vehicle steering. However, the torque sensor will increase the hardware layout cost, and due to the limitations of the performance of the torque sensor itself, there may be accuracy errors, resulting in inaccurate measurement of the driver's input torque. Summary of the Invention

[0005] In view of the above problems, a control method and device for a vehicle, an electronic device, and a storage medium are proposed to overcome or at least partially solve the above problems, including:

[0006] A control method for a vehicle, the vehicle is provided with a steer-by-wire system, the steer-by-wire system includes a steering wheel and a hand wheel actuator electrically connected to the steering wheel, and the method includes:

[0007] In response to an operation of the driver on the steering wheel, obtain system dynamics parameters of the hand wheel actuator;

[0008] Determine an initial input torque of the driver on the steering wheel according to the system dynamics parameters;

[0009] Input the initial input torque and the system dynamics parameters into a pre-constructed state space model of the hand wheel actuator to obtain a target input torque;

[0010] Control the vehicle based on the target input torque.

[0011] Optionally, the state - space model includes a state equation composed of state variables and input variables, and an output equation composed of output variables; the step of inputting the initial input torque and the system dynamic parameters into the pre - constructed state - space model of the steering wheel actuator to obtain the target input torque includes:

[0012] Determine a first parameter from the system dynamic parameters, and use the first parameter and the initial input torque as the state variables of the state equation;

[0013] Determine a second parameter from the system dynamic parameters, and use the second parameter as the input variable of the state equation;

[0014] Predict the target state variables of the steering wheel actuator in the next state through the state equation;

[0015] Determine the input torque of the steering wheel actuator in the next state as the output variable of the output equation, and solve the output equation based on the target state variables to obtain the target input torque.

[0016] Optionally, the state equation further includes a state - transition matrix corresponding to the state variables and an input matrix corresponding to the input variables. The step of predicting the target state variables of the steering wheel actuator in the next state through the state equation includes:

[0017] Determine a third parameter from the system dynamic parameters, and construct the state - transition matrix according to the third parameter;

[0018] Determine a fourth parameter from the system dynamic parameters, and construct the input matrix according to the fourth parameter;

[0019] Solve the state equation according to the product of the state - transition matrix and the state variables, and the product of the input variables and the input matrix to obtain the target state variables.

[0020] Optionally, the step of determining the initial input torque of the driver on the steering wheel according to the system dynamic parameters includes:

[0021] Obtain the pre - constructed dynamic model of the steering wheel actuator;

[0022] Input the system dynamic parameters into the dynamic model to obtain the initial input torque.

[0023] Optionally, the system dynamic parameters include one or more of a system friction torque parameter, a system moment of inertia parameter, a system damping coefficient, a steering angle parameter, a steering angular velocity parameter, a feedback motor torque parameter, and a transmission ratio parameter.

[0024] Optionally, obtaining the system dynamic parameters of the steering wheel actuator includes:

[0025] Obtaining the working condition information of the steering wheel actuator and obtaining the system friction torque parameters corresponding to the working condition information.

[0026] Optionally, the first parameter is the steering angle parameter, the steering angular velocity parameter, and the system friction torque parameter, the second parameter is the feedback motor torque parameter, the third parameter is the system moment of inertia parameter and the system damping coefficient, and the fourth parameter is the system moment of inertia parameter and the transmission ratio parameter.

[0027] A control device for a vehicle, the vehicle is provided with a steer-by-wire system, the steer-by-wire system includes a steering wheel and a steering wheel actuator electrically connected to the steering wheel, and the device includes:

[0028] A parameter acquisition module, configured to obtain the system dynamic parameters of the steering wheel actuator in response to an operation of the driver on the steering wheel;

[0029] An initial torque determination module, configured to determine the initial input torque of the driver on the steering wheel according to the system dynamic parameters;

[0030] A target torque determination module, configured to input the initial input torque and the system dynamic parameters into a pre-constructed state space model of the steering wheel actuator to obtain a target input torque;

[0031] A control module, configured to control the vehicle based on the target input torque.

[0032] An electronic device includes a processor, a memory, and a computer program stored on the memory and capable of running on the processor. When the computer program is executed by the processor, the control method of the vehicle as described above is implemented.

[0033] A computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the control method of the vehicle as described above is implemented.

[0034] The embodiments of the present invention have the following advantages: By determining the initial input torque of the driver on the steering wheel through system dynamic parameters, it is not necessary to use a torque sensor to collect the input torque of the driver, reducing the hardware layout cost; then, according to the state space model and system dynamic parameters, the target input torque is obtained, realizing the correction of the initial input torque, effectively improving the accuracy of the target input torque, and enabling the vehicle to perform precise steering according to the steering requirements of the driver. Description of the Drawings

[0035] To more clearly illustrate the technical solution of the present invention, the accompanying drawings required for the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0036] Figure 1 is a flowchart of the steps of a data processing method provided by an embodiment of the present invention;

[0037] Figure 2 is a schematic flowchart of combining a kinetic model and a Kalman filter to output a target input torque provided by an embodiment of the present invention;

[0038] Figure 3 is a structural block diagram of a data processing device provided by an embodiment of the present invention. Specific Embodiments

[0039] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the protection scope of the present invention.

[0040] Referring to Figure 1 , a flowchart of the steps of a vehicle control method provided by an embodiment of the present invention is shown. The vehicle is provided with a steer-by-wire system, and the steer-by-wire system includes a steering wheel and a steering wheel actuator electrically connected to the steering wheel. The method may specifically include the following steps:

[0041] Step 101, in response to the driver's operation on the steering wheel, obtain the system dynamic parameters of the steering wheel actuator;

[0042] The operation performed by the driver on the steering wheel can be the steering operation of the steering wheel by the driver during the processes of driving the vehicle straight, turning around, reversing, etc., such as left and right steering, fine-tuning steering, fine-tuning steering, returning to the original position, etc., which indicates that the driver has the intention of steering the vehicle.

[0043] In a steer-by-wire (SbW) system, the relationship between the steering wheel and the steering wheel actuator is decoupled through electronic signals and a control system, replacing the traditional mechanical or hydraulic connection to achieve the steering operation of the vehicle. The steering wheel receives the input torque from the driver, and the steering wheel actuator transmits a control signal to the steering components of the vehicle according to the input torque to steer the vehicle.

[0044] The system dynamic parameters of the steering wheel actuator (HWA) refer to the system that regards the steering wheel actuator as a whole, which can characterize the overall system, or individuals within the system, or the performance index parameters related to this system, involving aspects such as mechanical, electrical, and control systems; the system dynamic parameters can be specifically divided into three major types of parameters: system inherent characteristic parameters, real-time operating state data, and interference factors. Among them, the system inherent characteristic parameters can be pre-calibrated through experiments and other methods, while the parameters of real-time operating state data and interference factors can be collected in real time.

[0045] In some embodiments of the present invention, the system dynamic parameters include one or more of the system friction torque parameter, system moment of inertia parameter, system damping coefficient, steering angle parameter, steering angular velocity parameter, feedback motor torque parameter, and transmission ratio parameter.

[0046] The friction torque parameter refers to the torque that hinders the rotation of the steering wheel generated by mechanical friction (such as bearings and gear contact surfaces) in the steering wheel actuator system.

[0047] The moment of inertia parameter refers to the relevant parameters that describe the moment of inertia of the steering wheel actuator. Specifically, it can be the equivalent moment of inertia value of the steering wheel actuator system, that is, the moment of inertia of all rotating components (such as motors and gears) in the steering wheel actuator, and the equivalent value after being converted to a certain reference axis (such as the steering wheel axis);

[0048] The system damping coefficient refers to the relevant parameters that describe the damping of the steering wheel actuator. Specifically, it can be the equivalent damping value of the steering wheel actuator system, that is, the damping effect generated by mechanical friction, electromagnetic resistance, etc., and the equivalent value after being converted to the reference axis, which is used to describe the energy dissipation characteristics of the steering wheel actuator system;

[0049] The steering angle parameter refers to the parameter that characterizes the rotation angle of the steering column (the shaft connecting the steering wheel and the steering mechanism). Specifically, it is the angle of rotation of the steering column around its axis, which can reflect the actual rotation position of the steering wheel;

[0050] The steering angular velocity parameter refers to the parameter that characterizes the angle rotated by the steering column per unit time, which can reflect the rotation speed of the steering wheel or the front wheels;

[0051] The feedback motor torque parameter refers to the output torque value of the torque feedback motor, that is, the rotational torque value output by the torque feedback motor (used to simulate the road feel of the steering wheel). The torque feedback motor drives the steering wheel through an electronic signal to provide resistance or a return force;

[0052] The transmission ratio parameter refers to the transmission ratio (or reduction ratio) between the motor output shaft and the steering shaft, which represents the proportional relationship after the motor speed / torque is converted by a reduction mechanism (such as a gearbox).

[0053] The moment of inertia parameters and system damping coefficient can be pre-calibrated through experiments or simulation methods, and the transmission ratio parameters, steering angle parameters, and feedback motor torque parameters can be collected and calculated in real time by various sensors through the vehicle system.

[0054] In this embodiment, the inherent characteristics of the steering wheel actuator system can be reflected by the moment of inertia parameters, system damping coefficient, and transmission ratio parameters; the steering angle parameters and feedback motor torque parameters can reflect the real-time operating status of the steering wheel actuator system; combined with the friction torque parameters that can reflect the interference and nonlinear factors of the steering wheel actuator system, the status of the steering wheel actuator system can be more accurately reflected, the driver's input torque can be estimated, and a more accurate target input torque can be obtained.

[0055] In some embodiments of the present invention, obtaining the system dynamics parameters of the steering wheel actuator includes:

[0056] The operating condition information of the steering wheel actuator is obtained, and the system friction torque parameter corresponding to the operating condition information is obtained.

[0057] The working condition information of the steering wheel actuator refers to the information that can reflect the corresponding operating status of the steering wheel actuator under different working conditions. For example, under mechanical working conditions, the steering wheel angle of the steering wheel actuator is different, and its system friction torque is also different; under environmental working conditions, the system friction torque is also different under different ambient temperatures; under vehicles with different loads, the system friction torque is also different;

[0058] In this embodiment, the interference factors of the steering wheel actuator system can be more accurately reflected by matching the system friction torque parameters corresponding to the working condition information.

[0059] In practical applications, a friction model of the steering wheel actuator under different working conditions can be established based on experiments or simulation methods, and then the system friction torque parameters can be determined based on the friction model. A mapping relationship between different working conditions and the system friction torque parameters can be established so that when the system friction torque needs to be obtained, it can be matched according to the working condition information.

[0060] Specifically, the friction characteristics of the steering wheel actuator can be tested to obtain sufficient system friction data, and then a friction map can be established based on the system friction data. Finally, the system friction torque parameters under various working conditions can be calculated based on the friction map.

[0061] Exemplarily, during the experiment, first disconnect the power steering of the vehicle, suspend the vehicle wheels or place them on a sliding plate, and apply a steering robot to rotate the steering wheel from the left extreme position to the right extreme position at a constant speed for at least three round trips, and collect experimental data such as steering wheel angle and torque. Based on the experimental data, a steering angle-torque relationship diagram can be obtained to obtain the friction force under this working condition.

[0062] Change the experimental working conditions (such as load and other conditions), and repeat the above steps to obtain the friction torque parameters under different working conditions.

[0063] Step 102, determine the initial input torque of the driver on the steering wheel according to the system dynamic parameters;

[0064] In practical applications, through certain relationships, such as algorithms, artificial intelligence models, etc., the system dynamic parameters can be used as inputs and the initial input torque can be used as the expected output to preliminarily estimate the input torque of the driver on the steering wheel.

[0065] In some embodiments of the present invention, the determining the initial input torque of the driver on the steering wheel according to the system dynamic parameters includes:

[0066] Obtain the pre-constructed dynamic model of the steering wheel actuator;

[0067] Input the system dynamic parameters into the dynamic model to obtain the initial input torque.

[0068] In this embodiment, the dynamic model of the steering wheel actuator refers to quantifying the force-motion coupling characteristics of the steering wheel system through mathematical equations and other means, and then calculating unknown parameters based on known parameters.

[0069] Specifically, the dynamic model of the steering wheel actuator can be expressed as Equation (1):

[0070]

[0071] Where J is the moment of inertia parameter, C is the system damping coefficient, θ is the steering angle parameter, T m is the feedback motor torque parameter, i mc is the transmission ratio parameter, T f is the system friction torque parameter, T hini is the initial input torque.

[0072] Furthermore, by transforming Equation (1), we can get:

[0073]

[0074] Since the moment of inertia parameter and the system damping coefficient are the inherent characteristics of the steering wheel actuator, they can be pre-calibrated and stored in the storage medium of the vehicle system. The steering angle parameter and the feedback motor torque parameter can be collected or calculated in real time, and the system friction torque parameter can be matched according to the current working condition information. Then, substituting the above known values into Equation (2), the initial input torque of the driver on the steering wheel can be obtained.

[0075] In this embodiment, the dynamic model can more accurately describe the behavior of the steering wheel steering system, thereby generating a more accurate initial input torque and making an accurate preliminary estimate of the initial input torque.

[0076] Step 103: Input the initial input torque and the system dynamic parameters into the pre-constructed state space model of the steering wheel actuator to obtain the target input torque.

[0077] The state space model represents the corresponding relationship between the system input parameters and the system state changes of the steering wheel actuator. It can describe the possible changes of the steering wheel actuator system as the system input parameters change, and then simulate this dynamic process to make it closer to the real situation. Through the state space model, the initial input torque can be optimally estimated and corrected, and a more accurate target initial input torque can be output.

[0078] Step 104: Control the vehicle based on the target input torque.

[0079] In specific implementation, after obtaining the target initial input torque, the vehicle can be controlled based on the target initial input torque. For example, the vehicle can be controlled to steer to accurately meet the driver's operation expectation.

[0080] In some embodiments of the present invention, the state space model includes a state equation composed of state variables and input variables, and an output equation composed of output variables; the step of inputting the initial input torque and the system dynamic parameters into the pre-constructed state space model of the steering wheel actuator to obtain the target input torque includes:

[0081] Determine a first parameter from the system dynamic parameters, and use the first parameter and the initial input torque as the state variables of the state equation;

[0082] Determine a second parameter from the system dynamic parameters, and use the second parameter as the input variable of the state equation;

[0083] Predict the target state variables of the steering wheel actuator in the next state through the state equation;

[0084] Determine the input torque of the steering wheel actuator in the next state as the output variable of the output equation, and solve the output equation based on the target state variable to obtain the target input torque.

[0085] The state - space model is a mathematical framework for describing dynamic systems, consisting of a state equation and an output equation. The state equation describes the dynamic evolution of the internal state of the system, and the output equation defines how to obtain the observable output from the state variables. Through the state equation and the output equation, the dynamic behavior of the system can be expressed as the relationship among the state variables, input variables, and output variables.

[0086] Among them, the state variables are used to describe the internal state of the steering wheel actuator system, the input variables are used to describe the control exerted on the steering wheel actuator system from the outside, and the output variables are used to describe the external output of the steering wheel actuator system.

[0087] In a specific implementation, among the obtained system dynamics parameters, determine the first parameter that can describe the internal state of the steering wheel actuator system and the initial input torque as the state variables of the state equation. Then, determine the second parameter that can describe the control exerted on the steering wheel actuator system from the outside as the input variable of the state equation.

[0088] Furthermore, predict the target state variables of the steering wheel actuator in the next state (such as the state at the next moment) through the state equation, that is, predict the state change of the steering wheel actuator, determine the specific values of each state variable of the steering wheel actuator in the next state, and obtain the target state variables.

[0089] Furthermore, determine the input torque of the steering wheel actuator in the next state as the output variable of the output equation, and solve the output equation through the target state variables to predict the input torque of the steering wheel actuator in the next state and obtain the target input torque.

[0090] As an example, the state - space model can be expressed as the following formula (3):

[0091]

[0092] Among them, \(x\) is the state variable, \(y\) is the output variable, \(u\) is the input variable, \(w\) is the process noise, \(v\) is the measurement noise; \(t\) is different model iteration times or different moments; \(A\) 1 is the state - transition matrix, which is used to describe the dynamic relationship between state variables; \(B\) 1 is the input matrix, which is used to describe how the input variable drives the change of the state variable; \(C\) 1 is the output matrix, which is used to describe the influence of the state variable on the output variable; \(G\) 1 is the coefficient of \(w\);

[0093] Specifically, through known state variables and input variables, the solution is obtained which is the target state variable corresponding to the state of the steering wheel actuator at the next moment; then is substituted into x(t) of the output equation y(t), and the target state variable can be obtained.

[0094] In some embodiments of the present invention, the state equation further includes a state transition matrix corresponding to the state variable and an input matrix corresponding to the input variable. Predicting the target state variable of the steering wheel actuator in the next state through the state equation includes:

[0095] Determine a third parameter in the system dynamics parameters, and construct the state transition matrix according to the third parameter;

[0096] Determine a fourth parameter in the system dynamics parameters, and construct the input matrix according to the fourth parameter;

[0097] Solve the state equation according to the product of the state transition matrix and the state variable, and the product of the input variable and the input matrix to obtain the target state variable.

[0098] In specific implementation, determine a third parameter in the system dynamics parameters that can describe the dynamic relationship between state variables, and construct a state transition matrix (denoted as A 1 ) based on the third parameter; then, determine a fourth parameter in the system dynamics parameters that can describe how the input variable drives the state variable, and construct an input matrix (i.e., B 1 ) based on the fourth parameter;

[0099] Finally, as shown in Equation (3), through the product of the state variable x(t) and A 1 , and the product of the input variable u(t) and the input matrix, predict the target state variable .

[0100] In some embodiments of the present invention, the first parameter is the steering angle parameter, the steering angular velocity parameter, and the system friction torque parameter, the second parameter is the feedback motor torque parameter, the third parameter is the system moment of inertia parameter and the system damping coefficient, and the fourth parameter is the system moment of inertia parameter and the transmission ratio parameter.

[0101] In specific implementation, let the steering angle parameter θ, the steering angular velocity parameter the system friction torque parameter T f , the feedback motor torque parameter T m , and the initial input torque T hini , and the input torque is Th , combined with the dynamic model of the steering wheel system shown in Equation (1), taking θ, T f as the first parameter, then in the state - space model shown in Equation (3), the state variables can be: where, at the initial state, the input torque T h The initial input torque T hini is the same; taking T m as the second parameter, then the input variable is T m ; the output variables can be: [θ, T f , T h , where T h represents the target input torque;

[0102] Furthermore, let J be the system inertia parameter, C be the system damping coefficient, and imc be the transmission ratio parameter. For the state - space model shown in Equation (3), taking J and C as the third parameter, then the state - transition matrix A 1 can be expressed as: Taking J and imc as the fourth parameter, then the input matrix B 1 can be expressed as:

[0103] Furthermore, G 1 can be: C can be: [1 0 1 1].

[0104] In this embodiment, by determining the first coefficient corresponding to the state variables with the system damping coefficient and the system inertia parameter, and determining the second coefficient corresponding to the input variables with the transmission ratio parameter and the system inertia parameter, the dynamic relationship between the state variables, and the dynamic relationship between the state variables and the control input parameters can be accurately described. Furthermore, the state - space model can restore the state change of the steering wheel actuator system that is more in line with the actual situation, correct the initial input torque, and finally improve the accuracy of the output value of the target input force.

[0105] In practical applications, after determining the above - mentioned state - space model, based on the observer algorithm, such as an observer based on the Kalman filter algorithm, a disturbance observer, etc., the initial input torque can be corrected to obtain a more accurate target input torque.

[0106] Such as Figure 2As shown, a friction model calibrated in advance through experiments is used to construct system friction torque parameters corresponding to different working conditions, and store them in a storage medium in the cloud or the vehicle system. When the vehicle is running, in response to the driver's operation on the steering wheel, the friction torque parameters corresponding to the current working condition are obtained, and the steering angle parameters and the feedback motor torque parameters are collected and input into the pre-constructed dynamic model to obtain the initial input torque. Then, parameters such as the initial input torque, the steering angle parameters, and the feedback motor torque parameters are input into the Kalman filter to correct the initial input torque and obtain the target input torque.

[0107] Kalman filtering can estimate the state of a dynamic system from a series of observed data containing noise, mainly including two stages: prediction and update. The prediction stage is used to predict the state and error covariance at the next moment based on the dynamic model of the system, and the update stage is used to update the predicted state and error covariance by combining the observed data. Through continuous iteration of the prediction stage and the update stage, the estimation of the system state is gradually optimized.

[0108] Exemplarily, let the state of the steering wheel actuator be k. For the state space equation shown in Equation (3), discretizing Equation (3) gives:

[0109]

[0110] Let the process noise w(k) and the measurement noise v(k) be zero-mean Gaussian white noise, and assume that w(k) and v(k) are uncorrelated. Then, we have:

[0111]

[0112] where Q(k) and R(k) are the covariance matrices of the process noise and the observation noise respectively;

[0113] Then, in the prediction stage, the state of the system at the next moment is predicted and estimated:

[0114] x(k|k - 1) = A 1 (k)x(k - 1|k - 1) + B 1 (k)u(k - 1) (8)

[0115] Furthermore, the covariance matrix of the prediction estimate is updated to update the uncertainty of the prediction estimate:

[0116] P(k|k - 1) = A(k)P(k - 1|k - 1)A T (k) + Q(k) (9)

[0117] In the update stage, first calculate the Kalman filter gain to dynamically adjust the trust weights of the model prediction and the measured data:

[0118]

[0119] Further, perform Kalman filter estimation to correct the state of the system:

[0120] x(k|k) = x(k|k - 1) + K(k)(y(k) - C(k)x(k|k - 1)) (11)

[0121] Further, update the covariance matrix of the Kalman filter estimation to update the uncertainty of the state correction:

[0122] P(k|k) = (I - K(k)C(k))P(k|k - 1) (12)

[0123] In this way, through the observer constructed based on the Kalman filter, the initial input torque is dynamically corrected to obtain a more accurate target input torque.

[0124] In this embodiment, the Kalman filter has the advantages of less computational complexity, fast operation speed, high accuracy, etc. Correcting the initial input torque based on the Kalman filter to obtain the target input torque can greatly shorten the operation time, enabling the steering wheel actuator and the steering actuator to quickly respond to the driver's operation on the steering wheel and perform steering on the vehicle.

[0125] The embodiment of the present invention has the following advantages: determining the driver's initial input torque on the steering wheel through the system dynamics parameters, without using a torque sensor to collect the driver's input torque, reducing the hardware layout cost; then correcting the initial input torque according to the pre - constructed first correspondence and the system dynamics parameters to obtain the target input torque, effectively improving the accuracy of the target input torque and enabling the vehicle to perform precise steering in line with the driver's steering requirements.

[0126] It should be noted that for the method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the embodiments of the present invention are not limited by the described action sequences, because according to the embodiments of the present invention, some steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential for the embodiments of the present invention.

[0127] Refer to Figure 3 , which shows a schematic structural diagram of a data - processing device 30 provided by an embodiment of the present invention. The vehicle is provided with a steer - by - wire system, and the steer - by - wire system includes a steering wheel and a steering wheel actuator electrically connected to the steering wheel. The device may specifically include the following modules:

[0128] A parameter acquisition module 301, configured to acquire system dynamics parameters of the steering wheel actuator in response to an operation of a driver on the steering wheel;

[0129] An initial torque determination module 302, configured to determine an initial input torque of the driver on the steering wheel according to the system dynamics parameters;

[0130] A target torque determination module 303, configured to input the initial input torque and the system dynamics parameters into a pre-constructed state space model of the steering wheel actuator to obtain a target input torque;

[0131] A control module 304, configured to control the vehicle based on the target input torque.

[0132] In some embodiments of the present invention, the state space model includes a state equation composed of state variables and input variables, and an output equation composed of output variables; the target torque determination module 303 includes:

[0133] A state variable determination sub-module, configured to determine a first parameter from the system dynamics parameters, and use the first parameter and the initial input torque as state variables of the state equation;

[0134] An input variable determination sub-module, configured to determine a second parameter from the system dynamics parameters, and use the second parameter as an input variable of the state equation;

[0135] A target state variable determination sub-module, configured to predict target state variables of the steering wheel actuator in the next state through the state equation;

[0136] A target input torque determination sub-module, configured to determine the input torque of the steering wheel actuator in the next state as an output variable of the output equation, and solve the output equation based on the target state variables to obtain the target input torque.

[0137] In some embodiments of the present invention, the target state variable determination sub-module includes:

[0138] A state transition matrix construction unit, configured to determine a third parameter from the system dynamics parameters, and construct the state transition matrix according to the third parameter;

[0139] An input matrix construction unit, configured to determine a fourth parameter from the system dynamics parameters, and construct the input matrix according to the fourth parameter;

[0140] A target state variable determination unit, configured to solve the state equation according to the product of the state transition matrix and the state variable, and the product of the input variable and the input matrix, to obtain the target state variable.

[0141] In some embodiments of the present invention, the initial torque determination module 302 includes:

[0142] A dynamic model acquisition sub-module, configured to acquire the pre-constructed dynamic model of the steering wheel actuator;

[0143] An input torque determination sub-module, configured to input the system dynamic parameters into the dynamic model to obtain the initial input torque.

[0144] In some embodiments of the present invention, the system dynamic parameters include one or more of a system friction torque parameter, a system moment of inertia parameter, a system damping coefficient, a steering angle parameter, a steering angular velocity parameter, a feedback motor torque parameter, and a transmission ratio parameter.

[0145] In some embodiments of the present invention, the parameter acquisition module 301 includes:

[0146] A system friction torque parameter acquisition sub-module, configured to acquire the working condition information of the steering wheel actuator and acquire the system friction torque parameter corresponding to the working condition information.

[0147] In some embodiments of the present invention, the first parameter is the steering angle parameter, the steering angular velocity parameter, and the system friction torque parameter, the second parameter is the feedback motor torque parameter, the third parameter is the system moment of inertia parameter and the system damping coefficient, and the fourth parameter is the system moment of inertia parameter and the transmission ratio parameter.

[0148] Some embodiments of the present invention further provide an electronic device, which may include a processor, a memory, and a computer program stored on the memory and capable of running on the processor. When the computer program is executed by the processor, the above vehicle control method is implemented.

[0149] Some embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above vehicle control method is implemented.

[0150] Some embodiments of the present invention further provide a computer program product, including a computer program, which implements the above vehicle control method when executed by a processor.

[0151] For the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple. For the relevant parts, refer to the partial description of the method embodiments.

[0152] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Moreover, the collection, use, and processing of relevant data need to comply with the relevant laws, regulations, and standards of the relevant countries and regions, and corresponding operation entrances are provided for users to choose to authorize or refuse.

[0153] Each embodiment in this specification is described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts among the embodiments can be referred to each other.

[0154] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a device, or a computer program product. Therefore, the embodiments of the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program codes.

[0155] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, and the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processing machine, or other programmable data processing terminal devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal devices generate a device for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0156] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured product including an instruction device, and the instruction device implements the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0157] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, so that a series of operation steps are executed on the computer or other programmable terminal device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable terminal device provide steps for implementing the functions specified in one process or multiple processes and / or blocks. Figure 1 One process or multiple processes and / or blocks Figure 1 Steps for implementing the functions specified in one block or multiple blocks.

[0158] Although the preferred embodiments of the embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications to these embodiments once they know the basic creative concepts. Therefore, the appended claims are intended to be construed as including the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present invention.

[0159] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising the above elements.

[0160] The above provides a detailed introduction to a vehicle control method and device, an electronic device, and a storage medium. Specific examples are used in this article to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A vehicle control method, characterized in that: The vehicle is provided with a wire-controlled steering system, the wire-controlled steering system comprising a steering wheel and a steering wheel actuator electrically connected to the steering wheel, and the method comprises: In response to the driver's operation of the steering wheel, acquiring system dynamic parameters of the steering wheel actuator; determining an initial input torque of the driver to the steering wheel according to the system dynamics parameter; Inputting the initial input torque and the system dynamics parameters into a pre-built state space model of the steering wheel actuator to obtain a target input torque; The vehicle is controlled based on the target input torque.

2. The method according to claim 1, characterized in that The state space model includes a state equation consisting of state variables and input variables, and an output equation consisting of output variables; the initial input torque and the system dynamics parameter are input into the pre-built state space model of the steering wheel actuator to obtain the target input torque, including: Determine a first parameter among the system dynamics parameters, and use the first parameter and the initial input torque as state variables of the state equation; Determining a second parameter from the system dynamics parameters, and using the second parameter as an input variable of the state equation; Predicting the target state variable of the steering wheel actuator in the next state by using the state equation; The input torque of the steering wheel actuator in the next state is determined as the output variable of the output equation, and the output equation is solved based on the target state variable to obtain the target input torque.

3. The method according to claim 2, characterized in that The state equation also includes a state transfer matrix corresponding to the state variable and an input matrix corresponding to the input variable. Predicting the target state variable of the steering wheel actuator in the next state by using the state equation includes: Determining a third parameter among the system dynamics parameters, and constructing the state transfer matrix according to the third parameter; Determining a fourth parameter from the system dynamics parameters, and constructing the input matrix according to the fourth parameter; The state equation is solved according to the product of the state transfer matrix and the state variable, and the product of the input variable and the input matrix to obtain the target state variable.

4. The method according to any one of claims 1 to 3, characterized in that: The determining, according to the system dynamics parameter, the initial input torque of the driver to the steering wheel comprises: Obtaining a pre-built dynamic model of the steering wheel actuator; The system dynamics parameters are input into the dynamics model to obtain the initial input torque.

5. The method according to claim 3, characterized in that: The system dynamics parameters include one or more of a system friction torque parameter, a system rotational inertia parameter, a system damping coefficient, a steering angle parameter, a steering angular velocity parameter, a feedback motor torque parameter, and a transmission ratio parameter.

6. The method according to claim 5, characterized in that The obtaining of the system dynamics parameters of the steering wheel actuator includes: The operating condition information of the steering wheel actuator is obtained, and the system friction torque parameter corresponding to the operating condition information is obtained.

7. The method according to claim 5, characterized in that The first parameter is the steering angle parameter, the steering angular velocity parameter and the system friction torque parameter, the second parameter is the feedback motor torque parameter, the third parameter is the system moment of inertia parameter and the system damping coefficient, and the fourth parameter is the system moment of inertia parameter and the transmission ratio parameter.

8. A vehicle control device, characterized in that: The vehicle is provided with a wire-controlled steering system, the wire-controlled steering system comprising a steering wheel and a steering wheel actuator electrically connected to the steering wheel, the device comprising: a parameter acquisition module, configured to acquire system dynamic parameters of the steering wheel actuator in response to the driver's operation of the steering wheel; an initial torque determination module, configured to determine the initial input torque of the driver to the steering wheel according to the system dynamics parameters; a target torque determination module, configured to input the initial input torque and the system dynamics parameter into a pre-built state space model of the steering wheel actuator to obtain a target input torque; A control module is configured to control the vehicle based on the target input torque.

9. An electronic device, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the vehicle control method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 7 is implemented.

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