A control method and device of a vehicle, an electronic device, and a storage medium

Abstract

The application provides a vehicle control method and device, electronic equipment and storage medium, 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 with the steering wheel, and the method comprises the following steps: in response to the operation of the driver on the steering wheel, the system dynamics parameters of the steering wheel actuator are acquired; the initial input torque of the driver on the steering wheel is determined according to the system dynamics parameters; the initial input torque and the system dynamics parameters are input into the pre-constructed state space model of the steering wheel actuator to obtain a target input torque; and the vehicle is controlled based on the target input torque. Through the application, not only the hardware arrangement cost in the steer-by-wire system can be reduced, but also the accuracy of the estimation of the input torque of the driver on the steering wheel can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobiles, in particular to a vehicle control method and device, an electronic device and a storage medium. BACKGROUND

[0002] With the rapid development of automobile intelligence and electrification, mechanical steering systems gradually show limitations in flexibility, safety and automatic driving compatibility, and automobile steer-by-wire technology 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, and the steering operation is realized through sensors, electronic control units (ECUs) and actuators, etc., that is, the steering instruction is 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 the steering angle, steering torque and other data, and then transmit them to the steering actuator to realize 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 precision errors, resulting in inaccurate measurement of the input torque of the driver. SUMMARY

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

[0006] A vehicle control method, 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 with the steering wheel, the method comprises:

[0007] In response to the operation of the driver on the steering wheel, the system dynamics parameters of the steering wheel actuator are obtained;

[0008] The initial input torque of the driver on the steering wheel is determined according to the system dynamics parameters;

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

[0010] The vehicle is controlled based on the target input torque.

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

[0012] determining a first parameter in the system dynamics parameters, and taking the first parameter and the initial input torque as state variables of the state equation;

[0013] determining a second parameter in the system dynamics parameters, and taking the second parameter as an input variable of the state equation;

[0014] predicting a target state variable of the steering wheel actuator at a next state through the state equation;

[0015] determining an input torque of the steering wheel actuator at the next state as an output variable of the output equation, and solving the output equation based on the target state variable to obtain the target input torque.

[0016] Optionally, the state equation further comprises a state transition matrix corresponding to the state variables and an input matrix corresponding to the input variables, and the predicting the target state variable of the steering wheel actuator at the next state through the state equation comprises:

[0017] determining a third parameter in the system dynamics parameters, and constructing the state transition matrix according to the third parameter;

[0018] determining a fourth parameter in the system dynamics parameters, and constructing the input matrix according to the fourth parameter;

[0019] solving the state equation according to a product of the state transition matrix and the state variables, and a product of the input variable and the input matrix to obtain the target state variable.

[0020] Optionally, the determining the initial input torque of the driver to the steering wheel according to the system dynamics parameters comprises:

[0021] obtaining a pre-constructed dynamics model of the steering wheel actuator;

[0022] inputting the system dynamics parameters into the dynamics model to obtain the initial input torque.

[0023] Optionally, the system dynamics parameters comprise 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.

[0024] Optionally, the system dynamics parameter of the steering wheel actuator comprises:

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

[0026] Optionally, the first parameter is the steering angle parameter, the steering angle 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 of a vehicle, the vehicle being provided with a steer-by-wire system, the steer-by-wire system comprising a steering wheel and a steering wheel actuator electrically connected with the steering wheel, the device comprising:

[0028] A parameter acquisition module, configured to acquire a system dynamics parameter of the steering wheel actuator in response to an operation of the steering wheel by a driver;

[0029] An initial torque determination module, configured to determine an initial input torque of the steering wheel by the driver according to the system dynamics parameter;

[0030] A target torque determination module, configured to input the initial input torque and the system dynamics parameter 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, comprising a processor, a memory, and a computer program stored on the memory and capable of running on the processor, the computer program being executed by the processor to implement the control method of the vehicle.

[0033] A computer readable storage medium, the computer readable storage medium storing a computer program, the computer program being executed by a processor to implement the control method of the vehicle.

[0034] The embodiments of the present application have the following advantages: the initial input torque of the steering wheel by the driver is determined through the system dynamics parameter, without the need of torque sensor to collect the input torque of the driver, thereby reducing the hardware arrangement cost; the target input torque is obtained according to the state space model and the system dynamics parameter, the initial input torque is corrected, the accuracy of the target input torque is effectively improved, and the vehicle can meet the steering demand of the driver for accurate steering. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the present application, the drawings needed to be used in the description of the present application will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and all other drawings obtained by those skilled in the art without creative labor on the basis of these drawings also belong to the protection scope of the present application.

[0036] Figure 1 is a step flow chart of a data processing method provided by an embodiment of the present application;

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

[0038] Figure 3 is a structural block diagram of a data processing device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments. Obviously, the described embodiments are some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor also belong to the protection scope of the present application.

[0040] Referring to Figure 1 , a step flow chart of a vehicle control method provided by an embodiment of the present application is shown, 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 with the steering wheel, and the method can specifically include the following steps:

[0041] Step 101, in response to the operation of the steering wheel by the driver, the system dynamics parameters of the steering wheel actuator are obtained;

[0042] The operation of the steering wheel by the driver can be the steering operation of the steering wheel by the driver during the straight driving, turning around, reversing, etc. of the vehicle, such as left and right steering, fine steering, fine steering, and return to normal, which means that the driver has the intention to steer the vehicle.

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

[0044] The system dynamics parameter of the steering wheel actuator (HWA) refers to a performance index parameter related to the mechanical, electrical and control system aspects of the steering wheel actuator as a whole system, which can represent the whole system, individual in the system or related to the system. The system dynamics parameter can be specifically divided into three types of parameters, namely system inherent characteristic parameters, real-time running state data and disturbance factors. The system inherent characteristic parameters can be pre-calibrated by experiments, and the real-time running state data and disturbance factor parameters can be collected in real time.

[0045] In some embodiments of the present application, the system dynamics parameter includes 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.

[0046] The friction torque parameter refers to the torque that hinders the rotation of the steering wheel in the steering wheel actuator system due to mechanical friction (such as bearing, gear contact surface).

[0047] The rotational inertia parameter refers to a related parameter describing the rotational inertia of the steering wheel actuator, which can be specifically an equivalent rotational inertia value of the steering wheel actuator system, i.e. the rotational inertia of all rotating parts (such as motors, gears, etc.) in the steering wheel actuator, which is converted to an equivalent value on a certain reference axis (such as the steering wheel axis);

[0048] The system damping coefficient refers to a related parameter describing the damping of the steering wheel actuator, which can be specifically an equivalent damping value of the steering wheel actuator system, i.e. the damping effect due to mechanical friction, electromagnetic resistance, etc., which is converted to an equivalent value on a reference axis, used to describe the energy dissipation characteristics of the steering wheel actuator system;

[0049] The steering angle parameter refers to a parameter representing the size of the steering column (the shaft connecting the steering wheel and the steering mechanism) angle, which is specifically the angle of the steering column rotating around its axis, and can reflect the actual rotation position of the steering wheel;

[0050] The steering angular velocity parameter refers to a parameter representing the size of the angle turned by the steering column in unit time, which can reflect the rotation speed of the steering wheel or the front wheel;

[0051] The feedback motor torque parameter refers to the output torque value of the torque feedback motor, i.e. the rotational torque value output by the torque feedback motor (used to simulate the steering wheel road feel). The torque feedback motor provides resistance or return force to the steering wheel through electronic signal driving;

[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 of the motor speed / torque converted by the reduction mechanism (such as the gear box).

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

[0054] In the embodiment, the moment of inertia parameter, the system damping coefficient and the transmission ratio parameter can reflect the inherent characteristics of the steering wheel actuator system, the steering angle parameter and the feedback motor torque parameter can reflect the real-time running state of the steering wheel actuator system, and in combination with the friction torque parameter which can reflect the interference and nonlinear factors of the steering wheel actuator system, the state of the steering wheel actuator system can be more accurately reflected, the input torque of the driver can be estimated, and a more accurate target input torque can be obtained.

[0055] In some embodiments of the present application, the system dynamics parameters of the steering wheel actuator are obtained, including:

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

[0057] The working condition information of the steering wheel actuator refers to information that can reflect the corresponding running state of the steering wheel actuator under different working conditions, such as mechanical working conditions, different steering wheel angles of the steering wheel actuator, different system friction torques; for example, environmental working conditions, different system friction torques under different environmental temperatures; for example, vehicles with different loads, different system friction torques;

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

[0059] In actual application, the friction model of the steering wheel actuator under different working conditions can be established based on experiments or simulation, the system friction torque parameter can be determined based on the friction model, and the mapping relationship between different working conditions and the system friction torque parameter can be established, so that when the system friction torque is needed, the working condition information can be matched.

[0060] Specifically, after the friction characteristics of the steering wheel actuator are tested and sufficient system friction data are obtained, a friction atlas 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 atlas.

[0061] Exemplarily, in the process of the experiment, the steering assist of the vehicle is disconnected, the wheels of the vehicle are hung or placed on a slide plate, a steering robot is applied to rotate the steering wheel from the left limit position to the right limit position at a constant rotating speed, at least three rounds are performed, and experimental data such as steering wheel rotation angle and torque are collected. Based on the experimental data, a rotation angle-torque relationship diagram can be obtained, and thus the friction under the working condition can be obtained.

[0062] The experimental working condition (such as load and the like) is changed, and the above steps are repeated to obtain the friction torque parameters under different working conditions.

[0063] Step 102, determining an initial input torque of the driver to the steering wheel according to the system dynamics parameters;

[0064] In actual application, the system dynamics parameters can be taken as input and the initial input torque can be taken as expected output through certain relationship, such as algorithm, artificial intelligence model and the like, so as to preliminarily estimate the input torque of the driver to the steering wheel.

[0065] In some embodiments of the present application, the step of determining the initial input torque of the driver to the steering wheel according to the system dynamics parameters comprises:

[0066] obtaining a pre-constructed dynamics model of the steering wheel actuator;

[0067] inputting the system dynamics parameters into the dynamics model to obtain the initial input torque.

[0068] In the present embodiment, the dynamics model of the steering wheel actuator refers to quantifying the force-motion coupling characteristics of the steering wheel system through mathematical equations and the like, and then calculating unknown parameters according to known parameters.

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

[0070]

[0071] wherein J is a rotating inertia parameter, C is a system damping coefficient, θ is a steering angle parameter, T m is a feedback motor torque parameter, i mc is a transmission ratio parameter, T f is a system friction torque parameter, and T hini is an initial input torque.

[0072] Further, formula (1) can be transformed as follows:

[0073]

[0074] Since the moment of inertia parameter and the system damping coefficient are system inherent characteristics of the steering wheel actuator, they can be calibrated in advance and stored in a 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 current working condition information, so that the above known values are substituted into formula (2), and the initial input torque of the driver to the steering wheel can be obtained.

[0075] In the embodiment, the behavior of the steering wheel steering system can be more accurately described by the dynamic model, so that a more accurate initial input torque is generated, and the initial input torque is accurately preliminarily estimated.

[0076] In step 103, the initial input torque and the system dynamic parameters are input into the pre-constructed state space model of the steering wheel actuator to obtain a 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, can describe the possible changes of the steering wheel actuator system along with the changes of the system input parameters, and then simulate the dynamic process to make it closer to the real situation. The initial input torque can be optimally estimated and corrected by the state space model, and a more accurate target initial input torque is output.

[0078] In step 104, the vehicle is controlled based on the target input torque.

[0079] In a specific implementation, after the target initial input torque is obtained, the vehicle can be controlled based on the target initial input torque, for example, the vehicle is controlled to steer to accurately meet the operation expectation of the driver.

[0080] In some embodiments of the application, 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 a target input torque includes:

[0081] A first parameter is determined from the system dynamic parameters, and the first parameter and the initial input torque are taken as state variables of the state equation;

[0082] A second parameter is determined from the system dynamic parameters, and the second parameter is taken as an input variable of the state equation;

[0083] The target state variable of the steering wheel actuator at the next state is predicted by the state equation;

[0084] The input torque of the steering wheel actuator in the next state is determined as an output variable of the output equation, and the output equation is solved 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, which consists 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 variable. Through the state equation and the output equation, the dynamic behavior of the system can be represented as the relationship between the state variable, the input variable and the output variable.

[0086] Among them, the state variable is used to describe the internal state of the steering wheel actuator system, the input variable is used to describe the control exerted by the outside on the steering wheel actuator system, and the output variable is used to describe the output of the steering wheel actuator system to the outside.

[0087] In a specific implementation, among the obtained system dynamics parameters, a first parameter that can describe the internal state of the steering wheel actuator system and an initial input torque are determined as state variables of the state equation; then, a second parameter that can describe the control exerted by the outside on the steering wheel actuator system is determined as an input variable of the state equation;

[0088] Further, the target state variable of the steering wheel actuator in the next state (for example, the state at the next time) is predicted through the state equation, that is, the state change of the steering wheel actuator is predicted, the specific values of each state variable of the steering wheel actuator in the next state are determined, and the target state variable is obtained.

[0089] Further, the input torque of the steering wheel actuator in the next state is determined as an output variable of the output equation, and the output equation is solved through the target state variable to predict the input torque of the steering wheel actuator in the next state, and the target input torque is obtained.

[0090] As an example, the state space model can be represented as formula (3) as follows:

[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 time points; A1 is the state transition matrix, which is used to describe the dynamic relationship between the state variables; B1 is the input matrix, which is used to describe how the input variable drives the change of the state variable; C1 is the output matrix, which is used to describe the influence of the state variable on the output variable; G1 is the coefficient of w;

[0093] Specifically, by solving the known state variable and the input variable, the target state variable is obtained as follows: is a target state variable corresponding to the state of the steering wheel actuator at the next moment; and is substituted into x(t) of the output equation y(t), so that the target state variable can be obtained.

[0094] In some embodiments of the present application, the state equation further comprises a state transition matrix corresponding to the state variable and an input matrix corresponding to the input variable, and the target state variable of the steering wheel actuator at the next state is predicted by the state equation, comprising:

[0095] A third parameter is determined in the system dynamics parameters, and the state transition matrix is constructed according to the third parameter;

[0096] A fourth parameter is determined in the system dynamics parameters, and the input matrix is constructed according to the fourth parameter;

[0097] The state equation is solved according to the product of the state transition matrix and the state variable, and the product of the input variable and the input matrix, so as to obtain the target state variable.

[0098] In a specific implementation, a third parameter which can describe the dynamic relationship between state variables is determined in the system dynamics parameters, and a state transition matrix (denoted as A1) is constructed based on the third parameter; then, a fourth parameter which can describe how the input variable drives the state variable is determined in the system dynamics parameters, and an input matrix (denoted as B1) is constructed based on the fourth parameter;

[0099] Finally, the target state variable x(t+1) is predicted by the product of the state variable x(t) and A1, and the product of the input variable u(t) and the input matrix B1, as shown in formula (3).

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

[0101] In a specific implementation, let the steering angle parameter be θ, the steering angle velocity parameter be the system friction torque parameter be T f , the feedback motor torque parameter be T m , and the initial input torque be T hini , the input torque be T h , and the dynamics model of the steering wheel system be as shown in formula (1), then θ, T f ​If the first parameter is determined, then in the state-space model shown in equation (3), the state variables can be: Wherein, the initial input torque T h Initial input torque T hini Same; T m As the second parameter, the input variable is T. m The output variable can be: [θ,T] f ,T h ], T h Represents the target input torque;

[0102] Furthermore, let J be the system's moment of inertia parameter, C be the system's damping coefficient, and imc be the transmission ratio parameter. As shown in the state-space model of equation (3), if J and C are determined as the third parameter, then the state transition matrix A1 can be expressed as: If J and imc are determined as the fourth parameter, then the input matrix B1 can be represented as:

[0103] Furthermore, G1 can be: C can be: [1 0 1 1].

[0104] In this embodiment, by determining the first coefficient corresponding to the state variables using the system damping coefficient and the system moment of inertia parameter, and determining the second coefficient corresponding to the input variables using the transmission ratio parameter and the system moment of inertia parameter, the dynamic relationship between state variables and the dynamic relationship between state variables and control input parameters can be accurately described. This allows the state space model to restore the state changes of the steering wheel actuator system in a more realistic manner, correct the initial input torque, and ultimately improve the accuracy of the target input force output value.

[0105] In practical applications, after determining the state-space model as described above, the initial input torque can be corrected based on observer algorithms, such as observers based on Kalman filtering algorithms or disturbance observers, to obtain a more accurate target input torque.

[0106] like Figure 2 As shown, a friction model calibrated in advance through experiments is used to construct system friction torque parameters corresponding to different operating conditions, which are then stored in the cloud or in the vehicle's storage medium. When the vehicle is running, in response to the driver's operation of the steering wheel, the friction torque parameters corresponding to the current operating condition are obtained, along with steering angle parameters and feedback motor torque parameters. These are input into the pre-constructed dynamic model to obtain the initial input torque. Then, the initial input torque, steering angle parameters, feedback motor torque parameters, and other parameters are input into a Kalman filter to correct the initial input torque, thus obtaining the target input torque.

[0107] Kalman filter can estimate the state of a dynamic system from a series of noisy observation data, mainly including two stages of prediction and update. The prediction stage is used to predict the state and error covariance of the next time 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 observation data. Through continuous iteration of the prediction stage and the update stage, the estimation of the system state is gradually optimized.

[0108] Exemplarily, assuming the state of the steering wheel actuator is k, the state space equation as shown in equation (3) is discretized to obtain:

[0109]

[0110] Assuming that the process noise w(k) and the measurement noise v(k) are zero-mean Gaussian white noise, and w(k) is not correlated with v(k), then:

[0111]

[0112] wherein 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 time is predicted and estimated:

[0114] x(k|k-1)=A1(k)x(k-1|k-1)+B1(k)u(k-1) (8)

[0115] Further, 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, the Kalman filter gain is calculated first to dynamically adjust the trust weight of the model prediction and the measured data:

[0118]

[0119] Further, the Kalman filter estimation is performed 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, the covariance matrix of the Kalman filter estimation is updated to update the uncertainty of the state correction:

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

[0123] Thus, the initial input torque is dynamically corrected by the observer constructed based on the Kalman filter, and a more accurate target input torque is obtained.

[0124] In the embodiment, the Kalman filter has the advantages of less calculation amount, fast operation speed and high precision, the initial input torque is corrected based on the Kalman filter to obtain the target input torque, and the operation time can be greatly shortened, so that the steering wheel actuator and the steering actuator can quickly respond to the operation of the driver on the steering wheel and perform steering on the vehicle.

[0125] The embodiment has the following advantages: the initial input torque of the driver on the steering wheel is determined by system dynamics parameters, the input torque of the driver does not need to be collected by a torque sensor, and the hardware arrangement cost is reduced; and the initial input torque is corrected according to the pre-constructed first correspondence relationship and the system dynamics parameters to obtain the target input torque, so that the accuracy of the target input torque is effectively improved, and the vehicle can meet the steering demand of the driver for accurate steering.

[0126] It should be noted that, for the method embodiments, in order to simply describe, they are all described as a series of action combinations, but those skilled in the art should know that the embodiment of the present application is not limited to the action sequence described, because according to the embodiment of the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions involved are not necessarily necessary for the embodiment of the present application.

[0127] Referring to Figure 3 , a structure schematic diagram of a data processing device 30 provided by an embodiment of the present application is shown, 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 with the steering wheel, and the device can specifically include the following modules:

[0128] The parameter acquisition module 301 is configured to acquire system dynamics parameters of the steering wheel actuator in response to the operation of the driver on the steering wheel.

[0129] The initial torque determination module 302 is configured to determine the initial input torque of the driver on the steering wheel according to the system dynamics parameters.

[0130] The target torque determination module 303 is 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] The control module 304 is configured to control the vehicle based on the target input torque.

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

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

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

[0135] A target state variable determination sub-module is configured to predict a target state variable of the steering wheel actuator at a next state through the state equation;

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

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

[0138] A state transition matrix construction unit is 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 is 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 is configured to solve the state equation according to a product of the state transition matrix and the state variable, and a product of the input variable and the input matrix, to obtain the target state variable.

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

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

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

[0144] In some embodiments of the present application, 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.

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

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

[0147] In some embodiments of the present application, 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 rotational inertia parameter and the system damping coefficient, and the fourth parameter is the system rotational inertia parameter and the transmission ratio parameter.

[0148] Some embodiments of the present application also provide an electronic device, which can include a processor, a memory, and a computer program stored on the memory and capable of running on the processor, and the computer program, when executed by the processor, implements the control method of the vehicle.

[0149] Some embodiments of the present application also provide a computer readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the control method of the vehicle.

[0150] Some embodiments of the present application also provide a computer program product, which includes a computer program, and the computer program, when executed by a processor, implements the control method of the vehicle.

[0151] For the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the related parts refer to the parts in the method embodiments.

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

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

[0154] Those skilled in the art will appreciate that embodiments of the present application can be readily used as a method, apparatus, or computer program product. Accordingly, embodiments of the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application can take the form of a computer program product on one or more computer-readable storage media (including, but not limited to, disk memory, CD-ROMs, optical storage devices, etc.) embodying computer program instructions executable by a computer.

[0155] Embodiments of the present application are described herein with reference to the drawings, which are as follows: Figure 1 one or more functions specified in a flow or multiple flows and / or blocks. Figure 1 means for performing each of the functions specified in the flow or flows and / or 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 apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the flow Figure 1 one or more functions specified in a flow or multiple flows and / or blocks. Figure 1 means for performing each of the functions specified in the flow or flows and / or blocks.

[0157] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flow Figure 1 one or more functions specified in a flow or multiple flows and / or blocks. Figure 1 means for performing each of the functions specified in the flow or flows and / or blocks.

[0158] While preferred embodiments of the present application have been described, additional variations and modifications can be made to these embodiments by those skilled in the art once they have the benefit of the foregoing description. Therefore, the appended claims are intended to encompass within their scope all such variations and modifications as are included within the scope of the embodiments of the present application.

[0159] Finally, it needs to be pointed out that in this article, the relationship 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 the entities or operations. Moreover, the term "includes", "contains" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or terminal device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or terminal device. Without more limitations, the element defined by the statement "includes a" does not exclude the presence of other identical elements in the process, method, article or terminal device including the above element.

[0160] The above provides a detailed description of a vehicle control method and device, electronic equipment, and storage medium. The principles and implementation of the present application are described in this article using specific examples. The above example is only used to help understand the method and core idea of the present application. For those skilled in the art, the specific implementation and application range will be changed according to the idea of the present application. In summary, the content of this specification should not be understood as a limitation of the present application.

Claims

1. A control method of a vehicle, characterized by, The vehicle is provided with a steer-by-wire system, the steer-by-wire system comprising a steering wheel and a steering wheel actuator electrically connected with the steering wheel, and the method comprises: obtaining system dynamics parameters of the steering wheel actuator in response to the driver's operation on the steering wheel; determining an initial input torque of the driver on the steering wheel according to the system dynamics parameters; inputting 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; controlling the vehicle based on the target input torque; the system dynamics parameters of the steering wheel actuator are obtained, comprising: obtaining working condition information of the steering wheel actuator and obtaining system friction torque parameters corresponding to the working condition information; establishing a friction model of the steering wheel actuator under different working conditions based on an experimental or simulation method, determining the system friction torque parameters based on the friction model, and establishing a mapping relationship between the different working conditions and the system friction torque parameters, so that when the system friction torque is needed, the mapping relationship is matched according to the working condition information.

2. The method of claim 1, wherein, The state space model comprises a state equation composed of state variables and input variables, and an output equation composed of output variables; the initial input torque and the system dynamics parameters are inputted into the pre-constructed state space model of the steering wheel actuator to obtain a target input torque, comprising: determining a first parameter in the system dynamics parameters, and taking the first parameter and the initial input torque as state variables of the state equation; determining a second parameter in the system dynamics parameters, and taking the second parameter as an input variable of the state equation; predicting a target state variable of the steering wheel actuator at the next state through the state equation; determining an input torque of the steering wheel actuator at the next state as an output variable of the output equation, and solving the output equation based on the target state variable to obtain the target input torque.

3. The method of claim 2, wherein, The state equation further comprises a state transition matrix corresponding to the state variable and an input matrix corresponding to the input variable, and the target state variable of the steering wheel actuator at the next state is predicted through the state equation, comprising: determining a third parameter in the system dynamics parameters, and constructing the state transition matrix according to the third parameter; determining a fourth parameter in the system dynamics parameters, and constructing the input matrix according to the fourth parameter; solving 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.

4. The method according to any one of claims 1 to 3, characterized in that, The initial input torque of the driver on the steering wheel is determined according to the system dynamics parameters, comprising: obtaining a pre-constructed dynamics model of the steering wheel actuator; inputting the system dynamics parameters into the dynamics model to obtain the initial input torque.

5. The method of claim 3, wherein, 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 angle velocity parameter, a feedback motor torque parameter, and a transmission ratio parameter.

6. The method of claim 5, wherein, The first parameter is the steering angle parameter, the steering angle velocity parameter, and the system friction torque parameter, the second parameter is the feedback motor torque parameter, the third parameter is the system rotational inertia parameter and the system damping coefficient, and the fourth parameter is the system rotational inertia parameter and the transmission ratio parameter.

7. A control device of a vehicle characterized by comprising: The vehicle is provided with a steer-by-wire system, the steer-by-wire system including a steering wheel and a steering wheel actuator electrically connected with the steering wheel, and the device includes: A parameter acquisition module is configured to acquire system dynamics parameters of the steering wheel actuator in response to an operation of the steering wheel by a driver. An initial torque determination module is configured to determine an initial input torque of the steering wheel by the driver according to the system dynamics parameters. A target torque determination module is 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. A control module is configured to control the vehicle based on the target input torque. The parameter acquisition module includes: A system friction torque parameter acquisition submodule is configured to acquire working condition information of the steering wheel actuator and acquire a system friction torque parameter corresponding to the working condition information. A friction model of the steering wheel actuator under different working conditions is established based on an experiment or simulation, the system friction torque parameter is determined based on the friction model, and a mapping relationship between the different working conditions and the system friction torque parameter is established, so that when the system friction torque is needed to be acquired, the mapping relationship is matched according to the working condition information.

8. An electronic device, comprising: A computer program is stored on the memory and executable on the processor, and when the computer program is executed by the processor, the control method of the vehicle is implemented.

9. A computer-readable storage medium, characterized in that, A computer program is stored on the computer readable storage medium and executable on the processor, and when the computer program is executed by the processor, the control method of the vehicle is implemented.

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