Vehicle steering control method, electronic equipment, vehicle and storage medium

Abstract

The embodiment of the invention provides a vehicle steering control method, electronic equipment, a vehicle and a storage medium, the vehicle is provided with a steer-by-wire system and a driving assistance system, the steer-by-wire system comprises an upper steering assembly and a lower steering assembly, and the driving assistance system has a lower steering driving assistance function. The vehicle steering control method comprises the steps that the working state of a lower steering driving assistance function is obtained; a first request rack position matched with the working state of the lower steering driving assistance function is determined; the hand torque of the driver and a second request rack position are obtained, and the second request rack position is the request rack position of the upper steering assembly; determining an angle fusion coefficient based on the driver hand torque; determining a third request rack position based on the first request rack position, the second request rack position and an angle fusion coefficient; the vehicle is controlled to steer based on the third requested rack position. According to the invention, the stability and safety of vehicle steering can be improved during man-machine co-driving.

Description

Technical Field

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

[0002] Human-machine co-driving means that during the driving process of a vehicle, a human driver and the vehicle's automation system (such as a driving assistance system) jointly participate in the vehicle's control and driving tasks, and complete a safe and efficient driving process through mutual cooperation and interaction.

[0003] For example, when the vehicle is turning, the driver and the driving assistance system can cooperate to complete the vehicle's turning.

[0004] However, during the vehicle driving process, there may be conflicts between the driver's steering intention and the steering suggestion of the driving assistance system, and such conflicts may lead to unstable steering or misoperation. Summary of the Invention

[0005] In view of the above, embodiments of the present application propose a vehicle steering control method, an electronic device, a vehicle, and a storage medium, aiming to improve the stability and safety of vehicle steering during human-machine co-driving.

[0006] In a first aspect, an embodiment of the present application provides a vehicle steering control method, which is applied to a vehicle. The vehicle is configured with a steer-by-wire system and a driving assistance system. The steer-by-wire system includes an upper steering assembly and a lower steering assembly. The lower steering assembly includes a rack, and the rack is used to drive the vehicle's wheels to rotate; the driving assistance system includes a lower steering driving assistance function; the vehicle steering control method includes: Obtain the working state of the lower steering driving assistance function; Determine a first requested rack position that matches the working state of the lower steering driving assistance function; Obtain the driver's hand torque and a second requested rack position, where the second requested rack position is the requested rack position of the upper steering assembly; Determine an angle fusion coefficient based on the driver's hand torque, and the angle fusion coefficient is used to indicate the weights of the first requested rack position and the second requested rack position; Determine a third requested rack position based on the first requested rack position, the second requested rack position, and the angle fusion coefficient; Control the vehicle to steer based on the third requested rack position.

[0007] The above technical solution determines the angle fusion coefficient through the driver's hand torque to indicate the weights of the first requested rack position and the second requested rack position. Since the driver's hand torque can characterize the driver's driving intervention intention, the first requested rack position can reflect the steering intention of the driving assistance system, and the second requested rack position can reflect the driver's steering intention. Therefore, the technical solution determines the third requested rack position based on the first requested rack position, the second requested rack position and the angle fusion coefficient, thereby controlling the vehicle to steer. This can enable the vehicle to dynamically allocate steering control rights between humans and machines according to the driver's hand torque, realize the fusion of the driver's intention and the driving assistance system's intention, avoid conflicts between the two, and enable the vehicle steering to take into account both the driver's operating intention and the support provided by the driving assistance system, thereby improving the stability and safety of human-machine co-driving.

[0008] In some embodiments, the lower steering assembly further includes a gear, the gear being used to drive the rack to rotate; the determining of a first requested rack position matching the working state of the lower steering driving assistance function includes: In a case where the working state of the down-steering driving assistance function is in an activated state, taking the requested gear angle of the driving assistance system as the current target gear angle; The first requested rack position is determined based on the current target gear angle.

[0009] With this technical solution, when the down-steering driving assistance function is activated, the vehicle can quickly and accurately adjust the rack position according to the needs of the driving assistance system, allowing the wheels to quickly and smoothly follow the angle requested by the driving assistance system. In some embodiments, before determining the first requested rack position based on the current target gear angle, the method further includes: When the working state of the lower steering driving assistance function is in an inactive state or a fault state, taking the current angle of the gear as the current target gear angle; When the working state of the lower steering driving assistance function is in a gradually declining state, the target gear angle of the previous cycle is used as the current target gear angle.

[0010] By adopting this technical solution, when the lower steering assist function is not activated or in a faulty state, the current angle of the gear is used as the current target gear angle. This can avoid body shaking caused by a large difference between the target gear angle and the actual gear angle when the lower steering assist function is switched to an activated state.

[0011] In the fade-out state, using the target gear angle of the previous cycle as the current target can ensure the smoothness of steering, avoid sudden changes in steering feel caused by the exit of the driving assistance function, enable the driver to still feel a relatively stable steering operation during the fade-out process of the assistance function, and thus make the driving process more natural and smooth, enhancing the overall driving experience.

[0012] In some embodiments, determining the third requested rack position based on the first requested rack position, the second requested rack position, and the angle fusion coefficient includes: Performing a limit processing and / or smoothing processing on the first requested rack position to obtain a fourth requested rack position; Determining the third requested rack position based on the fourth requested rack position, the second requested rack position, and the angle fusion coefficient.

[0013] Adopting the above technical solution can ensure the smoothness of the first requested rack position, avoid sudden changes in the first requested rack position, and thus improve the smoothness of vehicle steering during human-machine co-driving.

[0014] In some embodiments, the upper steering assembly includes an upper steering motor and a steering wheel, and the upper steering motor is used to output torque to the steering wheel. The vehicle steering control method further includes: Obtaining the actual steering wheel angle; Determining a requested steering wheel angle based on the first requested rack position and the vehicle speed; Determining the target torque of the upper steering motor based on the requested steering wheel angle and the actual steering wheel angle.

[0015] Adopting the above technical solution, the upper steering motor transmits the target torque to the steering wheel, and the target torque can simulate the steering feel corresponding to the driving assistance system, enabling the driver to clearly understand the steering intention of the driving assistance system.

[0016] In some embodiments, determining the target torque of the upper steering motor based on the requested steering wheel angle and the actual steering wheel angle includes: Determining the target angular velocity of the steering wheel based on the requested steering wheel angle and the actual steering wheel angle; Obtaining the actual angular velocity of the steering wheel; Determining the target torque based on the target angular velocity and the actual angular velocity.

[0017] In some embodiments, the driving assistance system includes an upper steering driving assistance function. After determining the target torque of the upper steering motor based on the requested steering wheel angle and the actual steering wheel angle, it further includes: When the upper steering assistance function changes from the activated state to the deactivated state, control the output torque of the upper steering motor to decrease from the target torque at a preset change rate.

[0018] By adopting the above technical solution, during the process of the upper steering assistance function changing from the activated state to the deactivated state, the output torque provided by the upper steering motor can gradually change smoothly, that is, the steering wheel resistance caused by the steering intention of the upper computer for assisted driving can be smoothly reduced.

[0019] In a second aspect, an embodiment of the present application further provides an electronic device, which includes a processor and a memory. The memory is used to store instructions, and the processor is used to call the instructions in the memory so that the electronic device executes the vehicle steering control method as described in the first aspect.

[0020] In a third aspect, an embodiment of the present application further provides a vehicle, which includes the electronic device described in the second aspect.

[0021] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions. When the computer instructions run on an electronic device, the electronic device is caused to execute the vehicle steering control method described in the first aspect. Description of the Drawings

[0022] Figure 1 It is a schematic diagram of the implementation environment of the vehicle steering control method provided by an embodiment of the present application.

[0023] Figure 2 It is a flowchart of the steps of the vehicle steering control method provided by an embodiment of the present application.

[0024] Figure 3 It is a schematic diagram of the working state jump of the lower steering assistance function provided by an embodiment of the present application.

[0025] Figure 4 It is a flowchart of the steps for controlling the output torque of the upper steering motor provided by an embodiment of the present application.

[0026] Figure 5 It is a data flow block diagram for controlling the output torque of the upper steering motor provided by an embodiment of the present application.

[0027] Figure 6 It is a schematic diagram of the structure of the electronic device provided by an embodiment of the present application. Detailed Embodiments

[0028] To more clearly understand the above objects, features, and advantages of the present application, the present application will be described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0029] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application. The described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the description of the present application herein are only for the purpose of describing specific embodiments, and are not intended to limit the present application.

[0031] Furthermore, it should be noted that, in this document, the terms "include", "comprise", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus including a series of elements includes not only those elements but also other elements that are not explicitly listed, or further includes elements that are inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "including one..." does not exclude the existence of additional identical elements in the process, method, article, or apparatus including that element.

[0032] In the present application, "at least one" means one or more, and "a plurality" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B may be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the description, claims, and drawings of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0033] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0034] To facilitate the understanding of the introduction to the vehicle steering control method provided in the embodiments of the present application below, some terms in the embodiments of the present application are explained below for understanding.

[0035] A Steer-by-Wire (SBW) system refers to a system that transmits the driver's steering intention from the steering wheel to the steering actuator through wires or other signal transmission media, thereby achieving vehicle steering control.

[0036] The Steer-by-Wire system may include, but is not limited to, a steering wheel assembly, a steering actuator assembly, and an Electronic Control Unit (ECU).

[0037] In a Steer-by-Wire system, the steering component on the steering wheel side is usually referred to as the Handwheel Actuator (HWA), and the steering component on the wheel side is referred to as the Road Wheel Actuator (RWA). The following is an introduction to the upper and lower steering components: The upper steering component can also be called the steering wheel actuator. It is the component in the Steer-by-Wire system that is responsible for receiving the driver's steering intention and converting it into an electrical signal. The upper steering component can include mechanical components (such as the steering wheel and steering column, etc.), sensors, such as a torque angle sensor (TAS), a steering angle sensor, etc., an upper steering motor, and an Electronic Control Unit (ECU).

[0038] The Electronic Control Unit can be integrated with a Steering Feel Control Module (SFCM). The Steering Feel Control Module can calculate the output torque of the upper steering motor and transmit this output torque to the steering wheel to improve the driver's steering feel when operating the steering wheel.

[0039] Sensors such as the torque angle sensor can obtain the steering angle of the steering wheel and the driver's hand torque from the steering wheel, and thereby obtain the driver's steering intention. This driver's steering intention can reflect the vehicle steering direction and angle desired by the driver. Then, it is transmitted to the lower steering component in the form of a communication signal (such as an electrical signal).

[0040] The lower steering component is also called the wheel actuator. It is the component in the Steer-by-Wire system that is responsible for receiving the electrical signal from the upper steering component and driving the wheels to achieve the steering action. It can include parts such as a motor, a reducer, a transmission mechanism, and a wheel steering mechanism (such as a rack and pinion steering gear).

[0041] A driving assistance system refers to a general term for a series of systems that use technologies such as sensors, controllers, and actuators to provide auxiliary support for the driver to improve driving safety, comfort, and convenience.

[0042] The upper computer of the driving assistance is a key part of the driving assistance system, mainly referring to a device or software platform with strong computing power and display functions, used for monitoring, configuring, and human-machine interaction of the driving assistance system, which can integrate the software of the driving assistance system.

[0043] The driving assistance system may include an upper steering driving assistance function and a lower steering driving assistance function, but is not limited thereto.

[0044] The lower steering driving assistance function can be used to control the vehicle to steer in response to a steering request from the upper computer of the driving assistance for the vehicle.

[0045] The upper steering driving assistance function can act on the upper steering part of the vehicle, and it can be used to control the output torque of the upper steering motor in the upper steering towards the steering wheel to control the rotation of the steering wheel. For example, when the upper computer of the driving assistance requests the vehicle to turn left by N degrees, the upper steering driving assistance function controls the upper steering motor to output a certain torque to the steering wheel. Among them, the steering wheel rotated according to this torque can indicate that the vehicle turns left by N degrees.

[0046] Human-machine co-driving means that during the vehicle driving process, the human driver and the vehicle's automation system (such as the driving assistance system) jointly participate in the vehicle control and driving tasks, and complete a safe and efficient driving process through mutual cooperation and interaction. For example, when the vehicle steers, the driver and the driving assistance system can cooperate to complete the vehicle's steering.

[0047] However, during the vehicle driving process, there may be conflicts between the driver's steering intention and the steering suggestion of the driving assistance system. For example, the driving assistance system indicates that the vehicle needs to turn left by A degrees, and the driver manipulates the steering wheel to indicate that the vehicle needs to turn left by B degrees. There are differences in the two steering intentions, which may lead to unstable vehicle steering or incorrect operations, affecting vehicle safety.

[0048] In view of the above, the embodiments of the present application can provide a vehicle steering control method, an electronic device, a vehicle, and a computer-readable storage medium.

[0049] The vehicle steering control method of the present application can be applied in one or more electronic devices. An electronic device is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions. Its hardware includes, but is not limited to, a processor, a microprogrammed control unit (MCU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a digital signal processor (DSP), an embedded device, etc. The electronic device can be an electronic control unit, etc.

[0050] For example, referring to Figure 1 in, the electronic device can be the electronic control unit 11 in a steer-by-wire system.

[0051] In Figure 1 the steer-by-wire system of, the electronic control unit 111 of the upper steering component can be respectively communicatively connected to the driving assistance host computer 12 and the upper steering motor 13, and the upper steering motor 13 can transmit torque to the steering wheel 14.

[0052] The electronic control unit 112 of the lower steering component can be respectively communicatively connected to the driving assistance host computer 12 and the rack and pinion steering gear 15.

[0053] The rack and pinion steering gear 15 can include a gear and a rack, and the gear can mesh with the rack. When the gear rotates, the gear can drive the rack to rotate, thereby driving the wheel 16 to turn.

[0054] It can be understood that Figure 1 the steer-by-wire system shown in is only an example. In actual application, the steer-by-wire system can be changed according to requirements, and the embodiments of the present application do not limit this. For example, Figure 1 in, taking one electronic control unit configured in each of the upper steering component and the lower steering component as an example, in actual application, the steer-by-wire system can also be configured with one electronic control unit.

[0055] Both the steer-by-wire system and the driving assistance host computer can be configured in the vehicle to achieve human-machine co-driving.

[0056] Figure 2 is the step flowchart of an embodiment of the vehicle steering control method of the present application.

[0057] According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted.

[0058] Refer to Figure 2As shown, the vehicle steering control method may include the following steps.

[0059] Step 201, obtain the working state of the lower steering assist function.

[0060] The working state of the lower steering assist function may include a fading state, an activated state, a deactivated state, and a fault state.

[0061] Reference Figure 3 As shown, Figure 3 is a jump schematic diagram of the working state of the lower steering assist function.

[0062] T1 and T4 represent faults of the lower steering assist function. In this case, the vehicle cannot activate the lower steering assist function. When the vehicle meets the preset fault conditions, the lower steering assist function can jump from the fading state to the fault state, and the lower steering assist function can also jump from the deactivated state to the fault state.

[0063] Among them, the preset fault conditions can be set according to actual application requirements, and the embodiments of the present application do not limit this. For example, the electronic device can monitor the fault state inside the steer-by-wire system (such as the upper steering component and the lower steering component). If a certain motor, sensor, etc. appears, it can be determined that the vehicle meets the fault conditions.

[0064] T2 represents enabling of the lower steering assist function. When the vehicle meets the preset activation conditions, the lower steering assist function can jump from the deactivated state to the activated state.

[0065] Among them, the activation conditions can also be set according to actual application requirements. For example, the activation conditions can be set according to the driver's hand torque, vehicle speed, current rack position in the rack and pinion steering gear, rack speed, etc. The embodiments of the present application do not limit this.

[0066] T3 represents disabling of the lower steering assist function. When the vehicle meets the preset disabling conditions, the lower steering assist function can jump from the activated state to the fading state.

[0067] The preset disabling conditions can also be set according to actual application requirements, and the embodiments of the present application do not limit this.

[0068] T5 represents that the lower steering assist function has faded out. When the vehicle meets the preset fading out completion conditions, the lower steering assist function changes from the fading state to the deactivated state.

[0069] The preset fading out completion conditions can be set according to actual application requirements. For example, it can be set that the difference between the requested steering angle of the upper and lower steering fusion request and the requested steering angle of the upper steering component is less than a threshold, but it is not limited to this.

[0070] The steering angle for the up-and-down steering integration request can be determined based on the weighted sum value of the first control parameter and the second control parameter.

[0071] The weights used in the weighted summation process can be determined based on the torque exerted by the driver. The greater the torque on the driver's hand, the greater the weight of the second control parameter.

[0072] The first control parameter is used to indicate the requested vehicle steering angle of the upper-level driving assistance computer. For example, the first control parameter can be the requested gear angle of the gear in the rack and pinion steering gear by the upper-level driving assistance computer, or the requested rack position of the rack in the rack and pinion steering gear, etc.

[0073] The second control parameter is used to indicate the requested steering angle of the upper steering assembly. The requested steering angle of the upper steering assembly can be determined based on the driver's rotation of the steering wheel. The second control parameter can be the requested gear angle of the gear in the rack and pinion steering gear by the upper steering assembly, or the requested rack position of the rack in the rack and pinion steering gear, etc.

[0074] Step 202: Determine the first requested rack position that matches the working state of the lower steering driving assistance function.

[0075] In some embodiments, the electronic device can determine the current target gear angle based on the working state of the lower steering driving assistance function, and then determine the first requested rack position based on the current target gear angle.

[0076] Among them, determining the current target gear angle based on the working state of the lower steering driving assistance function may include: 1. When the working state of the lower steering driving assistance function is in the activated state, use the requested gear angle of the driving assistance system as the current target gear angle.

[0077] In this case, in this embodiment, using the requested gear angle of the driving assistance system as the current target gear angle can enable the vehicle to quickly and accurately adjust the rack position according to the requirements of the driving assistance system, allowing the wheels to quickly and smoothly follow the angle requested by the driving assistance system.

[0078] 2. When the working state of the lower steering driving assistance function is in the non-activated state or the fault state, use the current angle of the gear as the current target gear angle.

[0079] Adopting this technical solution, when the lower steering driving assistance function is not activated or in a fault state, using the current angle of the gear as the current target gear angle can avoid the body jitter caused by a large difference between the target gear angle and the actual gear angle when the lower steering assistance function changes to the activated state.

[0080] 3. When the working state of the lower steering assist function is in a fading state, use the target gear angle of the previous cycle as the current target gear angle.

[0081] The current target gear angle is the target gear angle of the current cycle.

[0082] The previous cycle refers to the detection cycle of the target gear angle. In each detection cycle, the electronic device can determine the corresponding target gear angle.

[0083] The duration of the above detection cycle can be set according to actual application requirements, and the embodiments of the present application do not limit this.

[0084] In the fading state, using the target gear angle of the previous cycle as the current target gear angle can ensure the smoothness of steering, avoid sudden changes in steering feel caused by the exit of the driving assist function, enable the driver to still feel a relatively stable steering operation during the fading process of the assist function, and thus make the driving process more natural and smooth, improving the overall driving experience.

[0085] After determining the current target gear angle, the first requested rack position can be determined based on the current target gear angle.

[0086] Step 203, obtain the driver's hand torque and the second requested rack position.

[0087] The driver's hand torque refers to the torque applied by the driver to the steering wheel during driving, usually reflecting the magnitude and direction of the force exerted by the driver to turn the steering wheel. For example, when the driver intervenes in vehicle driving, the driver will operate the steering wheel, and the steering wheel will generate torque. The electronic device can obtain the driver's hand torque of the upper steering component through a sensor configured on the steering wheel. Optionally, a torque sensor is configured on the steering wheel to measure the driver's torque. The torque sensor is usually installed on the steering shaft of the steering wheel. When the driver turns the steering wheel, the steering shaft will undergo a small torsional deformation. The torque sensor calculates the applied torque by measuring this deformation.

[0088] The second requested rack position is the requested rack position of the upper steering component. For example, the upper steering component can also calculate the requested rack position based on the steering wheel rotation situation and vehicle state, such as vehicle speed, etc. The requested rack position can reflect the desired vehicle steering angle of the driver.

[0089] Step 204, determine the angle fusion coefficient based on the driver's hand torque.

[0090] The angle fusion coefficient is used to indicate the weights of the first requested rack position and the second requested rack position.

[0091] For example, the angle fusion coefficient can be denoted as , where can be the weight of the first requested rack position, and can be the weight of the second requested rack position.

[0092] In some embodiments, the electronic device can determine an angle fusion coefficient matching the driver's hand torque according to a preset calibration curve. The x-axis of the preset calibration curve is the driver's hand torque, and the y-axis is the angle fusion coefficient.

[0093] Furthermore, after determining the angle fusion coefficient matching the driver's hand torque based on the preset calibration curve, a first-order low-pass filter (i.e., PT1 filter) can be performed on the angle fusion coefficient to obtain a filtered angle fusion coefficient.

[0094] The calculation formula for performing PT1 filtering on the angle fusion coefficient is as follows: ; where is the angle fusion coefficient before filtering; is the filtered angle fusion coefficient; is the PT1 filter output value of the angle fusion coefficient in the previous cycle; is the PT1 filter coefficient of the angle fusion coefficient.

[0095] Step 205, determine a third requested rack position based on the first requested rack position, the second requested rack position, and the angle fusion coefficient.

[0096] In some embodiments, the electronic device can perform a clipping process and / or a smoothing process on the first requested rack position to obtain a fourth requested rack position; determine the third requested rack position based on the fourth requested rack position, the second requested rack position, and the angle fusion coefficient.

[0097] For example, the method of performing a clipping process on the first requested rack position is as follows: ; where is the first requested rack position before the clipping process, is the first requested rack position after the clipping process, is the maximum change gradient of the first requested rack position; is the first requested rack position after clipping in the previous cycle.

[0098] In some embodiments, after obtaining the above , a smoothing process can be performed on to obtain a fourth requested rack position.

[0099] The smoothing process can include: within a preset period, +Slope is used as the initial value of the fourth requested rack position. Every preset time period, the fourth requested rack position is added to the evenly divided single share quantity Slope until .

[0100] The preset period can be denoted as Ts_SCAN, and Ts_SCAN is the signal period of the requested gear angle issued by the driving assistance system. For example, the CAN signal updates the requested gear angle every 10 milliseconds, and the preset period is 10 milliseconds.

[0101] The preset time period can be denoted as Ts_Ctrl, and Ts_Ctrl can be set as the software operation period. For example, the software calculates the current fourth requested rack position every 2 milliseconds, and these two milliseconds refer to the software operation period.

[0102] The evenly divided single share quantity = ; where Step is the evenly divided smoothing coefficient, and Step = Ts_SCAN / Ts_Ctrl.

[0103] For example, assume that the start time of a certain preset period is , and the end time is end. The interval between start and end is Ts_SCAN.

[0104] During to this time period, the fourth requested rack position is +Slope.

[0105] During to this time period, the fourth requested rack position is +2Slope.

[0106] During to this time period, the fourth requested rack position is +3Slope.

[0107] And so on, until during to this time period, the fourth requested rack position is .

[0108] After obtaining the fourth requested rack position, the electronic device can determine the third requested rack position (which can also be denoted as the up and down rotation fusion rack position) based on the fourth requested rack position, the second requested rack position, and the angle fusion coefficient.

[0109] For example, the third requested rack position The calculation formula can be shown as follows: .

[0110] Wherein, is the angle fusion coefficient, is the second requested rack position, is the fourth requested rack position mentioned above.

[0111] Step 206, control the vehicle to steer based on the third requested rack position.

[0112] In some embodiments, the electronic device can adopt a cascade PID control method to calculate the output torque of the lower steering motor, so that the actual rack position of the lower steering follows the third requested rack position, thereby enabling the actual rack position in the rack and pinion steering gear to reach the third requested rack position.

[0113] The above steps 201 to 205 are the control process of the lower steering in the steer-by-wire system. In some embodiments, referring to Figure 4 and Figure 5 shown, the control process of the upper steering component in the steer-by-wire system can be shown as follows: Step 401, obtain the actual steering wheel angle.

[0114] For example, the electronic device can obtain the actual steering wheel angle from the sensor configured in the upper steering component.

[0115] Step 402, determine the requested steering wheel angle based on the first requested rack position and the vehicle speed.

[0116] For example, the calculation function of the first requested rack position, vehicle speed and requested steering wheel angle is stored in the electronic device. The electronic device can input the first requested rack position, vehicle speed, etc. into the calculation function to obtain the requested steering wheel angle.

[0117] The calculation function can be determined according to the transmission ratios of various mechanical parts such as wheels, racks, gears and steering wheels. The embodiments of the present application do not limit this.

[0118] After obtaining the requested steering wheel angle, the requested steering wheel angle can also be limited to improve vehicle safety.

[0119] Among them, the limited amplitude of the requested steering wheel angle can be determined according to the vehicle speed, etc. For example, the R & D personnel can perform in-vehicle calibration at different vehicle speeds according to the vehicle functional safety requirements and in-vehicle experience to obtain the limited amplitude of the requested steering. The embodiments of the present application do not limit this.

[0120] Step 403, determine the target torque of the upper steering motor based on the requested steering wheel angle and the actual steering wheel angle.

[0121] In some embodiments, step 403 can be implemented in the following manner: Step 4031, determine the target angular velocity of the steering wheel based on the requested steering wheel angle and the actual steering wheel angle.

[0122] For example, as shown in Figure 5 the electronic device can calculate the target angular velocity according to the requested steering wheel angle and the actual steering wheel angle through the PID and feedforward control methods.

[0123] The electronic device can also perform a limiting process on the target angular velocity.

[0124] Step 4032, obtain the actual angular velocity of the steering wheel.

[0125] Step 4033, determine the target torque based on the target angular velocity and the actual angular velocity.

[0126] For example, as shown in Figure 5 the electronic device can calculate the target torque according to the target angular velocity and the actual steering wheel angular velocity through the PID control method.

[0127] Among them, Figure 5 coefficients such as the co - driving torque coefficient of the upper steering can be set according to actual application requirements. For example, the greater the driver torque, the greater the co - driving torque coefficient of the upper steering, so that the target torque is smaller.

[0128] After obtaining the target torque, the electronic device can also perform a limiting process on the target torque.

[0129] In some embodiments, after determining the target torque, the electronic device can obtain the activation state of the upper steering driving assistance function and determine the output torque of the upper steering motor based on this activation state.

[0130] For example, in the case where the upper steering driving assistance function changes from the activated state to the deactivated state, the electronic device can control the output torque of the upper steering motor to decrease from the target torque at a preset change rate. Among them, the amplitude of this preset change rate is within a preset range.

[0131] In the case where the upper steering driving assistance function changes from the deactivated state to the activated state, the electronic device can control the output torque of the upper steering motor to gradually increase to the target torque at a preset change rate.

[0132] The technical solution of the embodiment of the present application determines the angle fusion coefficient through the driver's hand torque to indicate the weights of the first requested rack position and the second requested rack position. Since the driver's hand torque can characterize the driver's driving intervention intention, the first requested rack position can reflect the steering intention of the driving assistance system, and the second requested rack position can reflect the driver's steering intention. Therefore, the embodiment of the present application determines the third requested rack position based on the first requested rack position, the second requested rack position and the angle fusion coefficient, thereby controlling the vehicle to steer. This can enable the vehicle to dynamically allocate steering control rights between man and machine according to the driver's hand torque, realize the fusion of the driver's intention and the driving assistance system's intention, avoid conflicts between the two, and enable the vehicle steering to take into account both the driver's operating intention and the support provided by the driving assistance system, thereby improving the stability and safety of human-machine co-driving.

[0133] That is, the implementation of the present application can accurately identify the driver's intention to co-drive based on the driver's hand torque, and reasonably allocate the control weights of the driver and the assisted driving host computer over the vehicle steering, so that during the activation of the assisted driving function, the driver can intervene in and exit the driving intervention seamlessly and smoothly, while also ensuring the follow-up capability of the wire-controlled steer system required by the assisted driving host computer, thereby minimizing the angle following delay in the human-machine co-driving state.

[0134] In addition, when the driver intervenes in driving, the embodiment of the present application can smoothly reduce the steering wheel resistance force caused by the steering intention of the assisted driving host computer; when it is detected that the driver wants to exit the intervened driving, the steering wheel resistance force caused by the steering intention of the assisted driving host computer can be smoothly increased.

[0135] Figure 6 This is a schematic diagram of an embodiment of an electronic device of the present application.

[0136] The electronic device 100 includes a memory 20, a processor 30, and a computer program 40 stored in the memory 20 and executable on the processor 30. When the processor 30 executes the computer program 40, the steps in the above-mentioned vehicle steering control method embodiment are implemented, for example Figure 2 Steps 201 to 206 are shown.

[0137] Exemplarily, the computer program 40 may also be divided into one or more modules / units, which are stored in the memory 20 and executed by the processor 30. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 40 in the electronic device 100.

[0138] Those skilled in the art can understand that the schematic diagram is only an example of the electronic device 100, which does not constitute a limitation on the electronic device 100. It may include more or fewer components than shown in the figure, or combine some components, or different components. For example, the electronic device 100 may also include input / output devices, network access devices, buses, etc.

[0139] The processor 30 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, a single-chip microcomputer, or the processor 30 may also be any conventional processor, etc.

[0140] The memory 20 can be used to store the computer program 40 and / or modules / units. By running or executing the computer program and / or modules / units stored in the memory 20, and by calling the data stored in the memory 20, the processor 30 realizes various functions of the electronic device 100. The memory 20 mainly includes a program storage area and a data storage area. Among them, the program storage area can store the operating system, application programs required for at least one function (such as the sound playback function, the image playback function, etc.); the data storage area can store the data created according to the use of the electronic device 100 (such as audio data, etc.). In addition, the memory 20 may include high-speed random access memory, and may also include non-volatile memory, such as hard disks, memory, plug-in hard disks, smart media cards (SMCs), secure digital (SD) cards, flash cards, at least one magnetic disk storage device, flash device, or other non-volatile solid-state storage devices.

[0141] If the modules / units integrated in the electronic device 100 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above-described embodiment methods of this application, it can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-described method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device that can carry the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0142] An embodiment of this application also provides a vehicle, which includes the above-described electronic device.

[0143] In some embodiments, the vehicle is configured with a steer-by-wire system and a driving assistance system.

[0144] The steer-by-wire system includes an upper steering component and a lower steering component, and the lower steering component includes a rack and pinion steering gear.

[0145] The rack and pinion steering gear includes a gear and a rack. The gear is used to drive the rack to move, and the rack is used to drive the wheels of the vehicle to rotate.

[0146] The driving assistance system can include a lower steering driving assistance function and an upper steering driving assistance function.

[0147] In several embodiments provided by this application, it should be understood that the disclosed electronic device and method can be implemented in other ways. For example, the above-described electronic device embodiments are merely illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation.

[0148] In addition, in each embodiment of the present application, each functional unit may be integrated in the same processing unit, may exist separately as individual physical units, or two or more units may be integrated in the same unit. The above integrated unit may be implemented in the form of hardware, or in the form of a combination of hardware and software functional modules.

[0149] For those skilled in the art, it is obvious that the present application is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present application, the present application can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. In addition, it is obvious that the term "including" does not exclude other units or steps, and the singular does not exclude the plural. The multiple units or electronic devices stated in the claims of the electronic device may also be implemented by the same unit or electronic device through software or hardware. The terms such as first and second are used to indicate names and do not represent any specific order.

[0150] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit them. Although the present application has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A vehicle steering control method, characterized in that: Applied to a vehicle, the vehicle is equipped with a wire-controlled steering system and a driving assistance system, the wire-controlled steering system includes an upper steering assembly and a lower steering assembly, the lower steering assembly includes a rack, and the rack is used to drive the wheels of the vehicle to rotate; The driving assistance system includes a down-steering driving assistance function; The vehicle steering control method comprises: Obtaining the working status of the down-steering driving assistance function; determining a first requested rack position matching an operating state of the down-steering driver assist function; Acquiring a driver's hand torque and a second requested rack position, where the second requested rack position is a requested rack position of the upper steering assembly; determining an angle fusion coefficient based on the driver's hand torque, wherein the angle fusion coefficient is used to indicate a weight of the first requested rack position and the second requested rack position; Determine a third requested rack position based on the first requested rack position, the second requested rack position and the angle fusion coefficient; The vehicle is controlled to steer based on the third requested rack position.

2. The vehicle steering control method according to claim 1, characterized in that: The lower steering assembly also includes a gear, and the gear is used to drive the rack to rotate; The determining a first requested rack position matching the working state of the lower steering driving assist function comprises: In a case where the working state of the down-steering driving assistance function is in an activated state, taking the requested gear angle of the driving assistance system as the current target gear angle; The first requested rack position is determined based on the current target gear angle.

3. The vehicle steering control method according to claim 2, characterized in that: Before determining the first requested rack position based on the current target gear angle, the method further includes: When the working state of the lower steering driving assistance function is in an inactive state or a fault state, taking the current angle of the gear as the current target gear angle; When the working state of the lower steering driving assistance function is in a gradually declining state, the target gear angle of the previous cycle is used as the current target gear angle.

4. The vehicle steering control method according to claim 1, characterized in that: The determining a third requested rack position based on the first requested rack position, the second requested rack position and the angle fusion coefficient includes: Performing a limiting process and / or a smoothing process based on the first requested rack position to obtain a fourth requested rack position; The third requested rack position is determined based on the fourth requested rack position, the second requested rack position, and the angle fusion coefficient.

5. The vehicle steering control method according to any one of claims 1 to 4, characterized in that: The upper steering assembly includes an upper steering motor and a steering wheel, the upper steering motor is used to output torque to the steering wheel, and the vehicle steering control method further includes: Get the actual steering wheel angle; determining a requested steering wheel angle based on the first requested rack position and a speed of the vehicle; A target torque of the upper steering motor is determined based on the requested steering wheel angle and the actual steering wheel angle.

6. The vehicle steering control method according to claim 5, characterized in that: The determining the target torque of the upper steering motor based on the requested steering wheel angle and the actual steering wheel angle comprises: determining a target angular velocity of the steering wheel based on the requested steering wheel angle and the actual steering wheel angle; Obtaining an actual angular velocity of the steering wheel; The target torque is determined based on the target angular velocity and the actual angular velocity.

7. The vehicle steering control method according to claim 6, characterized in that: The driving assistance system includes an upper steering driving assistance function, and after determining the target torque of the upper steering motor based on the requested steering wheel angle and the actual steering wheel angle, further includes: When the upper steering driving assist function changes from an activated state to an inactivated state, the output torque of the upper steering motor is controlled to decrease from the target torque according to a preset change rate.

8. An electronic device, comprising a processor and a memory, characterized in that: The memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the electronic device executes the vehicle steering control method according to any one of claims 1 to 7.

9. A vehicle, characterized in that: The vehicle comprises the electronic device as claimed in claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes the vehicle steering control method according to any one of claims 1 to 7.

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