Method for controlling game mode of steer-by-wire system

Abstract

The invention discloses a control method for a game mode of a steer-by-wire system, the game mode refers to that a driver obtains a steering wheel angle by rotating a steering wheel and controls a racing car direction command in a game through the steering wheel angle, and the control method comprises the following steps: step S1, the steer-by-wire system receives a signal for starting the game; s2, decoupling an upper steering system and a lower steering system; s3, the upper steering system judges whether a preset entering condition is met or not; s4, when a preset entering condition is met, the steer-by-wire system enters a game mode; s5, the upper steering system judges whether a preset exit condition is met or not; and S6, when a preset exit condition is met, the steer-by-wire system exits the game mode. When the steer-by-wire system is in the game mode, the steering hand feeling and the cabin can effectively interact and respond.

Description

Technical Field

[0001] The present invention relates to the technical field of automotive steering systems, and particularly to a control method for the game mode of a steer-by-wire system. Background Art

[0002] With the development of the automotive industry, people's requirements for the diversity and comfort of automobiles are getting higher and higher. To meet the needs of the increasingly diverse intelligent cockpits of automobiles, the automotive steering system has gradually been upgraded from the traditional electric power steering system to a steer-by-wire system. The steer-by-wire system cancels the mechanical intermediate shaft connecting the upper and lower parts of the traditional electric power steering system, mechanically decouples the upper steering wheel and the lower front-wheel control system, cancels the mechanical hard connection of the intermediate shaft between the two, and controls the steering wheel and the front-wheel actuator (lower steering) through a proprietary CAN signal.

[0003] In this way, the automobile can be set to a game mode, and the steering wheel can be used as a controller for the content of the intelligent cockpit. For example, when playing games in the car, various input controls of the game are performed by a steer-by-wire feel simulator, and the steer-by-wire feel simulator can also simulate the experience feel in the game.

[0004] However, in the game mode, how to make the steering feel and cockpit interaction responsive has become a problem to be solved. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a control method for the game mode of a steer-by-wire system, so that when the steer-by-wire system is in the game mode, the steering feel and the cockpit can effectively interact and respond.

[0006] To solve the above technical problem, a control method for the game mode of a steer-by-wire system provided by the present invention, wherein the game mode means that the driver obtains the steering wheel angle by turning the steering wheel, and controls the racing car direction command in the game through the steering wheel angle. The control method includes the following steps:

[0007] Step S1, the steer-by-wire system receives a signal to start the game;

[0008] Step S2, decouple the upper and lower steering systems;

[0009] Step S3, the upper steering system determines whether a preset entry condition is met;

[0010] Step S4, when the preset entry condition is met, the steer-by-wire system enters the game mode;

[0011] Step S5, the upper steering system determines whether a preset exit condition is met;

[0012] Step S6, when the preset exit condition is met, the steer-by-wire system exits the game mode.

[0013] Preferably, the preset entry conditions include that the steering wheel torque and the steering wheel rotation speed are less than preset values within a preset time.

[0014] Preferably, in step S1, before the steer-by-wire system receives the signal to start the game, it is also necessary to judge whether the vehicle speed is zero.

[0015] Preferably, the preset entry conditions include that the steer-by-wire system judges whether the vehicle speed is zero.

[0016] Preferably, the preset exit conditions include that the steering wheel torque and the steering wheel rotation speed are less than preset values within a preset time.

[0017] Preferably, the preset exit conditions include that the driver issues a signal to step on the brake pedal.

[0018] Preferably, in step S1, before the steer-by-wire system receives the signal to start the game, it is also necessary to judge whether the steer-by-wire system is in the up-and-down coupling state. If it is in the up-and-down coupling state, the steer-by-wire system performs up-and-down decoupling; if it is not in the up-and-down coupling state and the upper steering system is in the silent mode, the silent mode needs to be released first. The silent mode is that the steering wheel is directly silent.

[0019] Preferably, it further includes step S7, judging whether the upper steering system needs to enter the silent mode according to the driver's instruction. If it needs to enter, it directly enters the silent mode.

[0020] Preferably, it further includes step S8, the steer-by-wire system instructs the steering wheel to enter the alignment mode. The alignment mode is to rotate the steering wheel to the same angle as the current lower steering according to the angle of the current lower steering.

[0021] Preferably, the game mode realizes the simulation scenario through the game feel feedback torque, and the game feel feedback torque is:

[0022] Normal game feedback force: The difference between the input current steering wheel angle and 0 degrees is obtained, and the obtained angle difference is used to look up the table. The larger the angle difference, the greater the game feel feedback torque;

[0023] Game system stable damping force: The feedback game system stable feedback damping force is obtained by looking up the table according to the steering wheel rotation speed. The greater the rotation speed, the greater the feedback torque;

[0024] Special scenario game feedback force: Through the virtual rack force of the scenario sent by the game scenario, the feedback force of the special scenario is obtained by looking up the table according to the virtual rack force;

[0025] Game vibration feedback force: Remind the game personnel through continuous vibration feedback.

[0026] Preferably, after the game mode calculates the sum of the feedback torques of the game feel and then limits the maximum and minimum values of the finally output feedback torque as well as the limit of the change gradient, it is then output after first-order low-pass filtering to smooth the feel feedback during the game process.

[0027] Compared with the prior art, the present invention has the following technical effects:

[0028] Compared with the traditional steering system, after decoupling the steer-by-wire game mode, the disadvantage of wearing out the tires in the traditional mode can be solved. After decoupling the steer-by-wire, the steering does not move and there is no damage to the vehicle.

[0029] The feel of the steer-by-wire game mode is more selectively rich, and different game feels can be selected according to different game vehicle models.

[0030] The feel feedback of the steer-by-wire game mode is more realistic, and some scenarios that cannot be simulated by traditional steering can be simulated, such as the impact feedback of the collision rack force.

[0031] Energy is saved. In the traditional steering during the game mode, it is necessary to overcome the tire friction force, which is relatively power-consuming (the power is about 500W). After decoupling the steer-by-wire game mode, the lower rotation does not move and there is no need to overcome the mode. As long as the force of the feel feedback is given (the power is about 30W), the energy loss is greatly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The following further describes the present invention in detail in conjunction with the drawings and specific embodiments:

[0033] Figure 1 It is the steer-by-wire environment interaction diagram of the present invention.

[0034] Figure 2 It is the flowchart of the game mode control method of Embodiment 1 of the present invention.

[0035] Figure 3 It is the flowchart of the game mode control method of Embodiment 2 of the present invention.

[0036] Figure 4 It is the flowchart of the game mode control method of Embodiment 3 of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can fully understand other advantages and technical effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through different specific implementation manners. The details in this specification can also be applied based on different viewpoints, and various modifications or changes can be made without departing from the overall design concept of the invention. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. The following exemplary embodiments of the present invention can be implemented in many different forms and should not be construed as being limited only to the specific embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present invention complete and thorough, and to fully convey the technical solutions of these exemplary specific embodiments to those skilled in the art.

[0038] Since the steer-by-wire system of the present invention cancels the intermediate shaft connecting the upper and lower steering, decouples the upper steering feel simulator and the lower front-wheel drive mechanism, more steering-related modes have been developed. Among them, the game mode of the steer-by-wire feel simulator interacts the most with the vehicle intelligent cockpit. Compared with traditional steering, due to its independent control characteristics, the feel simulator has developed more gameplay in the game mode, including but not limited to: game interaction with the vehicle's HMI system through the steer-by-wire feel simulator, interaction with other application APPs of the vehicle's HMI through the steer-by-wire feel simulator, and even co-interaction with future cockpit VR to create an immersive intelligent cockpit experience.

[0039] The method of the steer-by-wire game mode of the present invention is mainly divided into: ① the method for judging the entry and exit scenarios of the game mode; ② the method for controlling the feel feedback in the game mode.

[0040] The steer-by-wire in the present invention mainly includes: a steering wheel, a feel simulation motor, and a drive motor. The entire system interacts through vehicle communication and intelligent cockpit communication. The upper and lower steering communicate through a private CAN communication. The main content of the interaction signals is as Figure 1 shown.

[0041] The steer-by-wire is different from the traditional steering system. After the traditional steering system is powered on, it directly enters the electric power steering mode to respond to the driver. Due to the upper and lower decoupling of the steer-by-wire, the steer-by-wire derives multiple control modes. The entire steer-by-wire system is controlled by a mode management module to jump between various modes of the steer-by-wire. When the driver gets in the vehicle, the steering system needs to enter the corresponding mode according to the vehicle state. The steer-by-wire game mode requires the driver to actively input an instruction for the game mode to the vehicle, and send it to the steering system through the vehicle communication signal. The steering system judges various current signals to determine whether it can enter the game mode.

[0042] The following further illustrates the game mode control method of the steer-by-wire of the present invention through specific embodiments.

[0043] Embodiment 1

[0044] Scenario 1: After the driver gets in the car, the vehicle has not started driving yet, or the driver has been driving for a while and then the vehicle stops. At this time, the driver wants to enter the exit game mode.

[0045] In this scenario, we first determine whether the vehicle is in place. When the current vehicle speed is 0, it is easier to start the game mode.

[0046] After the driver gets in the vehicle, or after the driver stops the vehicle, the driver sends a start game command to the vehicle cockpit (central control screen, voice wake-up, etc.), and the entire vehicle sends a signal to start the game to the wire-controlled steering system through communication.

[0047] After receiving the game start signal, the control-by-wire system first determines whether the vehicle speed is 0. If the vehicle speed is 0, the upper and lower steering systems will be decoupled. After the upper and lower decoupling, the upper steering feel simulation system determines the following conditions: whether the steering wheel torque is less than T1 Nm, the steering wheel speed is less than T2° / s, and the vehicle speed is equal to 0km / h. If all conditions are met and last for more than T3 ms (the T1, T2, and T3 parameters in this item can be calibrated and modified through debugging), the upper steering system determines that the game mode can be entered, and the system enters the game mode.

[0048] When in game mode, the driver issues a signal to exit the game mode, and the upper steering system determines the following conditions: whether the steering wheel torque is less than T4 Nm, the steering wheel speed is less than T5° / s, the vehicle speed is equal to 0km / h, all conditions are met and last for more than T6 ms (the parameters T4, T5, and T6 in this item can be calibrated and modified through debugging), or there are signals such as the driver stepping on the brake pedal (the driver can have a driving intention signal). The system can exit the game mode, and the wire control steering system turns up and down to recouple, waiting for the driver's signal of driving intention input.

[0049] Embodiment 2

[0050] Scenario 2: During the L4 / L5 autonomous driving scenario, the driver wants to enter and exit the game mode.

[0051] In this scenario, the driver sends a command to start the game to the vehicle cockpit, and the vehicle sends a signal to start the game to the wire-controlled steer system through communication.

[0052] After receiving the game mode command, the steer-by-wire system determines whether the steer-by-wire upper turn is in the upper and lower coupling state. If so, the steer-by-wire system decouples the upper and lower turns. If the upper turn is in the uncoupled state and in the silent mode, the upper turn needs to be unmuted first to enter the upper and lower decoupling mode.

[0053] At this time, the up-steering feel simulation system judges the following conditions: whether the steering wheel torque is less than T1 Nm, the steering wheel rotation speed is less than T2° / s, and all conditions are satisfied and last for more than T3 ms (the parameters T1, T2, and T3 in this item can all be calibrated and modified through debugging). The up-steering system judges that it can enter the game mode, and the system enters the game mode.

[0054] When in the game mode, when the driver issues an instruction to exit the game mode, the up-steering makes the following judgments: whether the steering wheel torque is less than T4 Nm, the steering wheel rotation speed is less than T5° / s, and all conditions are satisfied and last for more than T6 ms (the parameters T4, T5, and T6 in this item can all be calibrated and modified through debugging). The system exits the game mode.

[0055] At this time, since the vehicle is in the L4 / L5 autonomous driving process, it is first necessary to judge whether the up-steering needs to enter the silent mode according to the driver's instruction. If it needs to enter the silent mode, the steering wheel will be directly silenced.

[0056] If the up-steering system needs to act with the down-steering system, the steering wheel first needs to enter the alignment mode (turn the steering wheel to the same angle as the down-steering according to the current angle of the down-steering). After the alignment is completed, the steering wheel enters the autonomous driving mode of up-following-down (the up-steering system acts with the down-steering system).

[0057] Embodiment III

[0058] For racing games, the steer-by-wire up-steering system can be used as a racing game feel simulator, which is matched with the racing game scenario to simulate a realistic driving game scenario and feedback.

[0059] In the game mode, the driver obtains the steering wheel angle by turning the steering wheel, and controls the racing car direction command in the game through the steering wheel angle, so that the game driving angle command can be correctly and timely fed back to the game, and a realistic racing game simulation scenario can be obtained through the game feel feedback.

[0060] The game mode feel feedback torque consists of the following four parts: normal game feedback force (game return force), game system stable damping force, special scenario game feedback force, and game vibration feedback force.

[0061] The normal game feedback force subtracts the current steering wheel angle input from 0 degrees, and looks up the table for the obtained angle difference. The larger the angle difference, the greater the feel feedback torque, and the more deviated from the center position, the greater the feel feedback torque. This allows the game player to feel that the game direction is significantly deviated from the center position. At the same time, this function can automatically return the simulator to 0 degrees after the game player releases the hand, so it can also act as a game return force function. Moreover, this function can select different feel weights and feel modes according to different game vehicle models to make the game feel more diverse.

[0062] The stable damping force of the game system is a feedback game system stable feedback damping force obtained by looking up a table according to the steering wheel rotation speed. The greater the rotation speed, the greater the feedback torque, and the direction of the force is opposite to the steering direction of the steering wheel. This damping torque can optimize the overall stability of the game system and phenomena such as system overshoot.

[0063] The game feedback torque in special scenarios refers to some special scenarios in the game, such as vehicle collisions, potholes on the road surface, and the vehicle hitting an obstacle. Through the virtual rack force of the game scenario sent, the feedback force of the special scenario is obtained by looking up a table according to the virtual rack force. This feedback torque only takes effect in the above special scenarios to make the game simulation of the steer-by-wire closer to the actual driving situation and allow the player to obtain a more realistic game simulation situation.

[0064] The game vibration feedback force means that when the vehicle in the game enters a special situation (such as driving out of the boundary, etc.), it is necessary to remind the game player through continuous vibration feedback. This feedback force is triggered by the game sending a command, and the steer-by-wire feel simulation motor generates a square wave vibration signal, and transmits the vibration motor feedback force to the steering wheel to remind the game player. The frequency T1 Hz, the feedback amplitude T2 Nm, and the vibration duration T3 s of this game vibration feedback can all be customized and calibrated according to different game scenarios.

[0065] After summing up the four parts of the game feedback torque, the maximum and minimum values of the final output feedback torque, as well as the limit of the change gradient, are limited, and then first-order low-pass filtering is performed before outputting to smooth the feel feedback during the game process.

[0066] After canceling the mechanical intermediate shaft connecting the upper and lower steering in the present invention, the feedback feel of the steering wheel is not affected by the various forces of the wheels and the lower steering rack, and can be decoupled from the forces of the whole vehicle. The feedback feel of the steering wheel is completely simulated by software. Moreover, due to the decoupling characteristics of steer-by-wire, when using a vehicle equipped with steer-by-wire for the game mode, it can solve the phenomenon of tire wear caused by mechanical coupling in traditional steering, reduce tire wear, reduce the feedback of the ground mode on the feel, and also increase the authenticity of the feel in the game mode.

[0067] The above has described the present invention in detail through specific implementation manners and examples, but these do not constitute a limitation to the present invention. Without departing from the principle of the present invention, those skilled in the art can also make many deformations and improvements, which should also be regarded as the protection scope of the present invention.

Claims

1. A control method for a game mode of a steer-by-wire system, characterized in that, The game mode refers to the driver turning the steering wheel to obtain the steering wheel angle, and controlling the direction command of the car in the game through the steering wheel angle. The control method includes the following steps: Step S1, the steer-by-wire system receives a signal to start the game; Step S2, decoupling the upper and lower steering systems; Step S3, the upper steering system determines whether the preset entry conditions are met; Step S4, when a preset entry condition is met, the steer-by-wire system enters a game mode; Step S5, the upper steering system determines whether a preset exit condition is met; Step S6: When a preset exit condition is met, the steer-by-wire system exits the game mode.

2. The game mode control method of the steer-by-wire system according to claim 1, characterized in that, The preset entry condition includes: the steering wheel torque and the steering wheel speed are less than preset values within a preset time.

3. The game mode control method for the steer-by-wire system according to claim 1, wherein In step S1, before the steer-by-wire system receives a signal to start the game, it is necessary to determine whether the vehicle speed is zero.

4. The game mode control method of the steer-by-wire system according to claim 3, characterized in that, The preset entry condition includes: the steer-by-wire system determines whether the vehicle speed is zero.

5. The game mode control method of the steer-by-wire system according to claim 1, characterized in that, The preset exit condition includes: the steering wheel torque and the steering wheel speed are less than preset values within a preset time.

6. The game mode control method of the steer-by-wire system according to claim 3, characterized in that, The preset exit condition includes: the driver sends a brake pedal stepping signal.

7. The game mode control method of the steer-by-wire system according to claim 1, characterized in that: In step S1, before the steer-by-wire system receives a signal to start the game, it is necessary to determine whether the steer-by-wire system is in an up-down coupling state. If it is in an up-down coupling state, the steer-by-wire system performs up-down decoupling; If it is not in the up and down coupling state, and the upper steering system is in the silent mode, it is necessary to release the mode first. The silent mode is that the steering wheel is directly silent.

8. The game mode control method of the steer-by-wire system according to claim 1, characterized in that: The method further includes step S7, determining whether the upper steering system needs to enter the silent mode according to the driver's instruction, and directly entering the silent mode if necessary.

9. The game mode control method of the steer-by-wire system according to claim 1, characterized in that: The method further includes step S8, wherein the steer-by-wire system instructs the steering wheel to enter an alignment mode, wherein the alignment mode is to rotate the steering wheel to the same angle as the lower steering angle according to the current lower steering angle.

10. The game mode control method of the steer-by-wire system according to claim 1, characterized in that, The game mode realizes the simulation scene through the game feel feedback torque, and the game feel feedback torque is: Normal game feedback force is obtained by subtracting the current steering wheel angle from 0 degrees, and looking up the angle difference in the table. The greater the angle difference, the greater the feedback torque. The game system stabilizes the damping force, and the feedback game system stabilizes the feedback damping force according to the steering wheel speed. The greater the speed, the greater the feedback torque; Special scene game feedback force, through the scene virtual rack force sent from the game scene, the feedback force of the special scene is obtained according to the virtual rack force table lookup; The game vibration feedback force reminds game players through continuous vibration feedback.

11. The game mode control method of the steer-by-wire system according to claim 10, characterized in that, The game mode sums the game feel feedback torque, limits the maximum and minimum values of the final output feedback torque, and limits the change gradient, and then performs a first-order low-pass filter and outputs it to smooth the feel feedback during the game.

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