Power-assisted steering control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a power-assisted steering control method and device, electronic equipment and a storage medium, and the method comprises the steps: determining a steering differential driving force and the length of a driving main shaft based on steering parameters when steering is carried out under a differential driving working condition; combining the steering differential driving force with the length of a driving main shaft to determine a corrected steering power-assisted torque; and controlling the power-assisted steering of the vehicle based on the corrected power-assisted steering torque. When steering is carried out under the differential driving working condition, the corrected steering power-assisted torque is determined through steering differential driving force and the length of a driving main shaft; the steering assisting force is compensated by correcting the steering assisting force torque, disturbance torque generated by differential motion is eliminated, the steering hand feeling can be kept consistent when a driver drives a vehicle, and steering stability is guaranteed.

Description

Technical Field

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

[0002] Differential drive realizes the control of the vehicle's yaw by distributing the driving torques of the four wheels. However, when steering under differential drive control, since there will be a torque that interferes with steering between the steering wheels, the feel during steering is different from that during non-differential drive, and the steering stability is reduced. Summary of the Invention

[0003] Embodiments of the present application provide a steering assist control method, device, electronic device, and storage medium, aiming to improve the problem that the feel during steering is different from that during non-differential drive and the steering stability is reduced.

[0004] In the first aspect of the present application, embodiments of the present application disclose a steering assist control method, including:

[0005] When steering under differential drive conditions, determine the steering differential driving force and the driving spindle length based on the steering parameters;

[0006] Combine the steering differential driving force and the driving spindle length to determine the corrected steering assist torque;

[0007] Control the steering assist of the vehicle based on the corrected steering assist torque.

[0008] When steering under differential drive conditions, use the steering differential driving force and the driving spindle length to determine the corrected steering assist torque; compensate the steering assist through the corrected steering assist torque to eliminate the interference torque caused by the differential, so that the steering feel when the driver drives the vehicle can be kept consistent and the steering stability is ensured.

[0009] In an embodiment of the present application, the steering parameters include: wheel driving torque, wheel rolling radius, and steering wheel angle; the determining the steering differential driving force and the driving spindle length based on the steering parameters includes:

[0010] Determine the left-wheel steering driving force and the right-wheel steering driving force based on the wheel driving torque and the wheel rolling radius;

[0011] Determine the steering differential driving force based on the left-wheel steering driving force and the right-wheel steering driving force;

[0012] In the preset driving spindle length mapping curve, determine the driving spindle length matching the steering wheel angle; the preset driving spindle length mapping curve is determined based on the vehicle's suspension simulation.

[0013] In one embodiment of the present application, the wheel driving torque includes a left-wheel driving torque and a right-wheel driving torque, and the wheel rolling radius includes a left-wheel rolling radius and a right-wheel rolling radius; determining the left-wheel steering driving force and the right-wheel steering driving force based on the wheel driving torque and the wheel rolling radius includes:

[0014] Determining the quotient of the left-wheel driving torque and the left-wheel rolling radius as the left-wheel steering driving force;

[0015] Determining the quotient of the right-wheel driving torque and the left-wheel rolling radius as the right-wheel steering driving force.

[0016] In one embodiment of the present application, determining the steering differential driving force based on the left-wheel steering driving force and the right-wheel steering driving force includes:

[0017] When the left-wheel steering driving force is greater than the right-wheel steering driving force, determining the difference between the left-wheel steering driving force and the right-wheel steering driving force as the steering differential driving force;

[0018] When the right-wheel steering driving force is greater than the left-wheel steering driving force, determining the difference between the right-wheel steering driving force and the left-wheel steering driving force as the steering differential driving force.

[0019] In one embodiment of the present application, determining the corrected steering assist torque by combining the steering differential driving force and the length of the driving main shaft includes:

[0020] When the left-wheel steering driving force is greater than the right-wheel steering driving force, combining the steering differential driving force with the left-side main shaft length in the driving main shaft length to determine the corrected steering assist torque;

[0021] When the right-wheel steering driving force is greater than the left-wheel steering driving force, combining the steering differential driving force with the right-side main shaft length in the driving main shaft length to determine the corrected steering assist torque.

[0022] In one embodiment of the present application, controlling the steering assist of the vehicle based on the corrected steering assist torque includes:

[0023] Equivalent the corrected steering assist torque to the output corrected torque of the assist system;

[0024] Determine the output basic torque of the assist system according to the steering parameter;

[0025] Combine the basic steering assist torque and the corrected steering assist torque to determine the system output target torque;

[0026] Control the electric assist system of the vehicle to output the system output target torque.

[0027] In an embodiment of the present application, the equivalence of the corrected steering assist torque to the output corrected torque of the assist system includes:

[0028] Obtain the steering system speed ratio;

[0029] Determine that the quotient of the corrected steering assist torque and the steering system speed ratio is the output corrected torque of the assist system.

[0030] In an embodiment of the present application, the determination of the system output target torque by combining the basic steering assist torque and the corrected steering assist torque includes:

[0031] When turning left, superimpose the corrected steering assist torque on the basic steering assist torque to determine the system output target torque;

[0032] When turning right, subtract the corrected steering assist torque from the basic steering assist torque to determine the system output target torque.

[0033] In the second aspect of the present application, an embodiment of the present application discloses a steering assist control device, including:

[0034] A parameter determination module, configured to determine the steering differential driving force and the driving spindle length based on steering parameters when steering under a differential driving condition;

[0035] A combination module, configured to combine the steering differential driving force and the driving spindle length to determine the corrected steering assist torque;

[0036] A control module, configured to control the steering assist of the vehicle based on the corrected steering assist torque.

[0037] In the third aspect of the present application, an embodiment of the present application discloses an electronic device, including a processor and a memory, wherein [[ID=3,4]]

[0038] The memory is used to store a computer program;

[0039] The processor is configured to execute the program stored on the memory to implement the above-mentioned steering assist control method.

[0040] In the fourth aspect of the present application, an embodiment of the present application discloses a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned steering assist control method is implemented. Description of the Drawings

[0041] Figure 1 It is a flowchart of the steps of an embodiment of a steering assist control method of the present application;

[0042] Figure 2 It is a flowchart of steps of another embodiment of the steering assist control method of the present application;

[0043] Figure 3 It is an example diagram of a preset driving main shaft length mapping curve under a solid hinge suspension structure;

[0044] Figure 4 It is an example diagram of a preset driving main shaft length mapping curve under a virtual hinge suspension structure;

[0045] Figure 5 It is a schematic diagram of the driving main shaft length in a straight-ahead state;

[0046] Figure 6 It is a schematic diagram of the driving main shaft length in a steering state;

[0047] Figure 7 It is a schematic diagram of an example operation of a steering assist control method of the present application;

[0048] Figure 8 It is a structural block diagram of an embodiment of a steering assist control device of the present application;

[0049] Figure 9 It is a structural block diagram of an embodiment of an electronic device of the present application;

[0050] Figure 10 It is a structural block diagram of an embodiment of a storage medium of the present application. Detailed implementation manners

[0051] In order to make the technical problems, technical solutions and beneficial effects solved by the present application clearer, the present application will be further described in detail below in conjunction with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0052] During differential drive, when the front axle motor performs differential drive control, the driving torques of the left and right wheels will generate a steering torque around the kingpin. This steering torque is an interference torque, which will cause changes in the load of the steering system and the hand force of the steering wheel. The driver's steering feel will also change, and the amplitude of the change will vary with the differential torque and the steering wheel angle. The change in steering feel interferes with the driver's driving and reduces steering stability. To solve the above problems, the embodiments of the present application are proposed.

[0053] Referring to Figure 1 , a flowchart of steps of an embodiment of a steering assist control method of the present application is shown. The steering assist control method may specifically include the following steps:

[0054] Step 101, when steering under the differential drive condition, determine the steering differential driving force and the driving spindle length based on the steering parameters;

[0055] The differential drive condition refers to an operating state in which the differential motion of the driving wheels (or actuators) on the left and right sides is used to achieve the steering, attitude adjustment, or complex trajectory tracking of movable devices such as vehicles. Its operating process is to independently control the rotational speed or torque of the driving wheels (or actuators) on both sides of the movable device to generate a speed difference, thereby achieving flexible movement without the need for an additional steering mechanism.

[0056] When steering under the differential drive condition, the current steering parameters can be obtained through sensors on the vehicle, cloud servers, etc. The steering parameters are used to characterize various state parameters during vehicle steering. Determine the steering differential driving force and the driving spindle length based on the steering parameters; thus, the state change caused by the differential of the two wheels can be determined from the current steering situation. Among them, the steering differential driving force is the differential situation of the driving forces between the steering wheels. The driving spindle length is the axial straight-line distance from the kingpin of the wheel to the wheel.

[0057] Step 102, combine the steering differential driving force and the driving spindle length to determine the corrected steering assist torque;

[0058] Based on the calculation method of torque, the torque determined by combining the steering differential driving force and the driving spindle length is the corrected steering assist torque.

[0059] Step 103, control the steering assist of the vehicle based on the corrected steering assist torque.

[0060] After obtaining the corrected steering assist torque, the vehicle can be controlled using the corrected steering assist torque, and the steering assist of the vehicle can be corrected using the corrected steering assist torque to compensate for the interference caused by the differential, so that the steering feel remains consistent.

[0061] In the embodiments of the present application, when steering under the differential drive condition, determine the steering differential driving force and the driving spindle length based on the steering parameters; combine the steering differential driving force and the driving spindle length to determine the corrected steering assist torque; control the steering assist of the vehicle based on the corrected steering assist torque. When steering under the differential drive condition, the corrected steering assist torque can be determined using the steering differential driving force and the driving spindle length; the steering assist is compensated based on the corrected steering assist torque, and the steering assist during the current vehicle steering is corrected to eliminate the interference torque generated by the differential drive, so that the steering feel when the driver drives the vehicle can remain consistent and the steering stability can be ensured.

[0062] Refer to Figure 2, showing a step flow chart of another embodiment of the steering assist control method of the present application. The steering assist control method may specifically include the following steps:

[0063] Step 201, when steering under the differential drive condition, determine the left-wheel steering driving force and the right-wheel steering driving force based on the wheel driving torque of the wheel and the rolling radius.

[0064] When the driver turns on the differential drive mode, the vehicle can be in the differential drive condition. At this time, it is necessary to supplement the steering. At this time, a flag indicating the opening of the differential drive mode and a flag indicating the start of torque compensation may appear in the vehicle message. That is, when the flags indicating the opening of the differential drive mode and the start of torque compensation are detected in the vehicle message, it can be determined that the vehicle is in the differential drive condition.

[0065] When steering under the differential drive condition, steering parameters can be obtained. The steering parameters can at least include the wheel driving torque, the wheel rolling radius, and the steering wheel angle. The left-wheel steering driving force and the right-wheel steering driving force can be determined based on the wheel driving torque and the wheel rolling radius respectively. The left-wheel steering driving force is the driving force on the left steering wheel. The right-wheel steering driving force is the driving force on the right steering wheel.

[0066] In an optional embodiment of the present application, the wheel driving torque includes the left-wheel driving torque and the right-wheel driving torque, and the wheel rolling radius includes the left-wheel rolling radius and the right-wheel rolling radius; determining the left-wheel steering driving force and the right-wheel steering driving force based on the wheel driving torque and the wheel rolling radius includes:

[0067] Sub-step S2011, determine that the quotient of the left-wheel driving torque and the left-wheel rolling radius is the left-wheel steering driving force;

[0068] Based on the relationship between torque, force arm, and acting force, taking the left-wheel driving torque as the torque and the left-wheel rolling radius as the force arm, calculating the quotient of the left-wheel driving torque and the left-wheel rolling radius is the left-wheel steering driving force.

[0069] Sub-step S2012, determine that the quotient of the right-wheel driving torque and the left-wheel rolling radius is the right-wheel steering driving force.

[0070] Similarly, taking the right-wheel driving torque as the torque and the right-wheel rolling radius as the force arm, calculating the quotient of the right-wheel driving torque and the right-wheel rolling radius is the right-wheel steering driving force.

[0071] In summary, when expressed using the relational formula, it can be:

[0072] Fxi = QWi / Ri;

[0073] Among them, Fxi is the steering driving force of the i-th wheel, QWi is the driving torque of the i-th wheel, and Ri is the rolling radius of the i-th wheel, where i = 1 / 2. 1 represents the left wheel and 2 represents the right wheel.

[0074] By determining the driving forces of different steering wheels, the differential situation between the vehicle's steering wheels can be determined in real time, and thus dynamically adjusted to maintain accurate compensation and ensure steering stability.

[0075] Step 202: Determine the steering differential driving force based on the left-wheel steering driving force and the right-wheel steering driving force;

[0076] The steering differential driving force can be determined based on the difference between the left-wheel steering driving force and the right-wheel steering driving force.

[0077] In an alternative embodiment of the present application, the determining the steering differential driving force based on the left-wheel steering driving force and the right-wheel steering driving force includes:

[0078] Sub-step S2021: When the left-wheel steering driving force is greater than the right-wheel steering driving force, determine the difference between the left-wheel steering driving force and the right-wheel steering driving force as the steering differential driving force;

[0079] It is possible to judge the magnitude between the left-wheel steering driving force and the right-wheel steering driving force. When the left-wheel steering driving force is greater than the right-wheel steering driving force, that is, the left-wheel steering driving force minus the right-wheel steering driving force can be used, and the difference between the left-wheel steering driving force and the right-wheel steering driving force is determined as the steering differential driving force.

[0080] Sub-step S2022: When the right-wheel steering driving force is greater than the left-wheel steering driving force, determine the difference between the right-wheel steering driving force and the left-wheel steering driving force as the steering differential driving force.

[0081] When the right-wheel steering driving force is greater than the left-wheel steering driving force, that is, the right-wheel steering driving force minus the left-wheel steering driving force can be used, and the difference between the right-wheel steering driving force and the left-wheel steering driving force is determined as the steering differential driving force.

[0082] In addition, when the left-wheel steering driving force is equal to the left-wheel steering driving force, it indicates that there is no differential between the left and right wheels. At this time, no differential compensation is required, so the next detection can be carried out faster to control the vehicle in real time.

[0083] Determining the corresponding steering differential driving force based on different differential situations enables targeted compensation during torque compensation to ensure that interference torques can be eliminated.

[0084] Step 203: determining a drive spindle length that matches the steering wheel angle in a preset drive spindle length mapping curve; the preset drive spindle length mapping curve is determined based on a vehicle suspension simulation;

[0085] The preset drive spindle length mapping curve can be determined in advance based on the vehicle's suspension structure and motion state through simulation. The preset drive spindle length mapping curve is the relationship curve between the steering wheel angle and the drive spindle length. Figure 3 , under the real hinge suspension structure, based on the relationship between different steering wheel angles and the left wheel drive main shaft length BL, right wheel drive main shaft length BR. The solid line is the change curve of the left wheel drive main shaft length BL; the dotted line is the change curve of the right wheel drive main shaft length BR. In the process of the steering wheel angle turning from the left extreme angle to the right extreme angle, the right wheel drive main shaft length BR first decreases to the lowest point and then increases rapidly; the left wheel drive main shaft length BL first decreases rapidly to the lowest point and then increases slowly. You can also refer to Figure 4 Figure 2 shows the relationship between the left-wheel drive spindle length (BL) and the right-wheel drive spindle length (BR) at different steering wheel angles under a virtual hinge suspension structure. The solid line shows the curve for the left-wheel drive spindle length (BL); the dashed line shows the curve for the right-wheel drive spindle length (BR). As the steering wheel angle moves from the left extreme to the right extreme, the left-wheel drive spindle length (BL) first decreases to its lowest point and then rapidly increases. The right-wheel drive spindle length (BR) first decreases rapidly to its lowest point and then slowly increases.

[0086] Simulation methods for the preset drive spindle length mapping curve include, but are not limited to: building a powertrain and chassis model in CATIA / UG (3D drawing software), measuring the theoretical drive spindle length in real time during motion simulation, and analyzing the spindle's deformation under extreme operating conditions through ADAMS multi-body dynamics simulation to determine the drive spindle length.

[0087] The preset driving spindle length mapping curve can be stored in the vehicle database or in the cloud server. When needed, the preset driving spindle length mapping curve can be read.

[0088] After obtaining the current actual steering wheel angle of the vehicle, the drive spindle length that matches the steering wheel angle is determined in the preset drive spindle length mapping curve.

[0089] By utilizing dynamics software to predetermine a preset drive spindle length mapping curve, the corresponding drive spindle length can be dynamically determined based on the real-time steering wheel angle. This provides higher accuracy than calculating a fixed drive spindle length, thereby improving the accuracy of calculating the corrected steering assist torque.

[0090] The driving spindle length may include the left spindle length and the right spindle length. Figure 5 andFigure 6 As shown Figure 5 in the figure, when the vehicle is going straight, the axial length BL from the center of the left wheel to the left wheel is the left main shaft length; the axial length BR from the center of the right wheel to the right wheel is the right main shaft length. As shown Figure 6 in the figure, when the vehicle is turning, the axial length BL from the center of the left wheel to the left wheel is the left main shaft length; the axial length BR from the center of the right wheel to the right wheel is the right main shaft length.

[0091] Step 204: Determine a corrected steering assist torque by combining the steering differential driving force and the driving main shaft length;

[0092] The steering differential driving force and the driving main shaft length can be combined to determine the corrected steering assist torque that needs to be corrected currently.

[0093] In an alternative embodiment of the present application, the determining the corrected steering assist torque by combining the steering differential driving force and the driving main shaft length includes:

[0094] Sub-step S2041: When the left-wheel steering driving force is greater than the right-wheel steering driving force, combine the steering differential driving force with the left main shaft length in the driving main shaft length to determine the corrected steering assist torque;

[0095] When the left-wheel steering driving force is greater than the right-wheel steering driving force, it indicates that the interference caused by the left driving force needs to be eliminated. The steering differential driving force can be combined with the left main shaft length in the driving main shaft length to determine the corrected steering assist torque. Specifically, the steering differential driving force can be multiplied by the left main shaft length in the driving main shaft length, and the product can be used as the corrected steering assist torque.

[0096] Sub-step S2042: When the right-wheel steering driving force is greater than the left-wheel steering driving force, combine the steering differential driving force with the right main shaft length in the driving main shaft length to determine the corrected steering assist torque.

[0097] When the right-wheel steering driving force is greater than the left-wheel steering driving force, it indicates that the interference caused by the right driving force needs to be eliminated. The steering differential driving force can be combined with the right main shaft length in the driving main shaft length to determine the corrected steering assist torque. Specifically, the steering differential driving force can be multiplied by the right main shaft length in the driving main shaft length, and the product can be used as the corrected steering assist torque.

[0098] When expressed using relationships above, it can be:

[0099] When Fx1 > Fx2, T QS =(Fx1 - Fx2)*B L ;

[0100] When Fx1 < Fx2, T QS =(Fx2 - Fx1)*B R ;

[0101] When Fx1 = Fx2, T QS = 0 (no need to process, differential drive function not in effect);

[0102] T QS is the corrected steering assist torque, Fx1 is the left wheel steering driving force, Fx2 is the right wheel steering driving force, and B L is the length of the left main shaft; B R is the length of the right main shaft.

[0103] Determine the corresponding corrected steering assist torque based on different differential situations to ensure that the interference torque can be eliminated and the steering stability of the vehicle can be improved.

[0104] Step 205, equivalent the corrected steering assist torque to the output correction torque of the assist system;

[0105] The corrected steering assist torque can be equivalent to the corresponding output correction torque of the assist system based on the structure of the vehicle's steering system, so that the differential drive and the resistance system can be linked to jointly eliminate the interference.

[0106] In an alternative embodiment of the present application, the equivalent of the corrected steering assist torque to the output correction torque of the assist system includes:

[0107] Sub-step S2051, obtain the steering system speed ratio;

[0108] The steering system speed ratio is the ratio of the input speed to the output speed of the steering system. The steering system speed ratio is determined based on the structure of the steering system. The steering system speed ratio can be obtained from the corresponding data storage space.

[0109] Sub-step S2052, determine the quotient of the corrected steering assist torque and the steering system speed ratio as the output correction torque of the assist system.

[0110] After obtaining the steering system speed ratio, calculate the quotient of the corrected steering assist torque and the steering system speed ratio, and determine this quotient as the output correction torque of the assist system.

[0111] It can be expressed by the relational formula as:

[0112] T QE = T QS / i_s;

[0113] where, T QE is the output correction torque of the assist system, T QSTo correct the steering assist torque, \(i_s\) is the steering system ratio.

[0114] Step 206, determine the basic output torque of the assist system according to the steering parameters;

[0115] Since the steering assist system will also provide assistance when the vehicle is steering, the basic output torque of the assist system can be determined first based on the steering parameters. The assist system has an assist curve, which characterizes the relationship between the assist torque of the steering assist system and the vehicle speed and the steering wheel torque. The assist curve can be determined through motion simulation. When steering, based on the real-time detected vehicle speed and steering wheel torque, the matching assist torque is determined in the resistance curve to determine the basic output torque of the assist system.

[0116] Step 207, combine the basic steering assist torque and the corrected steering assist torque to determine the target output torque of the system;

[0117] Then, determine the target output torque of the system by combining the basic steering assist torque and the corrected steering assist torque, and use the target output torque of the system for steering assistance.

[0118] In an alternative embodiment of the present application, the combining the basic steering assist torque and the corrected steering assist torque to determine the target output torque of the system includes:

[0119] Sub-step S2071, when turning left, superimpose the corrected steering assist torque on the basic steering assist torque to determine the target output torque of the system;

[0120] When turning left, the corrected steering assist torque can be superimposed on the basic steering assist torque, and the sum of the basic steering assist torque and the corrected steering assist torque is determined as the target output torque of the system.

[0121] Sub-step S2072, when turning right, subtract the corrected steering assist torque from the basic steering assist torque to determine the target output torque of the system.

[0122] When turning right, subtract the corrected steering assist torque from the basic steering assist torque, and the difference between the basic steering assist torque and the corrected steering assist torque is determined as the target output torque of the system.

[0123] It is expressed by the following relationship:

[0124] T EPS _new = T EPS _base + k_1 * T QE ;

[0125] where, T EPS _base is the basic steering assist torque, T EPS_new is the target torque output by the system; k_1 can be 1 or -1. 1 means turning left, and -1 means turning right.

[0126] Based on different steering situations, the corresponding correction direction and system output target torque are determined to ensure that the steering power system can have an output target, thereby eliminating interference torque and improving the vehicle's steering stability.

[0127] Step 208 : Control the electric power assist system of the vehicle to output the system output target torque.

[0128] The torque output by the vehicle's electric power steering system is controlled to reach the system output target torque, and the system output target torque is used to act on the steering system for steering. This allows users to accurately control the differential-driven vehicle with the same steering feel as conventional vehicles, ensuring steering stability.

[0129] In order to make the embodiments of the present application clear to those skilled in the art, refer to Figure 7 To illustrate, a vehicle may include a differential drive main function module, a steering torque compensation module, and an EPS (Electric Power Steering) module. The differential drive module collects steering parameters such as steering wheel angle, driving torque, and vehicle speed. Upon detecting the differential on flag, it determines that the vehicle is steering in differential drive mode. These steering parameters, such as steering wheel angle, driving torque, and vehicle speed, along with the differential on flag, can be sent to the steering torque compensation module. The steering torque compensation module calculates the steering load change caused by the differential drive torque based on the front axle steering wheel's differential drive torque and determines the corresponding corrected steering assist torque. This corrected steering assist torque and the torque compensation on flag are then sent to the EPS module. The torque compensation on flag instructs the EPS to perform torque compensation. Upon receiving the corrected steering assist torque and the torque compensation on flag, the EPS module adjusts the motor's driving force to achieve torque compensation, eliminating interfering torque and ensuring steering stability.

[0130] It should be noted that for the method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present application are not limited by the order of the actions described, because according to the embodiments of the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present application.

[0131] The present application also provides a steering assist control device, referring to Figure 8, which shows a structural block diagram of an embodiment of a steering assist control device of the present application. The steering assist control device may specifically include the following modules:

[0132] A parameter determination module 801, configured to determine a steering differential driving force and a driving spindle length based on steering parameters when steering under a differential driving condition.

[0133] A combination module 802, configured to combine the steering differential driving force and the driving spindle length to determine a corrected steering assist torque.

[0134] A control module 803, configured to control the steering assist of the vehicle based on the corrected steering assist torque.

[0135] In an optional embodiment of the present application, the steering parameters include: a wheel driving torque, a wheel rolling radius, and a steering wheel rotation angle; the parameter determination module 801 includes:

[0136] A wheel steering driving force determination sub-module, configured to determine a left-wheel steering driving force and a right-wheel steering driving force based on the wheel driving torque and the wheel rolling radius.

[0137] A steering differential driving force determination sub-module, configured to determine a steering differential driving force based on the left-wheel steering driving force and the right-wheel steering driving force.

[0138] A driving spindle length determination sub-module, configured to determine a driving spindle length matching the steering wheel rotation angle in a preset driving spindle length mapping curve; the preset driving spindle length mapping curve is determined based on the suspension simulation of the vehicle.

[0139] In an optional embodiment of the present application, the wheel driving torque includes a left-wheel driving torque and a right-wheel driving torque, and the wheel rolling radius includes a left-wheel rolling radius and a right-wheel rolling radius; the wheel steering driving force determination sub-module includes:

[0140] A left-wheel steering driving force determination unit, configured to determine the quotient of the left-wheel driving torque and the left-wheel rolling radius as the left-wheel steering driving force.

[0141] A right-wheel steering driving force determination unit, configured to determine the quotient of the right-wheel driving torque and the left-wheel rolling radius as the right-wheel steering driving force.

[0142] In an optional embodiment of the present application, the steering differential driving force determination sub-module includes:

[0143] A first steering differential driving force determination unit, configured to determine the difference between the left-wheel steering driving force and the right-wheel steering driving force as the steering differential driving force when the left-wheel steering driving force is greater than the right-wheel steering driving force.

[0144] A second steering differential driving force determining unit, configured to determine a difference between the right-wheel steering driving force and the left-wheel steering driving force as the steering differential driving force when the right-wheel steering driving force is greater than the left-wheel steering driving force.

[0145] In an alternative embodiment of the present application, the combining module 802 includes:

[0146] A first combining sub-module, configured to combine the steering differential driving force with the left-side main shaft length in the driving main shaft length to determine a corrected steering assist torque when the left-wheel steering driving force is greater than the right-wheel steering driving force;

[0147] A second combining sub-module, configured to combine the steering differential driving force with the right-side main shaft length in the driving main shaft length to determine a corrected steering assist torque when the right-wheel steering driving force is greater than the left-wheel steering driving force.

[0148] In an alternative embodiment of the present application, the control module 803 includes:

[0149] An equivalent sub-module, configured to equivalent the corrected steering assist torque to a corrected torque output by the assist system;

[0150] An assist system output basic torque determining sub-module, configured to determine an assist system output basic torque according to the steering parameter;

[0151] A third combining sub-module is used to combine the basic steering assist torque and the corrected steering assist torque to determine a system output target torque;

[0152] A control sub-module, configured to control the electric power assist system of the vehicle to output the system output target torque.

[0153] In an alternative embodiment of the present application, the equivalent sub-module includes:

[0154] An acquisition unit, configured to acquire a steering system speed ratio;

[0155] An equivalent unit, configured to determine a quotient of the corrected steering assist torque and the steering system speed ratio as the corrected torque output by the assist system.

[0156] In an alternative embodiment of the present application, the control sub-module includes:

[0157] A left-turn control unit, configured to superimpose the corrected steering assist torque on the basic steering assist torque to determine a system output target torque when making a left turn;

[0158] The right-turn control unit is used to reduce the correction steering assist torque on the basis of the basic steering assist torque when making a right turn, and determine the system output target torque.

[0159] In the embodiment of the present application, when steering under the differential drive condition, the steering differential driving force and the driving spindle length are determined based on the steering parameters; the correction steering assist torque is determined by combining the steering differential driving force and the driving spindle length; the steering assist of the vehicle is controlled based on the correction steering assist torque. When steering under the differential drive condition, the correction steering assist torque is determined by using the steering differential driving force and the driving spindle length; the steering assist is compensated by the correction steering assist torque to eliminate the interference torque generated by the differential, so that the steering feel when the driver drives the vehicle can be kept consistent and the steering stability is ensured.

[0160] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for the related parts, please refer to the partial description of the method embodiment.

[0161] The embodiment of the present application also provides an electronic device, please refer to Figure 9 , including a processor 910 and a memory 920. Among them, the memory 910 is used to store a computer program; the processor 920 is used to execute the program stored on the memory 910 to implement the steering assist control method introduced in any embodiment of the present application. The steering assist control method includes:

[0162] When steering under the differential drive condition, determine the steering differential driving force and the driving spindle length based on the steering parameters;

[0163] Combine the steering differential driving force and the driving spindle length to determine the correction steering assist torque;

[0164] Control the steering assist of the vehicle based on the correction steering assist torque.

[0165] When steering under the differential drive condition, the correction steering assist torque is determined by using the steering differential driving force and the driving spindle length; the steering assist is compensated by the correction steering assist torque to eliminate the interference torque generated by the differential, so that the steering feel when the driver drives the vehicle can be kept consistent and the steering stability is ensured.

[0166] In an embodiment of the present application, the steering parameters include: the wheel driving torque, the wheel rolling radius, and the steering wheel angle; the determining the steering differential driving force and the driving spindle length based on the steering parameters includes:

[0167] Determine the left-wheel steering driving force and the right-wheel steering driving force based on the wheel driving torque and the wheel rolling radius;

[0168] Determine the steering differential driving force based on the left-wheel steering driving force and the right-wheel steering driving force;

[0169] In the preset driving main shaft length mapping curve, determine the driving main shaft length that matches the steering wheel rotation angle; the preset driving main shaft length mapping curve is determined based on the suspension simulation of the vehicle.

[0170] In an embodiment of the present application, the wheel driving torque includes a left-wheel driving torque and a right-wheel driving torque, and the wheel rolling radius includes a left-wheel rolling radius and a right-wheel rolling radius; determining the left-wheel steering driving force and the right-wheel steering driving force based on the wheel driving torque and the wheel rolling radius includes:

[0171] Determine the quotient of the left-wheel driving torque and the left-wheel rolling radius as the left-wheel steering driving force;

[0172] Determine the quotient of the right-wheel driving torque and the left-wheel rolling radius as the right-wheel steering driving force.

[0173] In an embodiment of the present application, determining the steering differential driving force based on the left-wheel steering driving force and the right-wheel steering driving force includes:

[0174] In the case where the left-wheel steering driving force is greater than the right-wheel steering driving force, determine the difference between the left-wheel steering driving force and the right-wheel steering driving force as the steering differential driving force;

[0175] In the case where the right-wheel steering driving force is greater than the left-wheel steering driving force, determine the difference between the right-wheel steering driving force and the left-wheel steering driving force as the steering differential driving force.

[0176] In an embodiment of the present application, combining the steering differential driving force and the driving main shaft length to determine the corrected steering assist torque includes:

[0177] In the case where the left-wheel steering driving force is greater than the right-wheel steering driving force, combine the steering differential driving force with the left-side main shaft length in the driving main shaft length to determine the corrected steering assist torque;

[0178] In the case where the right-wheel steering driving force is greater than the left-wheel steering driving force, combine the steering differential driving force with the right-side main shaft length in the driving main shaft length to determine the corrected steering assist torque.

[0179] In an embodiment of the present application, controlling the steering assist of the vehicle based on the corrected steering assist torque includes:

[0180] Equivalent the corrected steering assist torque to the output correction torque of the assist system;

[0181] Determine the basic torque output by the power assist system according to the steering parameters;

[0182] Combine the basic steering assist torque and the corrected steering assist torque to determine the target torque output by the system;

[0183] Control the electric power assist system of the vehicle to output the target torque output by the system.

[0184] In an embodiment of the present application, the equivalent of the corrected steering assist torque to the corrected torque output by the power assist system includes:

[0185] Obtain the steering system speed ratio;

[0186] Determine that the quotient of the corrected steering assist torque and the steering system speed ratio is the corrected torque output by the power assist system.

[0187] In an embodiment of the present application, the combination of the basic steering assist torque and the corrected steering assist torque to determine the target torque output by the system includes:

[0188] When turning left, superimpose the corrected steering assist torque on the basic steering assist torque to determine the target torque output by the system;

[0189] When turning right, reduce the corrected steering assist torque from the basic steering assist torque to determine the target torque output by the system.

[0190] In the embodiment of the present application, when steering under the differential drive condition, the steering differential driving force and the driving spindle length are determined based on the steering parameters; the corrected steering assist torque is determined by combining the steering differential driving force and the driving spindle length; the steering assist of the vehicle is controlled based on the corrected steering assist torque. When steering under the differential drive condition, the corrected steering assist torque is determined by using the steering differential driving force and the driving spindle length; the steering assist is compensated by the corrected steering assist torque to eliminate the interference torque generated by the differential, so that the steering feel when the driver drives the vehicle can be kept consistent and the steering stability is ensured.

[0191] Among them, the memory may include a random access memory (Random Access Memory, abbreviated as RAM), or may also include a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the aforementioned processor.

[0192] The above-mentioned processor may be a general-purpose processor, including a Central Processing Unit (CPU for short), a Network Processor (NP for short), etc.; it may also be a Digital Signal Processor (DSP for short), an Application Specific Integrated Circuit (ASIC for short), a Field-Programmable Gate Array (FPGA for short), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0193] The embodiment of the present application also provides a computer-readable storage medium 1001, which can be referred to Figure 10 , and a computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, it implements the steering assist control method introduced in any embodiment of the present application. The steering assist control method includes:

[0194] When steering under a differential drive condition, determining a steering differential driving force and a driving spindle length based on steering parameters;

[0195] Combining the steering differential driving force and the driving spindle length to determine a corrected steering assist torque;

[0196] Controlling the steering assist of the vehicle based on the corrected steering assist torque.

[0197] When steering under a differential drive condition, by using the steering differential driving force and the driving spindle length, a corrected steering assist torque is determined; the steering assist is compensated by the corrected steering assist torque to eliminate the interference torque generated by the differential, so that the steering feel when the driver drives the vehicle can be kept consistent, ensuring steering stability.

[0198] In an embodiment of the present application, the steering parameters include: wheel driving torque, wheel rolling radius, and steering wheel rotation angle; the determining of the steering differential driving force and the driving spindle length based on the steering parameters includes:

[0199] Determining a left-wheel steering driving force and a right-wheel steering driving force based on the wheel driving torque and the wheel rolling radius;

[0200] Determining the steering differential driving force based on the left-wheel steering driving force and the right-wheel steering driving force;

[0201] In a preset driving main shaft length mapping curve, determine the driving main shaft length that matches the steering wheel angle; the preset driving main shaft length mapping curve is determined based on the suspension simulation of the vehicle.

[0202] In an embodiment of the present application, the wheel driving torque includes a left wheel driving torque and a right wheel driving torque, and the wheel rolling radius includes a left wheel rolling radius and a right wheel rolling radius; determining the left wheel steering driving force and the right wheel steering driving force based on the wheel driving torque and the wheel rolling radius includes:

[0203] Determine the quotient of the left wheel driving torque and the left wheel rolling radius as the left wheel steering driving force;

[0204] Determine the quotient of the right wheel driving torque and the left wheel rolling radius as the right wheel steering driving force.

[0205] In an embodiment of the present application, determining the steering differential driving force based on the left wheel steering driving force and the right wheel steering driving force includes:

[0206] When the left wheel steering driving force is greater than the right wheel steering driving force, determine the difference between the left wheel steering driving force and the right wheel steering driving force as the steering differential driving force;

[0207] When the right wheel steering driving force is greater than the left wheel steering driving force, determine the difference between the right wheel steering driving force and the left wheel steering driving force as the steering differential driving force.

[0208] In an embodiment of the present application, combining the steering differential driving force and the driving main shaft length to determine the corrected steering assist torque includes:

[0209] When the left wheel steering driving force is greater than the right wheel steering driving force, combine the steering differential driving force with the left main shaft length in the driving main shaft length to determine the corrected steering assist torque;

[0210] When the right wheel steering driving force is greater than the left wheel steering driving force, combine the steering differential driving force with the right main shaft length in the driving main shaft length to determine the corrected steering assist torque.

[0211] In an embodiment of the present application, controlling the steering assist of the vehicle based on the corrected steering assist torque includes:

[0212] ]]Equivalent the corrected steering assist torque to the output correction torque of the assist system;

[0213] Determine the output basic torque of the assist system according to the steering parameter;

[0214] Determine the system output target torque by combining the base steering assist torque and the corrected steering assist torque;

[0215] Control the electric power steering system of the vehicle to output the system output target torque.

[0216] In an embodiment of the present application, the equivalent of the corrected steering assist torque to the assist system output correction torque includes:

[0217] Obtain the steering system speed ratio;

[0218] Determine that the quotient of the corrected steering assist torque and the steering system speed ratio is the assist system output correction torque.

[0219] In an embodiment of the present application, the determining the system output target torque by combining the base steering assist torque and the corrected steering assist torque includes:

[0220] When turning left, superimpose the corrected steering assist torque on the base steering assist torque to determine the system output target torque;

[0221] When turning right, reduce the corrected steering assist torque from the base steering assist torque to determine the system output target torque.

[0222] In the embodiment of the present application, when steering under the differential drive condition, the steering differential driving force and the driving spindle length are determined based on the steering parameters; the corrected steering assist torque is determined by combining the steering differential driving force and the driving spindle length; the steering assist of the vehicle is controlled based on the corrected steering assist torque. When steering under the differential drive condition, the corrected steering assist torque is determined by using the steering differential driving force and the driving spindle length; the steering assist is compensated by the corrected steering assist torque to eliminate the interference torque generated by the differential, so that the steering feel when the driver drives the vehicle can be kept consistent and the steering stability is ensured.

[0223] In the present application, "a plurality of" means two or more.

[0224] In the present application, unless otherwise clearly defined, the terms "mounted", "connected", and "connected" shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0225] The terms "first", "second", "third", "fourth", etc. (if any) in this application are used to distinguish similar objects and do not necessarily describe a specific order or sequence.

[0226] The term "and / or" in this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. Additionally, the character " / " in this application generally indicates that the related objects before and after are in an "or" relationship.

[0227] If there is no special instruction, all steps of this application can be carried out sequentially or randomly. For example, the method includes steps A and B, indicating that the method can include steps A and B carried out sequentially, or can also include steps B and A carried out sequentially. For example, when it is mentioned that the method may further include step C, it means that step C can be added to the method in any order. For example, the method can include steps A, B, and C, or can also include steps A, C, and B, or can include steps C, A, and B, etc.

[0228] The above are only the preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims

1. A steering assist control method, characterized in that Including: When steering under differential drive conditions, determining the steering differential driving force and the driving spindle length based on steering parameters; Combining the steering differential driving force and the driving spindle length to determine a corrected steering assist torque; Controlling the steering assist of the vehicle based on the corrected steering assist torque.

2. The method according to claim 1, wherein The steering parameters include: wheel driving torque, wheel rolling radius, and steering wheel angle; the determining of the steering differential driving force and the driving spindle length based on the steering parameters includes: Determining the left-wheel steering driving force and the right-wheel steering driving force based on the wheel driving torque and the wheel rolling radius; Determining the steering differential driving force based on the left-wheel steering driving force and the right-wheel steering driving force; Determining the driving spindle length matching the steering wheel angle in a preset driving spindle length mapping curve; the preset driving spindle length mapping curve is determined based on the suspension simulation of the vehicle.

3. The method according to claim 2, wherein The wheel driving torque includes the left-wheel driving torque and the right-wheel driving torque, and the wheel rolling radius includes the left-wheel rolling radius and the right-wheel rolling radius; the determining of the left-wheel steering driving force and the right-wheel steering driving force based on the wheel driving torque and the wheel rolling radius includes: Determining the quotient of the left-wheel driving torque and the left-wheel rolling radius as the left-wheel steering driving force; Determining the quotient of the right-wheel driving torque and the left-wheel rolling radius as the right-wheel steering driving force.

4. The method according to claim 2, wherein The determining of the steering differential driving force based on the left-wheel steering driving force and the right-wheel steering driving force includes: When the left-wheel steering driving force is greater than the right-wheel steering driving force, determining the difference between the left-wheel steering driving force and the right-wheel steering driving force as the steering differential driving force; When the right-wheel steering driving force is greater than the left-wheel steering driving force, determining the difference between the right-wheel steering driving force and the left-wheel steering driving force as the steering differential driving force.

5. The method according to any one of claims 2-4, characterized in that The combining of the steering differential driving force and the driving spindle length to determine a corrected steering assist torque includes: When the left-wheel steering driving force is greater than the right-wheel steering driving force, combining the steering differential driving force with the left-side spindle length in the driving spindle length to determine a corrected steering assist torque; When the right-wheel steering driving force is greater than the left-wheel steering driving force, combining the steering differential driving force with the right-side spindle length in the driving spindle length to determine a corrected steering assist torque.

6. The method according to claim 1, wherein The controlling of the steering assist of the vehicle based on the corrected steering assist torque includes: Equating the corrected steering assist torque to the output correction torque of the assist system; Determining the output basic torque of the assist system according to the steering parameters; Combining the basic steering assist torque and the corrected steering assist torque to determine the system output target torque; Controlling the electric assist system of the vehicle to output the system output target torque.

7. The method according to claim 6, wherein The equating of the corrected steering assist torque to the output correction torque of the assist system includes: Obtaining the steering system ratio; Determining the quotient of the corrected steering assist torque and the steering system ratio as the output correction torque of the assist system.

8. The method according to claim 7, wherein The combining of the basic steering assist torque and the corrected steering assist torque to determine the system output target torque includes: When making a left turn, superimpose the correction steering assist torque on the basic steering assist torque to determine the target torque output by the system; When making a right turn, subtract the correction steering assist torque from the basic steering assist torque to determine the target torque output by the system.

9. A steering assist control device, characterized in that, It includes: A parameter determination module, configured to determine the steering differential driving force and the driving spindle length based on the steering parameters when steering under the differential driving condition; A combination module, configured to combine the steering differential driving force and the driving spindle length to determine the correction steering assist torque; A control module, configured to control the steering assist of the vehicle based on the correction steering assist torque.

10. An electronic device, characterized in that, It includes a processor and a memory, wherein The memory is used to store computer programs; The processor is configured to execute the programs stored on the memory to implement the steering assist control method according to any one of claims 1-8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, it implements the steering assist control method according to any one of claims 1-8.

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