Method, device and equipment for remotely controlling steering of vehicle and storage medium

Abstract

The invention discloses a method, device and equipment for remotely controlling vehicle steering and a storage medium, and the method comprises the steps: obtaining the state of an electric power steering system, the vehicle speed, the torque of a steering wheel and the state of an angle sensor when a steering signal of remote control equipment is received; determining whether the state of the electric power steering system, the vehicle speed, the torque of a steering wheel and the state of an angle sensor meet preset conditions or not, and if yes, determining a target steering angle based on the steering signal; acquiring a current actual steering angle based on the steering angle sensor, and determining a target steering wheel rotating speed based on the current actual steering angle and the target steering angle; acquiring a current actual steering wheel rotating speed, and determining a target steering motor torque based on the current actual steering wheel rotating speed and the target steering wheel rotating speed; and based on the target steering motor torque, a motor of the electric power steering system is controlled, so that steering of the vehicle is completed. The steering of the vehicle is controlled more accurately, and better control experience is provided for a driver.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle steering control, and in particular to a method, device, equipment and storage medium for remotely controlling vehicle steering. Background Art

[0002] Remote control driving refers to a driving mode in which the driver controls the vehicle's forward / reverse and left / right turns from a certain distance outside the vehicle's cockpit by operating a remote control device. In remote control driving mode, the driver is typically outside the vehicle's cockpit, unable to directly control the vehicle's driving state from inside. The market demands a steering system that can accurately control lateral movement and quickly respond to vehicle control requests, and that can meet the requirements of various complex road conditions.

[0003] Currently, most mainstream commercial vehicles on the market use hydraulic power steering devices. The hydraulic power steering system cannot respond to the electronic control instructions of the vehicle controller and cannot meet the remote control driving needs in specific scenarios.

[0004] Therefore, it is necessary to design a car steering control method suitable for remote control driving scenarios. In scenarios such as long-distance remote control driving and close-range remote control driving, the steering system can respond to the request of the vehicle controller more quickly, support the vehicle to more accurately close the loop and control the lateral movement of the vehicle, and provide the driver with a better control experience. Summary of the Invention

[0005] The present invention provides a method, device, equipment and storage medium for remotely controlling vehicle steering, so as to achieve more precise control of vehicle steering and provide a better control experience for the driver.

[0006] According to one aspect of the present invention, a method for remotely controlling vehicle steering is provided, comprising:

[0007] Upon receiving the steering signal from the remote control device, obtain the status of the electric power steering system, vehicle speed, steering wheel torque and angle sensor status;

[0008] determining whether the state of the electric power steering system, the vehicle speed, the steering wheel torque, and the state of the steering angle sensor meet preset conditions, and determining a target steering angle based on the steering signal if the preset conditions are met;

[0009] acquiring a current actual steering angle based on the steering angle sensor, and determining a target steering wheel speed based on the current actual steering angle and the target steering angle;

[0010] Obtaining a current actual steering wheel speed, and determining a target steering motor torque based on the current actual steering wheel speed and the target steering wheel speed;

[0011] Based on the target steering motor torque, the motor of the electric power steering system is controlled to enable the vehicle to complete steering.

[0012] According to another aspect of the present invention, there is provided a device for remotely controlling vehicle steering, comprising:

[0013] A status acquisition module is used to obtain the status of the electric power steering system, vehicle speed, steering wheel torque and steering angle sensor status when receiving the steering signal from the remote control device;

[0014] a state determination module, configured to determine whether the state of the electric power steering system, the vehicle speed, the steering wheel torque, and the state of the steering angle sensor meet preset conditions, and if so, determine a target steering angle based on the steering signal;

[0015] a rotation speed determination module, configured to obtain a current actual steering angle based on the steering angle sensor, and determine a target steering wheel rotation speed based on the current actual steering angle and the target steering angle;

[0016] a torque determination module, configured to obtain a current actual steering wheel speed and determine a target steering motor torque based on the current actual steering wheel speed and the target steering wheel speed;

[0017] A steering control module is used to control the motor of the electric power steering system based on the target steering motor torque so that the vehicle completes steering.

[0018] According to another aspect of the present invention, an electronic device is provided, comprising:

[0019] at least one processor;

[0020] and a memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor so that the at least one processor can execute the method for remotely controlling vehicle steering according to any embodiment of the present invention.

[0022] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for remotely controlling vehicle steering according to any embodiment of the present invention when executed.

[0023] The technical solution of the embodiment of the present invention obtains the state of the electric power steering system, vehicle speed, steering wheel torque and angle sensor state upon receiving a steering signal from a remote control device; determines whether the state of the electric power steering system, vehicle speed, steering wheel torque and angle sensor state meet preset conditions, and if so, determines the target steering angle based on the steering signal; obtains the current actual steering angle based on the angle sensor, and determines the target steering wheel speed based on the current actual steering angle and the target steering angle; obtains the current actual steering wheel speed, and determines the target steering motor torque based on the current actual steering wheel speed and the target steering wheel speed; and controls the motor of the electric power steering system based on the target steering motor torque to enable the vehicle to complete steering. This solves the technical problems of existing steering systems, which cannot support the precise control of the vehicle's lateral movement, cannot quickly respond to vehicle control requests, and cannot meet the requirements of use under various complex road conditions. It achieves more precise control of the vehicle's steering and provides the driver with a better control experience.

[0024] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 A flowchart of a method for remotely controlling vehicle steering provided by an embodiment of the present invention;

[0027] Figure 2 A flowchart of another method for remotely controlling vehicle steering provided by an embodiment of the present invention;

[0028] Figure 3 A software architecture diagram applicable to a method for remotely controlling vehicle steering provided by an embodiment of the present invention;

[0029] Figure 4 A schematic structural diagram of a device for remotely controlling vehicle steering provided by an embodiment of the present invention;

[0030] Figure 5 A schematic structural diagram of another device for remotely controlling vehicle steering provided by an embodiment of the present invention;

[0031] Figure 6A schematic structural diagram of an electronic device for implementing the method for remotely controlling vehicle steering according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] Figure 1 A flowchart of a method for remotely controlling vehicle steering is provided in an embodiment of the present invention. This embodiment can be applied to controlling a vehicle's electric power steering system in scenarios such as long-range remote driving and short-range remote driving. The method can be executed by a device for remotely controlling vehicle steering, which can be implemented in the form of hardware and / or software and can be configured in a remote control device.

[0035] like Figure 1 As shown, the method specifically includes the following steps:

[0036] S110 : Upon receiving a steering signal from the remote control device, obtaining a state of the electric power steering system, a vehicle speed, a steering wheel torque, and a steering angle sensor state.

[0037] It should be noted that the steering signal can be sent to the vehicle controller via a remote control device. The vehicle controller sends the function enable signal and steering signal to the controller of the electric power steering system, which then receives the function enable signal and steering signal in real time.

[0038] The function enable signal is used to enable the remote control function of the electric power steering system, and the steering signal may be a steering instruction issued by a remote control device, and the steering signal includes desired direction information and / or desired angle information.

[0039] Specifically, when the vehicle controller receives the steering signal from the remote control device, the vehicle controller can obtain the status of the electric power steering system, vehicle speed, steering wheel torque and steering angle sensor status to evaluate whether the vehicle currently has the conditions to perform steering operations.

[0040] S120: Determine whether the state of the electric power steering system, the vehicle speed, the steering wheel torque, and the state of the steering angle sensor meet preset conditions. If the preset conditions are met, determine a target steering angle based on the steering signal.

[0041] The target steering angle may be the angle at which the electric power steering system or the steering wheel needs to turn.

[0042] It is understood that the determination of whether the state of the electric power steering system, vehicle speed, steering wheel torque, and steering angle sensor state meet preset conditions can ensure that the vehicle performs steering operations in a safe state and determine the required steering angle based on the turn signal if the preset conditions are met.

[0043] In some embodiments, determining whether the state of the electric power steering system, the vehicle speed, the steering wheel torque and the state of the angle sensor meet preset conditions includes: determining whether the state of the electric power steering system is normal; determining whether the vehicle speed is within a preset speed range; determining whether the steering wheel torque is less than a preset torque value; determining whether the state of the angle sensor is normal; and determining that the preset conditions are met when the state of the electric power steering system is normal, the vehicle speed is within a preset speed range, the steering wheel torque is less than a preset torque value and the state of the angle sensor is normal.

[0044] It should be understood that if there is a fault or anomaly in the EPS system, the steering command may not be executed correctly, so it is necessary to ensure that the system is normal. Excessive or low vehicle speed may affect the accuracy and safety of steering, so it is necessary to ensure that the vehicle speed is within a reasonable range. If the steering wheel torque is too large, the driver may be manually intervening in the steering, or the steering system may be under excessive load. In this case, remote steering may conflict with manual steering or cause damage to the system. The angle sensor is used to measure the steering angle of the steering wheel. If the sensor fails, it may cause the steering angle to be calculated incorrectly, thereby affecting the accuracy of the steering.

[0045] Therefore, when the electric power steering system is in normal condition, the vehicle speed is within the preset range, the steering wheel torque is less than the preset value, and the steering angle sensor is in normal condition, it is considered that the preset conditions are met, thereby allowing the target steering angle to be determined based on the steering signal of the remote control device, and executing the subsequent steering process.

[0046] In some embodiments, it also includes: when the state of the electric power steering system is abnormal; or the vehicle speed is not within the preset speed range or the steering wheel torque is not less than the preset torque value; or the state of the angle sensor is abnormal, a fault signal is generated to indicate a fault.

[0047] Specifically, if the preset conditions are not met, the vehicle controller can generate a fault signal and feed it back to the remote control device, prompting the relevant user that the electric power assist system has failed and remote control cannot be performed.

[0048] S130: Obtain a current actual steering angle based on a steering angle sensor, and determine a target steering wheel speed based on the current actual steering angle and a target steering angle.

[0049] The current actual steering angle can be understood as the current actual steering angle of the steering wheel, and the target steering wheel speed can be the expected speed of the steering wheel.

[0050] Specifically, by comparing the current actual steering angle with the target steering angle, the required steering wheel speed is calculated so that the steering angle can be gradually adjusted. S140: Obtain the current actual steering wheel speed and determine the target steering motor torque based on the current actual steering wheel speed and the target steering wheel speed.

[0051] Among them, the target steering motor torque refers to the torque that the steering motor needs to achieve, which can provide the power required for steering for the electric power steering system.

[0052] Specifically, based on the current actual steering wheel speed and the target steering wheel speed, the torque that the steering motor needs to output can be calculated.

[0053] S150: Based on the target steering motor torque, control the motor of the electric power steering system to enable the vehicle to complete steering.

[0054] Specifically, the motor can be controlled to output a target steering motor torque so that the vehicle can complete the steering operation according to the target steering angle.

[0055] The control method of the present invention does not rely on radar or camera modules; the driver can achieve remote control by simply operating the remote control device. In scenarios such as long-range and close-range remote control, the steering system can respond more quickly to requests from the vehicle controller, and can also effectively meet vehicle needs in certain complex or dangerous situations.

[0056] The technical solution of the embodiment of the present invention obtains the state of the electric power steering system, vehicle speed, steering wheel torque and angle sensor state upon receiving a steering signal from a remote control device; determines whether the state of the electric power steering system, vehicle speed, steering wheel torque and angle sensor state meet preset conditions, and if so, determines the target steering angle based on the steering signal; obtains the current actual steering angle based on the angle sensor, and determines the target steering wheel speed based on the current actual steering angle and the target steering angle; obtains the current actual steering wheel speed, and determines the target steering motor torque based on the current actual steering wheel speed and the target steering wheel speed; and controls the motor of the electric power steering system based on the target steering motor torque to enable the vehicle to complete steering. This solves the technical problems of existing steering systems, which cannot support the precise control of the vehicle's lateral movement, cannot quickly respond to vehicle control requests, and cannot meet the requirements of use under various complex road conditions. It achieves more precise control of the vehicle's steering and provides the driver with a better control experience.

[0057] Figure 2 This is a flow chart of another method for remotely controlling vehicle steering provided by an embodiment of the present invention. This embodiment introduces the process of determining the target steering angle and the target steering motor torque, as well as the process of controlling the steering motor. The specific implementation method can be found in the technical solution of this embodiment. Among them, the technical terms that are the same or corresponding to the above embodiments are not repeated here. Figure 2 As shown, the method specifically includes the following steps:

[0058] S210: Upon receiving a steering signal from the remote control device, obtain the state of the electric power steering system, the vehicle speed, the steering wheel torque, and the state of the steering angle sensor.

[0059] S220: Determine whether the state of the electric power steering system, the vehicle speed, the steering wheel torque, and the state of the steering angle sensor meet preset conditions.

[0060] S230: If a preset condition is met, add a set angle increment to the current actual steering angle to obtain a steering angle to be used.

[0061] Specifically, when a steering command (turn left / right) is received, a set angle increment can be superimposed on the current actual steering angle as the steering angle to be used. The positive or negative angle increment is determined by the left or right turn command.

[0062] S240: Determine a mechanical half-range angle of the electric power steering system, and determine a target steering angle based on the mechanical half-range angle and the steering angle to be used.

[0063] In the embodiment, the calculated target steering angle is subjected to safety limit processing. In principle, the absolute value of the target steering angle shall not be greater than the mechanical half-range angle range of the steering system.

[0064] The mechanical half-stroke angle of the electric power steering system needs to be determined. The mechanical half-stroke angle represents the angle from the neutral position of the steering wheel to half of the mechanical limit position of the steering mechanism.

[0065] After determining the mechanical half-range angle, the final target steering angle is calculated based on the mechanical half-range angle and the previously calculated steering angle to be used. Considering the limiting effect of the mechanical half-range angle on the steering angle, for example, if the steering angle to be used exceeds the allowable range of the mechanical half-range angle, the steering angle to be used can be adjusted to ensure that the final target steering angle does not cause the steering wheel to rotate beyond the mechanical limit, thereby avoiding damage to the steering system. The resulting adjustment serves as the final target steering angle, which must meet the requirements of remote steering while ensuring the safety and proper operation of the steering system.

[0066] It should also be noted that when the vehicle controller stops sending steering instructions (turn left / turn right), the steering controller keeps outputting the target steering angle calculated in the previous cycle.

[0067] S250: Obtain a current actual steering angle based on a steering angle sensor, and calculate a steering angle difference between the current actual steering angle and a target steering angle.

[0068] S260: Based on the absolute value of the steering angle difference, query a proportional gain coefficient that matches it, and calculate a target steering wheel speed based on the proportional gain coefficient, the current actual steering angle, and the target steering angle.

[0069] The target steering wheel speed is calculated as follows: V t =P V *(At-A a )

[0070] Where At is the target steering angle, Aa is the current actual steering angle, and the absolute value of the steering angle difference is used as input for a table lookup. The table data is calibrable. The value PV obtained from the table lookup is used as the proportional gain coefficient and then multiplied by the steering angle difference to ultimately determine the target steering speed Vt. The table can be a table that corresponds to the absolute value of the steering angle difference and the proportional gain coefficient.

[0071] If the remote control device used can provide the swing amplitude of the handle, the target steering wheel speed can be associated with the swing amplitude signal by setting a gain coefficient.

[0072] S270: Obtain a current actual steering wheel speed, and determine a target steering motor torque based on the current actual steering wheel speed and the target steering wheel speed.

[0073] In some embodiments, the target steering motor torque is determined based on the current actual steering wheel speed and the target steering wheel speed, including: substituting the current actual steering wheel speed, the target steering wheel speed, the steering motor torque proportional parameter and the steering motor torque integral parameter into the motor torque calculation formula to obtain the target steering motor torque.

[0074] The calculation formula of the target steering motor torque is:

[0075]

[0076] P is the steering motor torque proportional parameter, I is the steering motor torque integral parameter, Vt is the target steering wheel speed, and Va is the current actual steering wheel speed. The P and I coefficients can be adjusted based on vehicle speed and can be calibrated. Vit and Via can be preset.

[0077] Finally, the desired steering motor torque is output with an integral saturation limit. Theoretically, the upper and lower limits of the motor torque calculated by the steering motor control are related to the vehicle speed and have little to do with the torque value applied by the driver on the steering wheel.

[0078] Therefore, to ensure steering stability and safety at high speeds, the upper and lower bounds of the motor target torque are set smaller, limiting the motor's output torque and preventing unstable steering. Conversely, at lower speeds, the vehicle's sensitivity to steering torque is relatively low, so the upper and lower bounds of the motor target torque can be appropriately increased, allowing the motor to provide greater torque to meet steering requirements.

[0079] It should also be noted that when the remote control driving function is detected to be activated or the steering motor output torque is not 0, it means that the vehicle is in the steering control state. At this time, the function of the active return module will conflict with the current steering control requirements. The function of the active return module is to automatically return the steering wheel to the neutral position after turning, but during remote control driving or active steering adjustment, this automatic return function may interfere with the accuracy of steering control. Therefore, in order to ensure the normal implementation of the steering control function and prevent the active return module from interfering with the remote control driving or steering motor output torque, the output torque of the active return module will be set to 0, allowing the steering control to be completely dominated by the remote control command, thereby achieving more precise and stable steering control.

[0080] S280: Based on the target steering motor torque, control the motor of the electric power steering system to enable the vehicle to complete steering.

[0081] In some embodiments, the motor of the electric power steering system is controlled based on the target steering motor torque, including: obtaining the actual torque of the motor in the previous cycle, and adjusting the current actual torque of the motor to the target steering motor torque based on the target steering motor torque, the actual torque in the previous cycle and the torque increment.

[0082] Specifically, the motor torque may be subjected to a slow ramp-up and ramp-down process, and the final processed motor torque may be output.

[0083] First define the relevant variables:

[0084] TrqCmd: Target steering motor torque, that is, the torque value expected to be achieved by the motor.

[0085] RMDTrqCmd: The actual motor torque output in the previous cycle, that is, the torque actually applied by the motor in the previous cycle.

[0086] RampupStep: The increment of each cycle, indicating the maximum value that the motor torque can increase in each cycle.

[0087] RampdownStep: The decrement of each cycle, indicating the maximum value by which the motor torque can be reduced in each cycle.

[0088] The specific processing of slow rise and slow fall includes the following steps:

[0089] Determine whether the target steering motor torque is greater than the sum of the actual torque and increment in the previous cycle, that is, [TrqCmd>RMDTrqCmd+RampupStep]

[0090] If this condition is met, it means that the target steering motor torque is greater than the current actual torque plus the increment of one cycle, so the current actual torque needs to be increased by the increment of one cycle to gradually approach the target torque. That is, {RMDTrqCmd=RMDTrqCmd+RampupStep]

[0091] Determine whether the target torque is less than the difference between the actual torque and the reduction in the previous cycle, that is, [TrqCmd <RMDTrqCmd-RampDownStep]

[0092] If this condition is met, it means that the target torque is smaller than the current actual torque minus the decrement of one cycle, so the current actual torque needs to be reduced by the decrement of one cycle to gradually approach the target torque. That is, {RMDTrqCmd = RMDTrqCmd - RampDownStep]

[0093] If neither of the above two conditions is met, it means that the target torque is within the allowable range of the current actual torque (i.e., the increment or decrement does not exceed one cycle), so the current actual torque can be directly set as the target torque. That is, [RMDTrqCmd = TrqCmd]

[0094] In a preferred embodiment, Figure 3 A software architecture diagram applicable to a method for remotely controlling vehicle steering provided by an embodiment of the present invention includes a vehicle signal input module, a communication signal verification module, a state machine module, a target angle calculation module, a target speed calculation module, a closed-loop control module, a slow-rise and slow-descent module, a communication output module, and a motor control module. The output end of the vehicle signal input module is connected to the input end of the communication signal verification module, the output end of the communication signal verification module is connected to the input end of the state machine module, the output end of the state machine module is connected to the input end of the target angle calculation module, the output end of the target angle calculation module is connected to the input end of the target speed calculation module, the output end of the target speed calculation module is connected to the input end of the closed-loop control module, the output end of the closed-loop control module is connected to the input end of the slow-rise and slow-descent module, and the output end of the slow-rise and slow-descent module is respectively connected to the input end of the communication output module and the input end of the motor control module.

[0095] In this embodiment, Figure 4 This is a schematic diagram of the structure of a remote-controlled vehicle steering device provided by an embodiment of the present invention. The device includes a remote control device, a vehicle controller, and an Electronic Stability Program (ESP) and Electric Power Steering (EPS). The remote control device provides the initial steering direction command, the vehicle controller is responsible for signal routing and determining vehicle status information, and the EPS provides steering angle and torque signals.

[0096] Compared with the prior art, the present invention has at least the following technical effects:

[0097] 1. Compared with the existing technology, the present invention receives the steering direction request from the vehicle controller instead of the torque request. The steering controller calculates the target steering angle and places the lateral control closed loop on the steering system side. This improves control accuracy, reduces control delay, solves the problems of abnormal jitter and uneven execution during remote control, and can accurately execute the requests of the vehicle controller.

[0098] 2. When the remote control driving is activated, if there is no steering command during the vehicle's forward and backward movement, the present invention can ensure that the vehicle's steering angle remains at a fixed angle, so that the vehicle does not deviate from the driving direction during the forward and backward movement, thereby avoiding the safety hazards caused by this.

[0099] 3. The present invention adopts a closed-loop control algorithm, which can adjust the motor torque output in real time according to various external interference factors encountered during remote control driving, solving the safety hazard caused by the driver's inability to control the vehicle's driving status in time inside the car, and better meeting the performance requirements of remote control driving for the electric steering system.

[0100] Figure 5 A schematic diagram of another device for remotely controlling vehicle steering provided by an embodiment of the present invention. Figure 5 As shown, the device includes:

[0101] The state acquisition module 310 is used to obtain the state of the electric power steering system, vehicle speed, steering wheel torque and angle sensor state when receiving the steering signal from the remote control device;

[0102] a state determination module 320 for determining whether the state of the electric power steering system, the vehicle speed, the steering wheel torque, and the state of the steering angle sensor meet preset conditions, and if so, determining a target steering angle based on the steering signal;

[0103] a rotation speed determination module 330 for obtaining a current actual steering angle based on the steering angle sensor, and determining a target steering wheel rotation speed based on the current actual steering angle and the target steering angle;

[0104] a torque determination module 340 for obtaining a current actual steering wheel speed and determining a target steering motor torque based on the current actual steering wheel speed and the target steering wheel speed;

[0105] The steering control module 350 is configured to control the motor of the electric power steering system based on the target steering motor torque, so as to enable the vehicle to complete steering.

[0106] In some embodiments, the status determination module 320 is specifically configured to:

[0107] determining whether the electric power steering system is in a normal state;

[0108] determining whether the vehicle speed is within a preset speed range;

[0109] determining whether the steering wheel torque is less than a preset torque value;

[0110] Determining whether the state of the rotation angle sensor is normal;

[0111] When the electric power steering system is in a normal state, the vehicle speed is within a preset speed range, the steering wheel torque is less than a preset torque value, and the angle sensor is in a normal state, it is determined that the preset conditions are met.

[0112] In some embodiments, the device further includes a fault prompt module for:

[0113] The state of the electric power steering system is abnormal; or

[0114] The vehicle speed is not within the preset speed range or the steering wheel torque is not less than a preset torque value; or

[0115] When the state of the rotation angle sensor is abnormal, a fault signal is generated to prompt the fault.

[0116] In some embodiments, the status determination module 320 is further configured to:

[0117] Adding a set angle increment to the current actual steering angle to obtain a steering angle to be used;

[0118] A mechanical half angle of the electric power steering system is determined, and the target steering angle is determined based on the mechanical half angle and the steering angle to be used.

[0119] In some embodiments, the speed determination module 330 is specifically configured to:

[0120] determining a steering angle difference between the current actual steering angle and the target steering angle;

[0121] Based on the absolute value of the steering angle difference, a proportional gain coefficient matching the steering angle difference is searched, and based on the proportional gain coefficient, the current actual steering angle and the target steering angle, the target steering wheel speed is calculated.

[0122] In some embodiments, the torque determination module 340 is specifically configured to:

[0123] The current actual steering wheel speed, the target steering wheel speed, the steering motor torque proportional parameter and the steering motor torque integral parameter are substituted into the motor torque calculation formula to obtain the target steering motor torque.

[0124] In some embodiments, the steering control module 350 is specifically configured to:

[0125] The actual torque of the motor in the previous cycle is obtained, and based on the target steering motor torque, the actual torque in the previous cycle and the torque increment, the current actual torque of the motor is controlled to be adjusted to the target steering motor torque.

[0126] The device for remotely controlling vehicle steering provided by an embodiment of the present invention can execute the method for remotely controlling vehicle steering provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0127] Figure 6 A schematic diagram of the structure of an electronic device for implementing the method of remotely controlling vehicle steering according to an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0128] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0129] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0130] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the method for remotely controlling vehicle steering.

[0131] In some embodiments, the method for remotely controlling vehicle steering can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for remotely controlling vehicle steering described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to execute the method for remotely controlling vehicle steering in any other appropriate manner (e.g., by means of firmware).

[0132] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0133] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0134] In the context of the present invention, computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage medium can include but is not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage medium can be a machine-readable signal medium. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0135] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0136] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0137] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0138] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0139] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for remotely controlling vehicle steering, characterized in that: include: Upon receiving the steering signal from the remote control device, obtain the status of the electric power steering system, vehicle speed, steering wheel torque and angle sensor status; determining whether the state of the electric power steering system, the vehicle speed, the steering wheel torque, and the state of the steering angle sensor meet preset conditions, and determining a target steering angle based on the steering signal if the preset conditions are met; acquiring a current actual steering angle based on the steering angle sensor, and determining a target steering wheel speed based on the current actual steering angle and the target steering angle; Obtaining a current actual steering wheel speed, and determining a target steering motor torque based on the current actual steering wheel speed and the target steering wheel speed; Based on the target steering motor torque, the motor of the electric power steering system is controlled to enable the vehicle to complete steering.

2. The method according to claim 1, characterized in that The determining whether the state of the electric power steering system, the vehicle speed, the steering wheel torque, and the state of the steering angle sensor meet preset conditions includes: determining whether the electric power steering system is in a normal state; determining whether the vehicle speed is within a preset speed range; determining whether the steering wheel torque is less than a preset torque value; Determining whether the state of the rotation angle sensor is normal; When the electric power steering system is in a normal state, the vehicle speed is within a preset speed range, the steering wheel torque is less than a preset torque value, and the angle sensor is in a normal state, it is determined that the preset conditions are met.

3. The method according to claim 2, characterized in that The method further comprises: The state of the electric power steering system is abnormal; or The vehicle speed is not within the preset speed range or the steering wheel torque is not less than a preset torque value; or When the state of the rotation angle sensor is abnormal, a fault signal is generated to prompt the fault.

4. The method according to claim 1, wherein The determining a target steering angle based on the steering signal includes: Adding a set angle increment to the current actual steering angle to obtain a steering angle to be used; A mechanical half angle of the electric power steering system is determined, and the target steering angle is determined based on the mechanical half angle and the steering angle to be used.

5. The method according to claim 1, wherein The determining the target steering wheel speed based on the current actual steering angle and the target steering angle includes: determining a steering angle difference between the current actual steering angle and the target steering angle; Based on the absolute value of the steering angle difference, a proportional gain coefficient matching the steering angle difference is searched, and based on the proportional gain coefficient, the current actual steering angle and the target steering angle, the target steering wheel speed is calculated.

6. The method according to claim 1, characterized in that The determining the target steering motor torque based on the current actual steering wheel speed and the target steering wheel speed includes: The current actual steering wheel speed, the target steering wheel speed, the steering motor torque proportional parameter and the steering motor torque integral parameter are substituted into the motor torque calculation formula to obtain the target steering motor torque.

7. The method according to claim 1, characterized in that The method of controlling the motor of the electric power steering system based on the target steering motor torque includes: The actual torque of the motor in the previous cycle is obtained, and based on the target steering motor torque, the actual torque in the previous cycle and the torque increment, the current actual torque of the motor is controlled to be adjusted to the target steering motor torque.

8. A device for remotely controlling vehicle steering, characterized in that: include: A status acquisition module is used to obtain the status of the electric power steering system, vehicle speed, steering wheel torque and steering angle sensor status when receiving the steering signal from the remote control device; a state determination module, configured to determine whether the state of the electric power steering system, the vehicle speed, the steering wheel torque, and the state of the steering angle sensor meet preset conditions, and if so, determine a target steering angle based on the steering signal; a rotation speed determination module, configured to obtain a current actual steering angle based on the steering angle sensor, and determine a target steering wheel rotation speed based on the current actual steering angle and the target steering angle; a torque determination module, configured to obtain a current actual steering wheel speed and determine a target steering motor torque based on the current actual steering wheel speed and the target steering wheel speed; A steering control module is used to control the motor of the electric power steering system based on the target steering motor torque so that the vehicle completes steering.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the method for remotely controlling vehicle steering according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for remotely controlling vehicle steering according to any one of claims 1 to 7 when executed.

Images