Method and device for determining rack force, equipment, storage medium and program product

Abstract

The embodiment of the invention provides a rack force determination method and device, equipment, a storage medium and a program product. The method comprises the steps that the yaw velocity of a vehicle is determined according to the front wheel turning angle and the vehicle speed of the vehicle; determining a target pavement gradient; determining the tire lateral force of the vehicle according to the yaw velocity and the target road slope; and determining the rack force according to the tire lateral force and the target road surface gradient. According to the embodiment, by determining the target road surface gradient, determining the tire lateral force of the vehicle according to the yaw velocity and the target road surface gradient, and determining the rack force according to the tire lateral force and the target road surface gradient, the rack force can change along with the change of the target road surface gradient, so that the accuracy of the rack force can be improved; therefore, the authenticity and accuracy of the road feeling information can be improved, and the driving experience is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, device, equipment, storage medium and program product for determining rack force. Background Art

[0002] In traditional steering systems, vehicle motion information and tire force conditions are transmitted directly to the steering wheel via the steering column. However, with the development of intelligent vehicles, the demand for steering systems in intelligent vehicles is increasing, and traditional steering systems can no longer meet this demand. Therefore, steer-by-wire systems have been introduced. These systems decouple the steering wheel from the steering wheel by eliminating the connection between the steering wheel and the steering wheel through the steering column. The up / down steering system of steer-by-wire transmits steering information and road feel information via electrical signals. Road feel information is fed back to the driver by the up / down steering system based on rack force.

[0003] Currently, there are two methods for determining rack force: estimating rack force based on a steering gear dynamics model and estimating rack force based on a vehicle dynamics model. However, neither method accurately estimates rack force, affecting the authenticity and accuracy of road feel information and, in turn, the driver's driving experience. Summary of the Invention

[0004] The present application provides a method, device, equipment, storage medium and program product for determining rack force to solve the problem of inaccurate rack force, improve the accuracy of rack force, thereby improving the authenticity and accuracy of road feel information, and further enhancing the driver's driving experience.

[0005] In a first aspect, an embodiment of the present application provides a method for determining rack force, comprising: determining the yaw angular velocity of the vehicle based on the front wheel angle and vehicle speed of the vehicle; determining a target road surface slope; determining the tire lateral force of the vehicle based on the yaw angular velocity and the target road surface slope; and determining the rack force based on the tire lateral force and the target road surface slope.

[0006] In a second aspect, an embodiment of the present application further provides a rack force determination device, comprising: a yaw angular velocity determination module, for determining the yaw angular velocity of the vehicle based on the front wheel angle and vehicle speed of the vehicle; a target road surface slope determination module, for determining the target road surface slope; a tire lateral force determination module, for determining the tire lateral force of the vehicle based on the yaw angular velocity and the target road surface slope; and a rack force determination module, for determining the rack force based on the tire lateral force and the target road surface slope.

[0007] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the rack force determination method as described in the embodiment of the present application.

[0008] In a fourth aspect, an embodiment of the present application further provides a storage medium comprising computer-executable instructions, which, when executed by a computer processor, are used to execute the rack force determination method as described in the embodiment of the present application.

[0009] In a fifth aspect, an embodiment of the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the rack force determination method as described in the embodiment of the present application.

[0010] The technical solution of an embodiment of the present application determines the vehicle's yaw rate based on the vehicle's front wheel angle and speed; determines a target road surface slope; determines the vehicle's tire lateral force based on the yaw rate and the target road surface slope; and determines the rack force based on the tire lateral force and the target road surface slope. By determining the target road surface slope, determining the vehicle's tire lateral force based on the yaw rate and the target road surface slope, and determining the rack force based on the tire lateral force and the target road surface slope, this embodiment allows the rack force to vary with changes in the target road surface slope, thereby improving the accuracy of the rack force, thereby increasing the authenticity and accuracy of road feel information and enhancing the driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The above and other features, advantages, and aspects of the various embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that the originals and elements are not necessarily drawn to scale.

[0012] Figure 1 A schematic flow chart of a method for determining rack force provided in an embodiment of the present application;

[0013] Figure 2 A schematic flow chart of another method for determining rack force provided in an embodiment of the present application;

[0014] Figure 3 A schematic diagram of the structure of a rack force determination device provided in an embodiment of the present application;

[0015] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0016] The following describes embodiments of the present disclosure in more detail with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of protection of the present disclosure.

[0017] It should be understood that the various steps described in the method implementation of the present disclosure can be performed in different orders and / or in parallel. In addition, the method implementation may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect. The term "including" and its variations used herein are open inclusions, that is, "including but not limited to". It should be noted that the concepts of "first", "second", etc. mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units. It should be noted that the modifications of "one" and "multiple" mentioned in this disclosure are illustrative and not restrictive. Those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more". It is understandable that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) should comply with the requirements of relevant laws, regulations and relevant provisions.

[0018] Figure 1 This is a flowchart of a method for determining rack force provided by an embodiment of the present application. The embodiment of the present application is applicable to the situation of determining rack force in a vehicle with a wire-controlled steering system. The method can be executed by a rack force determination device, which can be implemented in the form of software and / or hardware. Optionally, it can be implemented by an electronic device, which can be a mobile terminal, PC or server. Figure 1 As shown, the method includes:

[0019] S110 : Determine the yaw rate of the vehicle according to the front wheel steering angle and the vehicle speed.

[0020] The front wheel angle may refer to the actual deflection angle of the front wheel relative to the centerline of the vehicle body when the vehicle turns, and the vehicle speed may refer to the longitudinal movement speed of the vehicle's center of mass relative to the ground.

[0021] In this embodiment, the front wheel angle of the vehicle can be obtained through a steering wheel angle sensor, a cable displacement sensor, a non-contact angle sensor, a visual sensor, etc. The vehicle speed can be obtained through a wheel speed sensor, a transmission output shaft rotation sensor, an inertial measurement unit, a global satellite navigation system, etc.

[0022] In this embodiment, the vehicle's yaw rate can be obtained based on the front wheel angle, vehicle speed, wheelbase, and characteristic vehicle speed. The characteristic vehicle speed can be obtained based on the lateral acceleration, which can be obtained based on the vehicle speed and yaw rate. The specific formula is as follows:

[0023]

[0024] Among them, δ is the front wheel angle, v is the vehicle speed; l is the wheelbase (the sum of the front wheelbase and the rear wheelbase), a y is the lateral acceleration, V c (a y ) is the characteristic vehicle speed, is the yaw angular velocity.

[0025] The characteristic vehicle speed is used to characterize the vehicle stability.

[0026] S120: Determine the target road slope.

[0027] The road slope refers to the degree of inclination of the road relative to the horizontal plane.

[0028] The target road slope can be understood as the processed road slope. In this embodiment, the initial road slope can be first acquired, and then the initial road slope can be processed to obtain the target road slope. By determining the target road slope or processing the initial road slope, this embodiment prevents large variations in the initial road slope, which can lead to large variations in rack force and thus affect the overall feel of the steer-by-wire system. In other words, the resulting target road slope can ensure relatively smooth variations in rack force, improving the overall feel of the steer-by-wire system and thus enhancing the driving experience.

[0029] S130: Determine the lateral force of the vehicle tire according to the yaw angular velocity and the target road slope.

[0030] Among them, the tire lateral force can include the front wheel lateral force and the rear wheel lateral force. Among them, the front wheel lateral force and the rear wheel lateral force are both tangential reaction forces perpendicular to the wheel plane provided by the ground under the action of the tire's slip angle. The front wheel lateral force directly responds to the driver's steering input (generating the front wheel slip angle) and is the main driving force for the vehicle to generate yaw angular velocity and change heading. The rear wheel lateral force mainly responds to the rear wheel slip angle caused by vehicle motion (such as the center of mass slip angle and yaw motion) to constrain the vehicle body's sideslip, stabilize the yaw motion and ensure that the rear axle follows the front axle trajectory.

[0031] In this embodiment, the lateral acceleration can be obtained based on the yaw angular velocity, the front wheel lateral force and the rear wheel lateral force can be obtained based on the vehicle mass, lateral acceleration, gravitational acceleration and target road slope, and the front wheel lateral force and the rear wheel lateral force can be obtained based on the moment of inertia, yaw angular acceleration, front wheelbase and rear wheelbase. The specific front wheel lateral force and the rear wheel lateral force can be solved by these two methods of determining the front wheel lateral force and the rear wheel lateral force.

[0032] S140: Determine the rack force according to the tire lateral force and the target road slope.

[0033] In this embodiment, the rack force can be obtained based on the front wheel lateral force in the tire lateral force and the target road slope. The rack force refers to the resultant force acting on the rack when the gear and rack are engaged.

[0034] In this embodiment, the rack force is obtained by combining the lateral force of the front wheels with the target road surface slope. This allows the magnitude of the rack force to vary accordingly according to the different road surface slopes on which the vehicle is located, thereby also varying the driver's hand force accordingly. At the same time, the target road surface slope can also make the variation of the rack force relatively smooth, thereby improving the overall feel of the steer-by-wire system.

[0035] The technical solution of the embodiment of the present application determines the yaw rate of the vehicle based on the front wheel angle and vehicle speed of the vehicle; determines the target road surface slope; determines the lateral force of the tires of the vehicle based on the yaw rate and the target road surface slope; and determines the rack force based on the lateral force of the tires and the target road surface slope. In this embodiment, by determining the target road surface slope, determining the lateral force of the tires of the vehicle based on the yaw rate and the target road surface slope, and determining the rack force based on the lateral force of the tires and the target road surface slope, the rack force can change with changes in the target road surface slope, thereby improving the accuracy of the rack force, and further improving the authenticity and accuracy of the road feel information, thereby enhancing the driving experience. The technical solution of the embodiment of the present application can be applied to a variety of different target road surface slope scenarios, and can improve the accuracy of the rack force, so the scenarios of use are wider.

[0036] Figure 2 This is a flow chart of another method for determining rack force provided in the embodiment of the present application. This embodiment of the present application is a specific implementation based on the above invention embodiment. Figure 2 The method provided in the embodiment of the present application specifically includes the following steps:

[0037] S201: Determine the yaw rate of the vehicle according to the front wheel steering angle and the vehicle speed.

[0038] S202: Obtain an initial road surface slope.

[0039] In this embodiment, the initial road slope can be obtained in advance by fusing data from multiple vehicle sensors. In this embodiment, there is no limitation on the vehicle sensors, which may include, for example, an inertial measurement unit, a wheel speed sensor, a gyroscope, a camera, a radar, and the like.

[0040] S203: If the initial road surface slope is less than the set slope threshold, the initial road surface slope is set to a set value as the target road surface slope.

[0041] In this embodiment, there is no restriction on the set slope threshold, which may be, for example, 5 degrees. The set value may be a slope value corresponding to a flat road, such as 0 degrees.

[0042] In this embodiment, if the initial road surface slope is less than the set slope threshold, the set value is set as the target road surface slope, so that when the initial road surface slope is very small, the default road is a flat road, and the road surface slope will not affect the determination of the rack force, thereby not affecting the overall feel of the wire-controlled steering.

[0043] S204: If the initial road surface slope is greater than or equal to the set slope threshold, obtain the initial road surface slopes of multiple consecutive cycles.

[0044] In this embodiment, there is no limit on the number of the plurality of consecutive cycles, for example, it can be 3. In this embodiment, there is no limit on the specific cycle, for example, one cycle can be 0.1 seconds or 0.5 seconds.

[0045] S205: Determine a target road surface slope based on the initial road surface slopes of multiple consecutive cycles.

[0046] In this embodiment, the initial road surface slopes of multiple consecutive cycles can be judged, and the initial road surface slopes of the multiple consecutive cycles can be processed based on the judgment result to obtain the target road surface slope. The judgment result can be that the initial road surface slopes of the multiple consecutive cycles are the same, or that the initial road surface slopes of the multiple consecutive cycles are different.

[0047] Optionally, the target road surface slope is determined based on the initial road surface slopes of multiple consecutive cycles, including: if the initial road surface slopes of multiple consecutive cycles are the same, the initial road surface slope is used as the target road surface slope; if the initial road surface slopes of multiple consecutive cycles are different, the initial road surface slopes of multiple consecutive cycles are averaged to obtain the target road surface slope.

[0048] In this embodiment, if the initial road surface slopes of multiple consecutive cycles are the same (i.e., the initial road surface slopes are constant), the initial road surface slopes are not processed and are directly used as the target road surface slope. If the initial road surface slopes of multiple consecutive cycles are different, i.e., the initial road surface slopes vary, the initial road surface slopes of multiple consecutive cycles can be processed in any of the following ways to obtain the target road surface slope: taking the mean, taking the median, taking the maximum value, or filtering.

[0049] In this embodiment, the target road surface slope is obtained by averaging the initial road surface slopes of multiple consecutive cycles. This can prevent large changes in road surface slope, which would cause sudden changes in rack force and affect the overall feel of the steering-by-wire. That is, the change in rack force can be made relatively smooth, thereby improving the overall feel of the steering-by-wire and thus enhancing the driving experience.

[0050] S206 : Determine the tire lateral force of the vehicle according to the yaw angular velocity and the target road slope.

[0051] Optionally, the vehicle's tire lateral force is determined based on the yaw angular velocity and the road slope, including: determining the lateral acceleration based on the yaw angular velocity and the vehicle speed; determining the yaw angular acceleration based on the yaw angular velocity; determining the slope component based on the vehicle mass, the acceleration of gravity, and the target road slope; determining the tire lateral force based on the lateral acceleration, the vehicle mass, the slope component, the moment of inertia, the yaw angular acceleration, the front wheelbase, and the rear wheelbase.

[0052] In this embodiment, the lateral acceleration may be obtained by multiplying the yaw angular velocity and the vehicle speed, and the yaw angular acceleration may be directly obtained according to the yaw angular velocity.

[0053] Specifically, the formula for determining the slope component is: mgsinρ;

[0054] The formula for determining the front wheel lateral force and the rear wheel lateral force is:

[0055] Among them, m is the mass of the vehicle, g is the acceleration due to gravity, and a y is the lateral acceleration, ρ is the target road slope, I Z is the moment of inertia, is the yaw angular acceleration, a is the front wheelbase, b is the rear wheelbase, F yf is the front wheel lateral force, F yr is the rear wheel lateral force.

[0056] Among them, the vehicle mass is the total mass of the vehicle (including the load), which can be directly obtained from the vehicle nameplate or manual. The acceleration of gravity is a physical constant and the standard value can be directly used. The moment of inertia is used to describe the inertia of the vehicle body about the rotation axis (such as the roll axis and the pitch axis) and can be calculated through experiments or multi-body dynamics models. The front wheelbase is the distance from the center of mass of the vehicle to the center of the front axle, and the rear wheelbase is the distance from the center of mass of the vehicle to the center of the rear axle.

[0057] In this embodiment, the slope component is determined by the target road surface slope, and the front wheel lateral force and the rear wheel lateral force are determined according to the lateral acceleration, vehicle mass, moment of inertia, yaw angular acceleration, front wheelbase, and rear wheelbase in combination with the slope component. This allows for more precise determination of the front and rear wheel lateral forces, thereby more accurately determining the rack force, and thus improving the realism of the steering-by-wire feel.

[0058] S207: Determine the rack force according to the tire lateral force and the target road slope.

[0059] Optionally, the rack force is determined based on the tire lateral force and the target road slope, including: determining the tire aligning torque based on the front wheel lateral force in the tire lateral force and the target road slope; and determining the rack force based on the tire aligning torque.

[0060] The tire aligning torque may refer to the torque applied by the road surface to the tire when the tire generates a slip angle, attempting to realign the tire plane with the actual direction of travel. In this embodiment, after obtaining the tire aligning torque, the corresponding rack force can be determined based on the proportional relationship between the tire and rack displacements.

[0061] In this embodiment, the tire self-aligning torque is determined based on the front wheel lateral force and the target road surface slope. The rack force is determined based on the tire self-aligning torque, so that the rack force can change with the change of the target road surface slope, and thus the road feel information (or driver feel) can also change with the change of the target road surface slope, thereby improving the authenticity of the road feel information.

[0062] Optionally, the tire self-aligning torque is determined based on the front wheel lateral force in the tire lateral force and the target road surface slope, including: determining the front wheel load based on the vehicle mass, gravity acceleration, front wheelbase, rear wheelbase and target road surface slope; determining the tire self-aligning torque based on the front wheel lateral force, mechanical trail and the pneumatic tire trail corresponding to the front wheel load.

[0063] Specifically, the formula for determining the front wheel load is:

[0064] The formula for determining the tire aligning torque is: M z =(t p (F zf )+t m )*F yf;

[0065] Among them, F zf is the front wheel load, m is the vehicle mass, g is the acceleration of gravity, a is the front wheelbase, b is the rear wheelbase, ρ is the target road slope, t p (F zf ) is the pneumatic tire drag distance obtained by one-dimensional table lookup based on the front wheel load, that is, the pneumatic tire drag distance corresponding to the front wheel load, t m is the mechanical drag, F yf is the front wheel lateral force, M z is the tire aligning torque.

[0066] The mechanical drag is an intrinsic parameter of the tire and can be directly obtained, while the pneumatic drag can be an additional drag caused by tire deformation.

[0067] In this embodiment, the front wheel load is determined according to the target road slope, and the tire self-aligning torque is determined according to the front wheel lateral force, mechanical trail, and the pneumatic trail corresponding to the front wheel load, thereby improving the accuracy of the tire self-aligning torque.

[0068] Figure 3 A schematic diagram of the structure of a rack force determination device provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the apparatus includes: a yaw rate determination module 310, a target road slope determination module 320, a tire lateral force determination module 330, and a rack force determination module 340;

[0069] a yaw rate determination module 310, configured to determine the yaw rate of the vehicle according to the front wheel angle and the vehicle speed;

[0070] a target road surface slope determination module 320, configured to determine a target road surface slope;

[0071] a tire lateral force determination module 330, configured to determine the tire lateral force of the vehicle according to the yaw angular velocity and the target road slope;

[0072] The rack force determination module 340 is configured to determine the rack force according to the tire lateral force and the target road surface gradient.

[0073] The technical solution of the embodiment of the present application is to determine the vehicle's yaw rate based on the vehicle's front wheel angle and vehicle speed via a yaw rate determination module; determine the target road surface slope via a target road surface slope determination module; determine the vehicle's tire lateral force based on the yaw rate and the target road surface slope via a tire lateral force determination module; and determine the rack force based on the tire lateral force and the target road surface slope via a rack force determination module. In this embodiment, by determining the target road surface slope, determining the vehicle's tire lateral force based on the yaw rate and the target road surface slope, and determining the rack force based on the tire lateral force and the target road surface slope, the rack force can vary with changes in the target road surface slope, thereby improving the accuracy of the rack force, thereby increasing the authenticity and accuracy of road feel information and enhancing the driving experience.

[0074] Optionally, the target road surface slope determination module is specifically used to: obtain an initial road surface slope; if the initial road surface slope is less than a set slope threshold, set the initial road surface slope to a set value as the target road surface slope; if the initial road surface slope is greater than or equal to the set slope threshold, obtain the initial road surface slopes of multiple consecutive cycles; determine the target road surface slope based on the initial road surface slopes of the multiple consecutive cycles.

[0075] Optionally, the target road surface slope determination module is also used to: if the initial road surface slopes of the multiple consecutive cycles are the same, then the initial road surface slope is used as the target road surface slope; if the initial road surface slopes of the multiple consecutive cycles are different, then the initial road surface slopes of the multiple consecutive cycles are averaged to obtain the target road surface slope.

[0076] Optionally, the tire lateral force determination module is specifically used to: determine the lateral acceleration based on the yaw angular velocity and the vehicle speed; determine the yaw angular acceleration based on the yaw angular velocity; determine the slope component based on the vehicle mass, the acceleration of gravity and the target road surface slope; determine the tire lateral force based on the lateral acceleration, the vehicle mass, the slope component, the moment of inertia, the yaw angular acceleration, the front wheelbase and the rear wheelbase.

[0077] Optionally, the rack force determination module is specifically used to: determine the tire aligning torque based on the front wheel lateral force in the tire lateral force and the target road surface slope; and determine the rack force based on the tire aligning torque.

[0078] Optionally, the rack force determination module is also used to: determine the front wheel load based on the vehicle mass, gravity acceleration, front wheelbase, rear wheelbase and the target road slope; determine the tire self-aligning torque based on the front wheel lateral force, mechanical trail and the pneumatic tire trail corresponding to the front wheel load.

[0079] The rack force determination device provided in the embodiment of the present application can execute the rack force determination method provided in any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method.

[0080] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present application is shown. 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 can also represent various forms of mobile devices, such as personal digital processing, 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 application described and / or required herein.

[0081] like Figure 4 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, and 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 random access memory (RAM) 13. The processor 11, the read-only memory (ROM) 12, and the random access memory (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.

[0082] Various components in the electronic device 10 are connected to an input / output (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.

[0083] 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 determining the rack force.

[0084] In some embodiments, the rack force determination method can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via a read-only memory (ROM) 12 and / or a communication unit 19. When the computer program is loaded into a random access memory (RAM) 13 and executed by the processor 11, one or more steps of the rack force determination method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the rack force determination method in any other suitable manner (e.g., via firmware).

[0085] Various embodiments of the systems and techniques described above 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), complex 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.

[0086] Computer programs for implementing the methods of the present application 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.

[0087] In the context of the present application, a 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. A 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, a 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.

[0088] 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).

[0089] 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.

[0090] 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.

[0091] An embodiment of the present application further provides a computer program product, including a computer program, which, when executed by a processor, implements the rack force determination method provided in any embodiment of the present application.

[0092] The computer program product, during implementation, may be written in one or more programming languages ​​or a combination thereof, for performing the operations of the present application, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0093] Note that the above are only preferred embodiments of the present application and the technical principles employed. Those skilled in the art will understand that the present application is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments and may include many other equivalent embodiments without departing from the scope of the present application. The scope of the present application is determined by the scope of the appended claims.

Claims

1. A method for determining rack force, characterized in that: include: determining a yaw rate of the vehicle based on a front wheel angle and a vehicle speed; Determine the target road slope; determining a tire lateral force of the vehicle according to the yaw angular velocity and the target road surface gradient; The rack force is determined according to the tire lateral force and the target road surface gradient.

2. The method according to claim 1, characterized in that Determine the target road slope, including: Get the initial road slope; If the initial road surface slope is less than a set slope threshold, setting the initial road surface slope to a set value as the target road surface slope; If the initial road surface slope is greater than or equal to the set slope threshold, obtaining the initial road surface slopes of multiple consecutive cycles; The target road surface gradient is determined according to the initial road surface gradients of the plurality of consecutive cycles.

3. The method according to claim 2, characterized in that Determining the target road surface gradient according to the initial road surface gradients of the plurality of consecutive cycles includes: If the initial road surface slopes of the plurality of consecutive cycles are the same, the initial road surface slope is used as the target road surface slope; If the initial road surface gradients of the plurality of consecutive cycles are different, average processing is performed on the initial road surface gradients of the plurality of consecutive cycles to obtain the target road surface gradient.

4. The method according to claim 1, wherein Determining the tire lateral force of the vehicle according to the yaw angular velocity and the road slope includes: determining a lateral acceleration based on the yaw rate and the vehicle speed; determining a yaw angular acceleration according to the yaw angular velocity; determining a slope component force according to the vehicle mass, the acceleration of gravity, and the target road slope; The tire lateral force is determined based on the lateral acceleration, the vehicle mass, the slope component, the moment of inertia, the yaw angular acceleration, the front wheelbase, and the rear wheelbase.

5. The method according to claim 1, wherein Determining the rack force according to the tire lateral force and the target road surface slope includes: determining a tire aligning torque according to the front wheel lateral force in the tire lateral force and the target road surface gradient; The rack force is determined based on the tire aligning torque.

6. The method according to claim 5, characterized in that Determining the tire aligning torque according to the front wheel lateral force in the tire lateral force and the target road surface slope includes: Determining the front wheel load based on the vehicle mass, gravitational acceleration, the front wheelbase, the rear wheelbase, and the target road slope; The tire aligning torque is determined according to the front wheel lateral force, the mechanical trail, and the pneumatic tire trail corresponding to the front wheel load.

7. A device for determining rack force, characterized in that: include: a yaw rate determination module, configured to determine the yaw rate of the vehicle according to the front wheel steering angle and vehicle speed of the vehicle; A target road surface slope determination module is used to determine the target road surface slope; a tire lateral force determination module, configured to determine the tire lateral force of the vehicle according to the yaw angular velocity and the target road surface gradient; The rack force determination module is configured to determine the rack force according to the tire lateral force and the target road surface gradient.

8. An electronic device, characterized in that: The electronic device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the rack force determination method according to any one of claims 1 to 6.

9. A storage medium comprising computer executable instructions, wherein the computer executable instructions are used to perform the rack force determination method according to any one of claims 1 to 6 when executed by a computer processor.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the computer program implements the rack force determination method according to any one of claims 1 to 6.

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