Vehicle control method, electronic device, storage medium, computer program product and vehicle

Abstract

The invention discloses a vehicle control method which comprises the following steps: determining feedback torque according to motion parameters of a transmission component in a steering system of a vehicle; and controlling the vehicle to steer according to the feedback torque. Equipment needed for measuring the motion parameters of the transmission assembly is simple and high in measurement precision, a calculation model for determining the feedback torque through the motion parameters of the transmission assembly is simple, the accuracy of a calculation result is improved, a driver can more accurately sense road surface information, therefore, the vehicle can be controlled more easily, and the driving safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile wire-controlled steering, and in particular to a vehicle control method, an electronic device, a storage medium, a computer program product, and a vehicle. Background Art

[0002] In traditional mechanical steering systems, road surface feedback is transmitted directly to the steering wheel via components such as the wheels, rack, and universal joints, creating a steering resistance on the steering wheel. This resistance allows the driver to accurately perceive road conditions and vehicle status, allowing for more confident control of the vehicle. In steer-by-wire systems, the connection between the wheels and steering wheel is eliminated, replaced by a steering motor and a road feel feedback motor. The road feel feedback motor simulates the road feel information transmitted from the wheels to the steering wheel in traditional mechanical steering. However, in related technologies, the road feel feedback process is difficult to model, and approximate simulation models are often used, resulting in low accuracy in the calculation results. Summary of the Invention

[0003] The present invention aims to at least partially address one of the aforementioned technical problems. To this end, a first object of the present invention is to provide a vehicle control method comprising determining a feedback torque based on motion parameters of a transmission component in a steering system of the vehicle; and controlling the vehicle steering based on the feedback torque.

[0004] According to the vehicle control method of an embodiment of the present invention, in the process of determining the feedback torque of the wire-controlled steering system, the focus is on the necessary link for transmitting the feedback torque, namely the transmission component. The equipment required for measuring the motion parameters of the transmission component is simple and the measurement accuracy is high. In addition, the calculation model for determining the feedback torque through the motion parameters of the transmission component is simple, which improves the accuracy of the calculation results, enables the driver to have a more accurate perception of road information, and thus more easily operate the vehicle, thereby improving driving safety.

[0005] According to some embodiments of the present invention, the transmission assembly includes a rack, and determining the feedback torque based on the motion parameters of the transmission assembly in the steering system of the vehicle specifically includes: determining the feedback torque based on the displacement of the rack along the left and right directions of the vehicle.

[0006] According to some embodiments of the present invention, determining the feedback torque based on the displacement of the rack along the left-right direction of the vehicle specifically includes: calculating the rack force of the rack based on the displacement of the rack along the left-right direction of the vehicle; and determining the feedback torque based on the rack force of the rack.

[0007] According to some embodiments of the present invention, the rack force of the rack is calculated based on the displacement of the rack along the left-right direction of the vehicle, including: determining the rack force of the rack based on the mass of the rack, the viscous damping coefficient of the rack, the torque of the steering motor in the steering system, the reduction ratio of the steering motor reducer in the steering system, the radius of the gear meshing with the rack, and the displacement of the rack along the left-right direction of the vehicle.

[0008] According to some embodiments of the present invention, the rack force of the rack is positively correlated with the torque of the steering motor in the steering system and the reduction ratio of the steering motor reducer in the steering system, and the rack force of the rack is negatively correlated with the mass of the rack, the viscous damping coefficient of the rack, the radius of the gear and the displacement of the rack along the left and right directions of the vehicle.

[0009] According to some embodiments of the present invention, determining the feedback torque based on the rack force of the rack includes: determining a conversion coefficient based on the displacement of the rack along the left-right direction of the vehicle, the steering wheel angle in the steering system, and the transmission efficiency of the steering system; and determining the feedback torque based on the conversion coefficient and the rack force of the rack.

[0010] According to some embodiments of the present invention, the feedback torque is positively correlated with the rack force of the rack.

[0011] According to some embodiments of the present invention, the conversion coefficient is positively correlated with the displacement of the rack along the left-right direction of the vehicle and the transmission efficiency of the steering system, and the conversion coefficient is negatively correlated with the steering wheel angle in the steering system.

[0012] According to some embodiments of the present invention, the transmission assembly further includes a gear meshing with the rack, the motion parameter further includes a rotation angle of the gear meshing with the rack, and before determining the feedback torque based on the displacement of the rack along the left and right directions of the vehicle, the method further includes: calculating the displacement of the rack along the left and right directions of the vehicle based on the rotation angle of the gear in the transmission assembly; wherein the gear meshes with the rack.

[0013] According to some embodiments of the present invention, calculating the displacement of the rack along the left-right direction of the vehicle based on the rotation angle of the gear in the transmission assembly includes: calculating the displacement of the rack along the left-right direction of the vehicle based on the rotation angle of the gear in the transmission assembly and the linear angle transmission ratio of the transmission assembly; the linear angle transmission ratio of the transmission assembly is the ratio of the rack displacement increment to the gear rotation angle increment.

[0014] According to some embodiments of the present invention, the rotation angle of the gear in the transmission assembly, the linear angle transmission ratio of the transmission assembly, and the displacement of the rack along the left-right direction of the vehicle are positively correlated.

[0015] According to some embodiments of the present invention, the transmission assembly also includes a gear meshing with the rack. Before determining the feedback torque based on the displacement of the rack along the left-right direction of the vehicle, the method also includes: calculating the displacement of the rack along the left-right direction of the vehicle based on the rotation angle of the vehicle steering wheel, and the vehicle steering wheel is connected to the gear.

[0016] According to some embodiments of the present invention, calculating the displacement of the rack along the left-right direction of the vehicle based on the steering wheel angle of the vehicle includes: calculating the displacement of the rack along the left-right direction of the vehicle based on the steering wheel angle of the vehicle and the linear angle transmission ratio of the transmission assembly; the linear angle transmission ratio of the transmission assembly is the ratio of the rack displacement increment to the gear angle increment.

[0017] According to some embodiments of the present invention, the turning angle of the vehicle steering wheel, the linear angle transmission ratio of the transmission assembly, and the displacement of the rack along the left-right direction of the vehicle are positively correlated.

[0018] According to some embodiments of the present invention, after determining the feedback torque based on the motion parameters of the transmission component in the steering system of the vehicle, the method further includes: filtering the feedback torque.

[0019] According to some embodiments of the present invention, data transmission is at least one of a CAN FD network, Ethernet communication, and optical fiber communication.

[0020] According to some embodiments of the present invention, controlling the vehicle steering according to the feedback torque includes: determining a tactile torque according to the feedback torque; and controlling the rotation of a steering wheel according to the tactile torque to control the vehicle steering.

[0021] According to some embodiments of the present invention, when the vehicle is in a powered-on state, whether to execute the vehicle control method is determined according to gear information.

[0022] According to some embodiments of the present invention, determining whether to execute the vehicle control method based on the gear position information specifically includes: executing the vehicle control method when the gear position indicates that the vehicle is in a normal power-assisted state.

[0023] According to some embodiments of the present invention, determining whether to execute the vehicle control method based on the gear information specifically includes: when the gear indicates that the vehicle is in an unassisted state, determining whether to execute the vehicle control method based on whether the vehicle is in a gaming mode.

[0024] According to some embodiments of the present invention, determining whether to execute the vehicle control method according to whether the vehicle is in the gaming mode specifically includes:

[0025] When the vehicle is in gaming mode, not executing the vehicle control method; and / or

[0026] When the vehicle is in a non-gaming mode, whether to execute the vehicle control method is determined based on the driver's hand torque information.

[0027] According to some embodiments of the present invention, determining whether to execute the vehicle control method based on the driver's hand torque information specifically includes:

[0028] When the hand torque is greater than a first threshold, executing the vehicle control method; and / or

[0029] When the hand torque is less than or equal to the first threshold, the vehicle control method is not executed.

[0030] Another embodiment of the present invention provides an electronic device, comprising a processor, wherein the processor is connected to a memory, and a computer program is stored in the memory; the processor is used to read the computer program stored in the memory and execute it, so that the method described in any one of the above embodiments is executed.

[0031] Another embodiment of the present invention provides a storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to enable a computer to execute the method described in any one of the above embodiments.

[0032] Another embodiment of the present invention provides a computer program product, which includes instructions. When the instructions are executed on a computer, the computer performs the method described in any one of the above embodiments.

[0033] Another aspect of the present invention provides a vehicle, including a controller;

[0034] The controller includes a memory and a processor, the memory stores a computer program, and the processor is used to run the computer program in the memory to execute the vehicle control method described in any one of the above embodiments.

[0035] According to some embodiments of the present invention, the vehicle further comprises: a steer-by-wire system connected to the controller.

[0036] According to some embodiments of the present invention, the vehicle further comprises: a displacement sensor for detecting the displacement of the rack in the transmission assembly, wherein the displacement sensor is connected to the controller.

[0037] According to some embodiments of the present invention, the vehicle further comprises: an angle sensor connected to the controller; the angle sensor is used to detect the rotation angle of the gear in the transmission assembly, and / or the angle sensor is used to detect the rotation angle of the steering wheel of the vehicle.

[0038] According to some embodiments of the present invention, the vehicle further comprises: a torque sensor for detecting the driver's hand torque; the torque sensor is connected to the controller.

[0039] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0041] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present invention;

[0042] Figure 2 is a flow chart of another vehicle control method according to an embodiment of the present invention;

[0043] Figure 3 2 is a schematic diagram of whether to execute a vehicle control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0045] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0046] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0047] A vehicle control method proposed in an embodiment of the present invention will be described below with reference to the accompanying drawings.

[0048] like Figure 1 As shown, the vehicle control method according to an embodiment of the present invention includes:

[0049] S01: Determine a feedback torque according to motion parameters of a transmission component in a steering system of a vehicle.

[0050] Specifically, based on an analysis of the causes and paths of feedback torque in a vehicle's steering system, the magnitude of the feedback torque is reflected in the motion parameters of the vehicle's steer-by-wire transmission components, specifically the transmission components in the lower steering system where the tires are located. The feedback torque is determined by detecting the transmission component's motion parameters and then performing modeling and calculations based on these parameters.

[0051] S02: Control vehicle steering based on feedback torque.

[0052] Specifically, the feedback torque determined by modeling and calculation based on the motion parameters is transmitted to the upper steering system in the vehicle's steer-by-wire system, and finally applied to the vehicle's steering wheel to control the vehicle's steering.

[0053] In determining the feedback torque of the steer-by-wire system, the focus is on the essential link in transmitting the feedback torque, namely the transmission component. The equipment required to measure the motion parameters of the transmission component is simple and has high measurement accuracy. In addition, the calculation model for determining the feedback torque through the motion parameters of the transmission component is simple, which improves the accuracy of the calculation results. At the same time, it enables the steer-by-wire system to feedback road information to the vehicle's steering wheel more quickly, allowing the driver to have a timely and accurate perception of road information, thereby more easily operating the vehicle and improving driving safety.

[0054] According to some embodiments of the present invention, the transmission assembly includes a rack, and the feedback torque is determined based on the motion parameters of the transmission assembly in the vehicle's steering system, specifically including: determining the feedback torque based on the displacement of the rack along the left and right directions of the vehicle.

[0055] Specifically, in a vehicle's steer-by-wire system, the rack in the transmission assembly of the lower steering system will move along the left and right directions of the vehicle due to the constant stimulation of road surface unevenness and the influence of factors such as tire roll. The feedback torque in the steer-by-wire system can be determined by measuring the displacement parameters of the rack in the transmission assembly.

[0056] In some embodiments, as Figure 2 As shown, the feedback torque is determined according to the displacement of the rack along the left and right directions of the vehicle, including:

[0057] S11: Calculating the rack force of the rack according to the displacement of the rack along the left and right directions of the vehicle;

[0058] S12: Determine the feedback torque based on the rack force of the rack.

[0059] Specifically, the rack force of the transmission assembly's rack represents the steering resistance caused by factors such as road irregularities and tire roll. A displacement sensor can be used to detect the left-right displacement of the transmission assembly's rack along the vehicle's horizontal axis, calculate the corresponding rack force, and then determine the feedback torque based on the rack force. This simple model for calculating feedback torque using the rack force provides a more accurate feedback torque result.

[0060] In some embodiments, the rack force of the rack is calculated based on the displacement of the rack along the left and right direction of the vehicle, including: determining the rack force of the rack based on the mass of the rack, the viscous damping coefficient of the rack, the torque of the steering motor in the steering system, the reduction ratio of the steering motor reducer in the steering system, the radius of the gear meshing with the rack, and the displacement of the rack along the left and right direction of the vehicle.

[0061] According to the structure of a traditional mechanical steering system, feedback torque is also related to the system friction torque of the steering system. To simulate the steering resistance generated by the steering wheel in a traditional mechanical steering system, it is necessary to determine the feedback torque in a steer-by-wire system. The feedback torque in a steer-by-wire system includes the self-aligning torque generated by the vehicle's front wheels due to random excitation from road irregularities and the friction torque of the steering system. Furthermore, before being fed back to the driver, this self-aligning torque and the friction torque of the steering system must be transmitted by the transmission assembly, causing the rack in the transmission assembly to displace in the left-right direction of the vehicle. Therefore, the rack force in the transmission assembly can be expressed in terms of the self-aligning torque and the friction torque. The following rack force-related formula model is established, which can be used to calculate the rack force in the vehicle's steering system.

[0062] Specifically, the rack force F of the rack in the transmission assembly of the vehicle steering system is calculated according to the following formula (1): r ,

[0063] The formula (1) is:

[0064]

[0065] Where: M r is the mass of the rack, X r is the displacement of the rack along the left and right direction of the vehicle, B r is the viscous damping coefficient of the steering rack, G f is the reduction ratio of the steering motor reducer, T f is the torque of the steering motor, r p is the gear radius, F r is the rack force.

[0066] In some embodiments, the rack force of the rack is positively correlated with the torque of the steering motor in the steering system and the reduction ratio of the steering motor reducer in the steering system, and the rack force of the rack is negatively correlated with the mass of the rack, the viscous damping coefficient of the rack, the radius of the gear and the displacement of the rack along the left and right directions of the vehicle.

[0067] Specifically, the rack force of the rack increases with the increase of the torque of the steering motor in the steering system and the reduction ratio of the steering motor reducer in the steering system, and the rack force of the rack decreases with the increase of the mass of the rack, the viscous damping coefficient of the rack, the radius of the gear and the displacement of the rack along the left and right directions of the vehicle.

[0068] In some embodiments, the feedback torque is determined based on the rack force of the rack, including: determining a conversion coefficient based on the displacement of the rack along the left and right directions of the vehicle, the steering wheel angle in the steering system, and the transmission efficiency of the steering system; determining the feedback torque based on the conversion coefficient and the rack force of the rack.

[0069] Specifically, based on the structure of a vehicle's traditional mechanical steering system, feedback torque is also related to the steering system's force transmission efficiency. Specifically, the steering system's transmission efficiency in a steer-by-wire system simulates the transmission efficiency of traditional mechanical steering, generally including the transmission efficiency of the worm gear, rack-and-pinion meshing, and universal joints. The steering wheel angle in a steering system refers to the angle at which the driver actively turns the steering wheel due to steering needs. Specifically, a conversion coefficient is determined based on the steering wheel angle, the steering system's transmission efficiency, and the rack's displacement along the left-right direction of the vehicle. The feedback torque is then determined based on the conversion coefficient and the rack force.

[0070] In some optional embodiments, the conversion coefficient includes simulating the transmission efficiency of the worm gear in the traditional mechanical steering system and simulating the transmission efficiency of the universal joint in the traditional mechanical steering system, that is, calculating the feedback torque T in the vehicle steering system according to the following formula (2), wherein the formula (2) is:

[0071]

[0072] Where: F r is the rack force of the rack in the transmission assembly, X r is the displacement of the rack along the left and right direction of the vehicle, r is the steering wheel angle, n1 is the transmission efficiency of the worm gear in the traditional mechanical steering system, n2 is the transmission efficiency of the universal joint in the traditional mechanical steering system, and T is the feedback torque transmitted to the steering wheel.

[0073] In some embodiments, the feedback torque is positively correlated with the rack force of the rack, the conversion coefficient is positively correlated with the displacement of the rack along the left and right directions of the vehicle and the transmission efficiency of the steering system, and the conversion coefficient is negatively correlated with the steering wheel angle in the steering system.

[0074] Specifically, the feedback torque increases with the rack force of the rack, the displacement of the rack along the left-right direction of the vehicle, and the transmission efficiency of the steering system, and the feedback torque decreases with the increase of the steering wheel angle in the steering system.

[0075] In some embodiments, as Figure 2 As shown, before determining the feedback torque based on the displacement of the rack along the left-right direction of the vehicle, the method further includes:

[0076] S10: Calculate the displacement of the rack along the left-right direction of the vehicle based on the rotation angle of the gear in the transmission assembly; and / or calculate the displacement of the rack along the left-right direction of the vehicle based on the rotation angle of the vehicle steering wheel; wherein the gear is meshed with the rack, and the vehicle steering wheel is connected to the rack.

[0077] Specifically, on the one hand, the transmission assembly also includes a gear meshing with the rack, and the motion parameter also includes the rotation angle of the gear meshing with the rack. Before determining the feedback torque based on the displacement of the rack along the left and right directions of the vehicle, the method also includes: calculating the displacement of the rack along the left and right directions of the vehicle based on the rotation angle of the gear in the transmission assembly; wherein the gear meshes with the rack.

[0078] The displacement of the corresponding rack along the left-right direction of the vehicle can be determined by the rotation angle of the gear meshing with the rack in the transmission assembly of the steering system. That is, the rotation angle of the gear in the transmission assembly of the vehicle's wire-controlled steering system is first detected by an angle sensor, and the displacement of the rack meshing with the gear along the left-right direction of the vehicle is calculated based on the rotation angle of the gear. Then, the feedback torque is determined based on the displacement of the rack along the left-right direction of the vehicle.

[0079] Specifically, on the other hand, the transmission assembly also includes a gear meshing with the rack. Before determining the feedback torque based on the displacement of the rack along the left and right directions of the vehicle, the method also includes: calculating the displacement of the rack along the left and right directions of the vehicle based on the steering angle of the vehicle steering wheel, and the vehicle steering wheel is connected to the gear.

[0080] The steering wheel angle can be used to determine the left-right displacement of the steering rack. This involves first detecting the steering wheel angle with an angle sensor, calculating the left-right displacement of the rack based on the steering wheel angle, and then determining the feedback torque based on the rack displacement. The steering wheel angle generally refers to the front wheel camber angle.

[0081] In some embodiments, the displacement of the rack along the left-right direction of the vehicle is calculated based on the rotation angle of the gear in the transmission assembly, including: calculating the displacement of the rack along the left-right direction of the vehicle based on the rotation angle of the gear in the transmission assembly and the linear angle transmission ratio of the transmission assembly; the linear angle transmission ratio of the transmission assembly is the ratio of the rack displacement increment to the gear rotation angle increment.

[0082] In some embodiments, the displacement of the rack along the left and right directions of the vehicle is calculated based on the steering wheel angle of the vehicle, including: calculating the displacement of the rack along the left and right directions of the vehicle based on the steering wheel angle of the vehicle and the linear angle transmission ratio of the transmission assembly; the linear angle transmission ratio of the transmission assembly is the ratio of the rack displacement increment to the gear angle increment.

[0083] Specifically, the displacement X of the rack in the vehicle steering system along the left and right directions of the vehicle is calculated according to the following formula (3): r , the formula (3) is:

[0084]

[0085] Where: θ is the rotation angle of the gear, or the rotation angle of the vehicle's steering wheel; β is the linear transmission ratio of the transmission component.

[0086] In some embodiments, the rotational angle of the gears in the transmission assembly and the linear angular transmission ratio of the transmission assembly are positively correlated with the displacement of the rack in the left-right direction of the vehicle. Specifically, the displacement of the rack in the left-right direction of the vehicle increases as the rotational angle of the gears in the transmission assembly and the linear angular transmission ratio of the transmission assembly increase.

[0087] In some embodiments, the steering wheel angle of the vehicle, the linear angle transmission ratio of the transmission assembly, and the displacement of the rack in the left-right direction of the vehicle are positively correlated. Specifically, the displacement of the rack in the left-right direction of the vehicle increases as the steering wheel angle of the vehicle and the linear angle transmission ratio of the transmission assembly increase.

[0088] In some embodiments, as Figure 2 As shown, according to the motion parameters of the transmission component in the steering system of the vehicle, after determining the feedback torque, the following steps are also included:

[0089] S13: Filter the feedback torque.

[0090] Specifically, when the road surface is bumpy or the wheels are dynamically unbalanced, the wheels experience high-frequency vibrations. If this wheel vibration is transmitted to the steering wheel, it will cause steering wheel vibration, affecting the driver's steering feel. To allow the driver to steer the vehicle more calmly and improve driving safety, it is necessary to filter out the high-frequency vibrations caused by road bumps or wheel dynamic imbalance. In other words, the feedback torque is filtered to remove the bands that affect driving control. The vehicle steering is then controlled based on the filtered feedback torque, improving driving safety.

[0091] In some optional embodiments, according to the following formula (4), the time domain signal f(t) of the feedback torque is converted into a frequency domain signal F(w) through Fourier transform, and the information greater than the calibration frequency is filtered out before being converted into the corresponding time domain signal f(t). The calibration frequency is the frequency limit value that does not affect the driving controllability obtained through experimental data. The formula (4) is:

[0092]

[0093] In some embodiments, data transmission is at least one of a CANFD network, Ethernet communication, and fiber optic communication, for example, enabling data transmission to achieve an information processing and feedback speed of 1ms, thereby improving information transmission efficiency and enabling the wire-controlled steer system to more quickly feed back road information to the vehicle's steering wheel, ensuring smoother vehicle steering.

[0094] In some embodiments, as Figure 2 As shown: Controlling vehicle steering based on feedback torque, including:

[0095] S14: Determine a hand-feel torque according to the feedback torque; and control the rotation of the steering wheel according to the hand-feel torque to control the steering of the vehicle.

[0096] Specifically, the tactile torque is determined based on the feedback torque, and then the tactile torque is transmitted to the tactile motor in the steering system of the vehicle, and the steering of the vehicle steering wheel is controlled by the tactile motor. The tactile torque is also called the tactile simulation torque.

[0097] Optionally, the tactile torque is determined by the filtered feedback torque, and then the steering wheel is controlled according to the tactile torque to ensure smoother vehicle steering.

[0098] In some embodiments, when the vehicle is in a powered-on state, whether to execute the vehicle control method is determined based on gear information.

[0099] like Figure 3 As shown, only when the vehicle is powered on does it need to determine the steering system's feedback torque and control vehicle steering based on this feedback torque. Furthermore, when the vehicle is powered on, it is necessary to combine gear information to determine whether the driver requires accurate road surface perception by applying feedback torque to the steering wheel. If not, this control method can be omitted, reducing the computational complexity of the vehicle control algorithm and improving overall vehicle control efficiency.

[0100] In some embodiments, determining whether to execute the vehicle control method based on the gear information specifically includes: executing the vehicle control method when the gear indicates that the vehicle is in a normal power-assisted state.

[0101] like Figure 3 As shown, when the vehicle is in normal power steering mode, the vehicle will determine the feedback torque of the steering system and control the vehicle steering according to the feedback torque to ensure that the driver improves driving safety during the power steering process.

[0102] In some embodiments, determining whether to execute the vehicle control method is based on the gear information, specifically including: when the gear indicates that the vehicle is in an unassisted state, determining whether to execute the vehicle control method is based on whether the vehicle is in a gaming mode.

[0103] Specifically, some vehicles may have a gaming mode. When the vehicle is in an unassisted state, the user can switch to gaming mode. For example, in gaming mode, the user can play a racing game on the vehicle's PAD and turn by controlling the vehicle's steering wheel. In this case, the vehicle's wheels do not rotate and road surface information is not required. In other words, whether the vehicle control method is executed depends on whether the vehicle is in gaming mode.

[0104] According to some embodiments of the present invention, determining whether to execute a vehicle control method based on whether the vehicle is in a gaming mode specifically includes:

[0105] When the vehicle is in gaming mode, no vehicle control methods are executed; and / or

[0106] When the vehicle is in non-gaming mode, whether to execute the vehicle control method is determined based on the driver's hand torque information.

[0107] like Figure 3 As shown in the figure, when the vehicle is in gaming mode, such as a racing game, the steering wheel rotates, but the wheels do not move. Road surface information does not affect the vehicle's steering system, meaning that there is no need to control vehicle steering based on feedback torque. When the vehicle is not in gaming mode, the vehicle's sensors collect hand torque signals on the steering wheel and use this information to determine whether the driver intends to turn the steering wheel without power steering. Based on the magnitude of the driver's hand torque, the system determines whether the driver needs to apply feedback torque to the steering wheel without power steering.

[0108] In some embodiments, determining whether to execute a vehicle control method based on the driver's hand torque information specifically includes:

[0109] When the hand torque is greater than a first threshold, executing a vehicle control method; and / or

[0110] When the hand torque is less than or equal to the first threshold, the vehicle control method is not executed.

[0111] like Figure 3 As shown, the first threshold value can be calibrated according to the actual vehicle situation to ensure that when the hand torque applied by the driver to the steering wheel is greater than the first threshold value, the steering wheel of the vehicle can overcome the ground friction and rotate without power steering. In this case, it is necessary to perceive road information through feedback torque to improve the vehicle's maneuverability and ensure driving safety. If the hand torque applied by the driver to the steering wheel is less than or equal to the first threshold value, it indicates that the wheel has not rotated due to the large ground friction without power steering. At this time, the steering system does not need to feedback road information, which reduces the computational complexity of the vehicle control algorithm and improves the control efficiency of the entire vehicle.

[0112] Alternatively, it can be seen from the traditional mechanical steering system that in the absence of power steering, the steering wheel is difficult to turn due to the large ground friction. The first threshold can be calibrated to 3nm, that is, the hand feel feedback is cut off when the wheel is not moving, and the road resistance is normally fed back when the wheel overcomes the friction and rotates.

[0113] Another embodiment of the present invention provides an electronic device, including a processor, which is connected to a memory, and a computer program is stored in the memory; the processor is used to read and execute the computer program stored in the memory, so that the method of any one of the above embodiments is executed.

[0114] Another embodiment of the present invention provides a storage medium storing computer-executable instructions, where the computer-executable instructions are used to enable a computer to execute the method of any one of the above embodiments.

[0115] Another embodiment of the present invention provides a computer program product, which includes instructions. When the instructions are executed on a computer, the computer performs the method of any one of the above embodiments.

[0116] Another aspect of the present invention provides a vehicle, including a controller;

[0117] The controller includes a memory and a processor. The memory stores a computer program. The processor is used to run the computer program in the memory to execute the vehicle control method of any one of the above embodiments.

[0118] In some embodiments, the vehicle further includes: a steer-by-wire system connected to the controller.

[0119] Specifically, the controller determines the feedback torque based on the motion parameters of the transmission components in the vehicle's steer-by-wire system; then, the controller controls the vehicle's steering based on the feedback torque. This enables the driver to have a timely and accurate perception of road conditions when operating a steer-by-wire vehicle, allowing them to operate the vehicle more easily and improving driving safety.

[0120] In some embodiments, the vehicle further includes: a displacement sensor for detecting the displacement of the rack in the transmission assembly, and the displacement sensor is connected to the controller.

[0121] Specifically, the displacement of the rack in the transmission assembly along the left and right directions of the vehicle is directly measured using the vehicle's displacement sensor, which is used to further calculate the feedback torque. The detection process is simple and the result is highly accurate.

[0122] In some embodiments, the vehicle further includes: an angle sensor connected to the controller; the angle sensor is used to detect the rotation angle of the gear in the transmission assembly, and / or the angle sensor is used to detect the rotation angle of the steering wheel of the vehicle.

[0123] Specifically, the vehicle's angle sensor measures the rotational angle of the gears in the transmission assembly, or the steering wheel. Combined with the transmission assembly's linear-angle ratio, this calculation can determine the rack's displacement along the vehicle's left-right direction, which is then used to calculate feedback torque. Existing angle sensors have a resolution of up to 0.01 degrees, improving the accuracy of the calculation results.

[0124] In some embodiments, the vehicle further includes: a torque sensor for detecting the driver's hand torque; the torque sensor is connected to the controller.

[0125] Specifically, the torque sensor is generally installed near the steering wheel to detect the size of the hand torque applied by the driver to the steering wheel. The steering state of the vehicle can be judged based on the size of the hand torque, and further determine whether to provide feedback on road information. While ensuring that the driver can accurately perceive road information and improve driving safety, it also reduces the amount of calculation of the vehicle control algorithm and improves the control efficiency of the entire vehicle.

[0126] Other components and operations of the vehicle according to the embodiment of the present invention are well known to those skilled in the art and will not be described in detail here.

[0127] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "example," "specific example," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0128] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A vehicle control method, characterized in that: The method comprises: determining a feedback torque based on motion parameters of a transmission component in a steering system of the vehicle; The vehicle steering is controlled according to the feedback torque.

2. The vehicle control method according to claim 1, characterized in that: The transmission assembly includes a rack, and determining the feedback torque according to the motion parameters of the transmission assembly in the steering system of the vehicle specifically includes: The feedback torque is determined according to the displacement of the rack along the left-right direction of the vehicle.

3. The vehicle control method according to claim 2, characterized in that: Determining the feedback torque according to the displacement of the rack along the left-right direction of the vehicle specifically includes: Calculating a rack force of the rack according to a displacement of the rack in a left-right direction of the vehicle; The feedback torque is determined according to the rack force of the rack.

4. The vehicle control method according to claim 3, characterized in that: Calculating the rack force of the rack according to the displacement of the rack along the left-right direction of the vehicle includes: The rack force of the rack is determined based on the mass of the rack, the viscous damping coefficient of the rack, the torque of the steering motor in the steering system, the reduction ratio of the steering motor reducer in the steering system, the radius of the gear meshing with the rack, and the displacement of the rack along the left-right direction of the vehicle.

5. The vehicle control method according to claim 4, characterized in that: The rack force of the rack is positively correlated with the torque of the steering motor in the steering system and the reduction ratio of the steering motor reducer in the steering system, and the rack force of the rack is negatively correlated with the mass of the rack, the viscous damping coefficient of the rack, the radius of the gear and the displacement of the rack along the left and right directions of the vehicle.

6. The vehicle control method according to claim 3, characterized in that: The step of determining the feedback torque according to the rack force of the rack includes: determining a conversion coefficient based on the displacement of the rack in the left-right direction of the vehicle, the steering angle of the steering wheel in the steering system, and the transmission efficiency of the steering system; The feedback torque is determined according to the conversion coefficient and the rack force of the rack.

7. The vehicle control method according to claim 6, characterized in that: The feedback torque is positively correlated with the rack force of the rack.

8. The vehicle control method according to claim 6, characterized in that: The conversion coefficient is positively correlated with the displacement of the rack along the left-right direction of the vehicle and the transmission efficiency of the steering system, and is negatively correlated with the steering wheel angle of the steering system.

9. The vehicle control method according to any one of claims 2 to 8, characterized in that: The transmission assembly further includes a gear meshing with the rack, the motion parameter further includes a rotation angle of the gear meshing with the rack, and before determining the feedback torque based on the displacement of the rack in the left-right direction of the vehicle, the method further includes: Calculating the displacement of the rack in the left-right direction of the vehicle according to the rotation angle of the gear in the transmission assembly; Wherein, the gear is meshed with the rack.

10. The vehicle control method according to claim 9, characterized in that: Calculating the displacement of the rack along the left-right direction of the vehicle according to the rotation angle of the gear in the transmission assembly includes: The displacement of the rack along the left-right direction of the vehicle is calculated based on the rotation angle of the gear in the transmission assembly and the linear angle transmission ratio of the transmission assembly; the linear angle transmission ratio of the transmission assembly is the ratio of the rack displacement increment to the gear rotation angle increment.

11. The vehicle control method according to claim 10, characterized in that: The rotation angle of the gear in the transmission assembly and the linear angle transmission ratio of the transmission assembly are positively correlated with the displacement of the rack along the left-right direction of the vehicle.

12. The vehicle control method according to any one of claims 2 to 8, characterized in that: The transmission assembly further includes a gear meshing with the rack. Before determining the feedback torque based on the displacement of the rack in the left-right direction of the vehicle, the method further includes: The displacement of the rack along the left-right direction of the vehicle is calculated according to the rotation angle of the vehicle steering wheel, and the vehicle steering wheel is connected to the gear.

13. The vehicle control method according to claim 12, characterized in that: Calculating the displacement of the rack along the left-right direction of the vehicle according to the steering wheel angle of the vehicle includes: The displacement of the rack in the left-right direction of the vehicle is calculated based on the steering wheel angle of the vehicle and the linear angle transmission ratio of the transmission assembly; the linear angle transmission ratio of the transmission assembly is the ratio of the rack displacement increment to the gear rotation angle increment.

14. The vehicle control method according to claim 13, characterized in that: The turning angle of the vehicle steering wheel, the linear angle transmission ratio of the transmission assembly and the displacement of the rack along the left-right direction of the vehicle are positively correlated.

15. The vehicle control method according to any one of claims 1 to 8, characterized in that: After determining the feedback torque according to the motion parameters of the transmission component in the steering system of the vehicle, the method further includes: The feedback torque is filtered.

16. The vehicle control method according to any one of claims 1 to 8, characterized in that: The data transmission is at least one of CAN FD network, Ethernet communication and optical fiber communication.

17. The vehicle control method according to any one of claims 1 to 8, characterized in that: The controlling the vehicle steering according to the feedback torque includes: determining a feel torque according to the feedback torque; The steering wheel is controlled to rotate according to the hand-feel torque to control the steering of the vehicle.

18. The vehicle control method according to any one of claims 1 to 8, characterized in that: The method further comprises: When the vehicle is in a powered-on state, determining whether to execute the vehicle control method is performed according to gear position information.

19. The vehicle control method according to claim 18, characterized in that: The determining whether to execute the vehicle control method according to the gear position information specifically includes: When the gear position indicates that the vehicle is in a normal power-assisted state, the vehicle control method is executed.

20. The vehicle control method according to claim 18, wherein: The determining whether to execute the vehicle control method according to the gear position information specifically includes: When the gear position indicates that the vehicle is in an unassisted state, whether to execute the vehicle control method is determined according to whether the vehicle is in a gaming mode.

21. The vehicle control method according to claim 20, characterized in that: The determining whether to execute the vehicle control method according to whether the vehicle is in the game mode specifically includes: When the vehicle is in gaming mode, not executing the vehicle control method; and / or When the vehicle is in a non-gaming mode, whether to execute the vehicle control method is determined based on the driver's hand torque information.

22. The vehicle control method according to claim 21, characterized in that: The determining whether to execute the vehicle control method according to the driver's hand torque information specifically includes: When the hand torque is greater than a first threshold, executing the vehicle control method; and / or When the hand torque is less than or equal to the first threshold, the vehicle control method is not executed.

23. An electronic device, characterized in that: The method comprises a processor connected to a memory on which a computer program is stored; the processor is configured to read and execute the computer program stored in the memory, so that the method according to any one of claims 1 to 22 is executed.

24. A storage medium, characterized in that Computer-executable instructions are stored, and the computer-executable instructions are used to enable a computer to execute the method according to any one of claims 1 to 22.

25. A computer program product, characterized in that The computer program product comprises instructions, wherein when the instructions are executed on a computer, the computer performs the method according to any one of claims 1 to 22.

26. A vehicle, characterized in that: Including controller; The controller includes a memory and a processor, the memory stores a computer program, and the processor is used to run the computer program in the memory to execute the vehicle control method according to any one of claims 1 to 22.

27. The vehicle according to claim 26, characterized in that Also includes: A steer-by-wire system is connected to the controller.

28. The vehicle according to claim 26, characterized in that Also includes: A displacement sensor is used to detect the displacement of the rack in the transmission assembly, and the displacement sensor is connected to the controller.

29. The vehicle according to claim 26, characterized in that Also includes: An angle sensor, the angle sensor is connected to the controller; the angle sensor is used to detect the rotation angle of the gear in the transmission assembly, and / or the angle sensor is used to detect the rotation angle of the steering wheel of the vehicle.

30. The vehicle of claim 26, wherein: Also includes: Torque sensor, used to detect the driver's hand torque; The torque sensor is connected to the controller.

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