Vehicle steering motor control method and device, vehicle, medium and program product

Abstract

The invention relates to a vehicle steering motor control method and device, a vehicle, a medium and a program product. The method comprises the steps that in the vehicle driving process, driving state parameters and the current driving temperature of a vehicle are obtained; according to the driving state parameters, theoretical control parameters used for controlling a steering motor to work are determined; adjusting the theoretical control parameter according to the current driving temperature to obtain a target control parameter; and controlling the steering motor according to the target control parameter. Thus, the steering motor is controlled according to the current running temperature, the influence of the temperature on a vehicle steering system is eliminated, the intelligent degree of the vehicle is improved, and the experience of a driver during steering is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of vehicles, and particularly relates to a vehicle steering motor control method and device, vehicle, medium and program product. BACKGROUND

[0002] The electric power steering system ESP (Electronic Stability Program) is generally composed of a mechanical steering system, a torque sensor, a vehicle speed sensor, an electronic control unit, a reducer, an electric motor and the like. Based on the torque signal on the steering wheel and the vehicle speed signal, the electric power steering system ESP generates corresponding size and direction of auxiliary power by using the electronic control device to assist the driver to perform steering operation on the basis of the traditional mechanical steering system. The working principle of the electric power steering system ESP is as follows: the torque sensor is connected with the steering shaft (pinion shaft), when the steering shaft rotates, the torque sensor starts to work, and the relative rotation angle displacement of the input shaft and the output shaft under the action of the torsion bar is changed into an electric signal and transmitted to the ECU (Electronic Control Unit), the ECU determines the rotation direction of the steering motor and the size of the assist current according to the signals of the vehicle speed sensor and the torque sensor, so as to complete the real-time control of the power steering. Therefore, it can easily provide different assist effects of the steering motor at different vehicle speeds to ensure that the vehicle is flexible and agile when driving at low speed, and is stable and reliable when driving at high speed. SUMMARY

[0003] In order to overcome the problems in the related art, the present disclosure provides a vehicle steering motor control method, device, vehicle, medium and program product.

[0004] According to a first aspect of an embodiment of the present disclosure, a vehicle steering motor control method is provided, the method comprising: In the process of driving the vehicle, a driving state parameter and a current driving temperature of the vehicle are acquired; According to the driving state parameter, a theoretical control parameter for controlling the working of the steering motor is determined; According to the current driving temperature, the theoretical control parameter is adjusted to obtain a target control parameter; The steering motor is controlled according to the target control parameter.

[0005] Optionally, the adjusting the theoretical control parameter according to the current driving temperature to obtain a target control parameter comprises: According to the current driving temperature and a preset correspondence between temperature and parameter adjustment amount, a parameter adjustment amount corresponding to the current driving temperature is determined; adjust the theoretical control parameter according to the parameter adjustment amount, to obtain a target control parameter.

[0006] Optionally, the correspondence between the temperature and the parameter adjustment amount is determined by: respectively obtaining a correspondence between the temperature and a damping parameter of each target component, the target component including at least one of: a vehicle suspension, a steering column, and oil flowing in a steering motor; determining the correspondence between the temperature and the vehicle damping parameter according to the correspondence between the temperature and the damping parameter of each target component; obtaining a correspondence between the vehicle damping parameter and a parameter adjustment amount of the steering motor; determining the correspondence between the temperature and the parameter adjustment amount according to the correspondence between the temperature and the vehicle damping parameter, and the correspondence between the vehicle damping parameter and the parameter adjustment amount of the steering motor.

[0007] Optionally, the method further includes: obtaining a current driving speed of the vehicle; determining a parameter adjustment amount corresponding to the current driving speed according to the current driving speed and a preset correspondence between driving speed and parameter adjustment amount; the adjusting the theoretical control parameter according to the parameter adjustment amount, to obtain a target control parameter, includes: adjusting the theoretical control parameter according to the parameter adjustment amount corresponding to the current driving temperature and the parameter adjustment amount corresponding to the current driving speed, to obtain a target control parameter.

[0008] Optionally, the vehicle steering system includes a steering hand force module, a return module, and a damping module, and the theoretical control parameter includes a first theoretical control parameter corresponding to the steering hand force module, a second theoretical control parameter corresponding to the return module, and a third theoretical control parameter corresponding to the damping module; the adjusting the theoretical control parameter according to the current driving temperature, to obtain a target control parameter, includes: respectively determining a first parameter adjustment amount of the first theoretical control parameter, a second parameter adjustment amount of the second theoretical control parameter, and a third parameter adjustment amount of the third theoretical control parameter according to the current driving temperature; adjusting the first theoretical control parameter according to the first parameter adjustment amount to obtain a first target control parameter; adjusting the second theoretical control parameter according to the second parameter adjustment amount to obtain a second target control parameter; adjusting the third theoretical control parameter according to the third parameter adjustment amount to obtain a third target control parameter; The target control parameters are obtained based on the first target control parameter, the second target control parameter, and the third target control parameter.

[0009] Optionally, the method further includes: Before adjusting the theoretical control parameters based on the current driving temperature, it is determined that the current driving temperature is less than a first preset temperature, or the current driving temperature is determined to be greater than a second preset temperature, wherein the first preset temperature is less than the second preset temperature. When the current driving temperature is greater than the first preset temperature and less than the second preset temperature, and / or when the duration for which the theoretical control parameters of the steering motor are adjusted according to the current driving temperature reaches a preset duration, the adjustment of the theoretical control parameters is stopped.

[0010] According to a second aspect of the present disclosure, a vehicle steering motor control device is provided, the device comprising: The first acquisition module is configured to acquire the driving status parameters and current driving temperature of the vehicle during the vehicle's operation. The first determining module is configured to determine theoretical control parameters for controlling the operation of the steering motor based on the driving state parameters; The adjustment module is configured to adjust the theoretical control parameters according to the current driving temperature to obtain the target control parameters; The control module is configured to control the steering motor according to the target control parameters.

[0011] According to a third aspect of the present disclosure, a vehicle is provided, comprising: processor; Memory used to store processor-executable instructions; The processor is configured to implement the steps of the vehicle steering motor control method described in any one of the first aspects of the embodiments of this disclosure when executing the instructions.

[0012] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided that stores computer program instructions thereon, which, when executed by a processor, implement the steps of the vehicle steering motor control method described in any one of the first aspects of the present disclosure.

[0013] According to a fifth aspect of the present disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the vehicle steering motor control method described in any one of the first aspects of the present disclosure.

[0014] By adopting the above technical solution, theoretical control parameters for controlling the steering motor are obtained using the vehicle's driving state parameters. Then, the theoretical control parameters are adjusted using the current driving temperature, thereby achieving the goal of controlling the steering motor using the current driving temperature. This eliminates the influence of temperature on the vehicle's steering system, improves the vehicle's intelligence, and enhances the driver's experience when turning the steering wheel.

[0015] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0017] Figure 1 This is a schematic diagram illustrating a steering control model according to an exemplary embodiment.

[0018] Figure 2 This is a flowchart illustrating a vehicle steering motor control method according to an exemplary embodiment.

[0019] Figure 3 This is a block diagram illustrating a vehicle steering motor control device according to an exemplary embodiment.

[0020] Figure 4 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Detailed Implementation

[0021] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0022] The embodiments described in the following examples of this disclosure are not representative of all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0023] It should be noted that all actions involving the acquisition of signals, information, or data in this disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with authorization from the owner of the relevant device.

[0024] Figure 1This is a schematic diagram illustrating a steering control model according to an exemplary embodiment. For example... Figure 1 As shown, the steering control model can include the following modules: steering force module, return-to-center module, damping module, friction compensation module, and end-of-range protection module. The steering force module changes the base output torque of the motor to alter the steering effort. The return-to-center module optimizes the steering wheel's return-to-center characteristics, such as return-to-center rate and residual angle. The damping module improves steering saturation. The friction compensation module corrects for fluctuations in friction force, providing a better driver feel. The end-of-range protection module reduces abruptness at maximum steering angles and cushions impacts.

[0025] When the driver steers, sensors mounted on the vehicle collect driving status parameters, such as... Figure 1 As shown, driving state parameters include, but are not limited to: vehicle speed, effective speed setting, steering wheel torque, effective steering wheel torque setting, steering wheel or motor speed, effective speed setting, steering wheel angle, and effective steering wheel angle setting. The collected driving state parameters are input to the processing unit of the steering control model for calculation, resulting in control parameters for controlling the steering motor. These control parameters are then used to control parameters involved in the steering force module, return-to-center module, damping module, friction compensation module, and end-of-line protection module, so that the steering motor outputs a steering assist torque of appropriate magnitude and direction during steering, thereby generating auxiliary power.

[0026] However, as temperature changes, the damping of the vehicle's suspension and steering column, as well as the viscosity of the hydraulic fluid, will change. For example, compared to normal temperature, the damping of the vehicle's suspension and steering column will increase in low temperature environments and decrease in high temperature environments. In low temperature environments, the hydraulic fluid becomes more viscous, resulting in phenomena such as heavier steering effort, slower return to center, and stronger viscosity when turning the steering wheel quickly, leading to a poor driving experience.

[0027] In view of this, the present disclosure provides a vehicle steering motor control method, device, vehicle, medium, and program product, which adjusts the theoretical control parameters used to control the operation of the steering motor according to the current driving temperature of the vehicle, thereby achieving the purpose of controlling the steering motor using the current driving temperature, eliminating the influence of temperature on the vehicle steering system, improving the vehicle's intelligence level, and enhancing the driver's experience when turning the steering wheel.

[0028] Figure 2 This is a flowchart illustrating a vehicle steering motor control method according to an exemplary embodiment, which can be executed by an electronic steering control unit (ECU). Figure 2 As shown, the method may include the following steps.

[0029] In step S21, during vehicle operation, the vehicle's driving status parameters and current driving temperature are acquired.

[0030] During vehicle operation, driving status parameters can be acquired. These parameters characterize the vehicle's current driving situation, facilitating the adjustment of the steering motor. Driving status parameters can be as follows: Figure 1 The parameters are shown.

[0031] The current driving temperature can be the ambient temperature of the vehicle's surroundings, the temperature of the vehicle suspension collected by the temperature sensor assembly installed in the vehicle suspension, the temperature of the steering system collected by the temperature sensor assembly installed in the vehicle steering system, or the average of the vehicle suspension temperature and the steering system temperature, etc. This disclosure does not specifically limit it in this regard.

[0032] In step S22, the theoretical control parameters for controlling the operation of the steering motor are determined based on the driving state parameters.

[0033] Theoretical control parameters refer to the control parameters of the steering motor obtained solely based on driving state parameters according to a preset algorithm logic, without considering the influence of temperature. These control parameters may include, but are not limited to, motor speed, motor phase, and motor torque. The control parameters of the steering motor obtained based on driving state parameters according to a preset algorithm logic are a relatively mature technology, and this disclosure does not limit them.

[0034] In step S23, the theoretical control parameters are adjusted according to the current driving temperature to obtain the target control parameters.

[0035] In step S24, the steering motor is controlled according to the target control parameters.

[0036] By adopting the above technical solution, theoretical control parameters for controlling the steering motor are obtained based on the vehicle's driving state parameters. Then, the theoretical control parameters are adjusted according to the current driving temperature. That is, the steering motor is controlled by the current driving temperature, eliminating the influence of temperature on the vehicle's steering system, improving the vehicle's intelligence, and enhancing the driver's experience when turning the steering wheel.

[0037] In one embodiment, step S23, adjusting the theoretical control parameters according to the current driving temperature to obtain the target control parameters, may include: determining the parameter adjustment amount corresponding to the current driving temperature based on the current driving temperature and a preset correspondence between temperature and parameter adjustment amount; adjusting the theoretical control parameters according to the parameter adjustment amount to obtain the target control parameters.

[0038] In this embodiment, the parameter adjustment amount corresponding to the current driving temperature can be determined based on the correspondence between temperature and parameter adjustment amount. The correspondence between temperature and parameter adjustment amount can be pre-calibrated.

[0039] The correspondence between temperature and parameter adjustment can be determined as follows: The correspondence between temperature and the damping parameter of each target component is obtained, where the target component may include at least one of the following: vehicle suspension, steering column, and hydraulic fluid flowing in the steering motor; based on the correspondence between temperature and the damping parameter of each target component, the correspondence between temperature and vehicle damping parameter is determined; the correspondence between vehicle damping parameter and steering motor parameter adjustment is obtained; based on the correspondence between temperature and vehicle damping parameter, and the correspondence between vehicle damping parameter and steering motor parameter adjustment, the correspondence between temperature and parameter adjustment is determined.

[0040] Vehicles behave differently under varying operating temperatures. For example, the characteristics of the vehicle's suspension, steering column, and the fluid flowing in the steering motor change with temperature. For instance, at low temperatures, the damping forces of the vehicle's suspension and steering column increase, and the viscosity of the fluid flowing in the steering motor increases, leading to increased damping forces. Therefore, in this embodiment, the target component may include at least one of the vehicle's suspension, steering column, and the fluid flowing in the steering motor.

[0041] Accordingly, the correspondence between temperature and the damping parameters of each target component may include at least one of the following: the correspondence between temperature and the damping parameters of the vehicle suspension, the correspondence between temperature and the damping parameters of the steering column, and the correspondence between temperature and the damping parameters of the hydraulic fluid.

[0042] In one possible approach, the target component includes one of the vehicle suspension, the steering column, and the fluid flowing in the steering motor. For example, if the target component is fluid, the correspondence between temperature and the fluid's damping parameters can be directly determined as the correspondence between temperature and the vehicle's damping parameters.

[0043] In another possible approach, if the target components include two or three of the vehicle suspension, steering column, and hydraulic fluid flowing in the steering motor, the correspondence between temperature and the vehicle's damping parameters can be determined based on the correspondence between temperature and the damping parameters of each target component. For example, if the target components include the vehicle suspension, steering column, and hydraulic fluid flowing in the steering motor, the correspondence between temperature and the damping parameters of the vehicle suspension, the steering column, and the hydraulic fluid, along with their respective preset weights, can be used to obtain the correspondence between temperature and the vehicle's damping parameters. For instance, assuming the above three relationships are denoted as W1, W2, and W3, and their respective weights are a1, a2, and a3, the final correspondence between temperature and the vehicle's damping parameters can be represented as: W1 * a1 + W2 * a2 + W3 * a3.

[0044] Furthermore, the correspondence between the vehicle damping and the parameter adjustment of the steering motor can be pre-calibrated by technicians, and this disclosure does not impose specific limitations on this.

[0045] After determining the correspondence between temperature and vehicle damping parameters, and the correspondence between vehicle damping and steering motor parameter adjustment amounts, the correspondence between temperature and parameter adjustment amounts is determined based on the correspondence between temperature and vehicle damping, and the correspondence between vehicle damping and steering motor parameter adjustment amounts.

[0046] The lower the temperature, the greater the damping of the vehicle's suspension and steering column, and the higher the viscosity of the hydraulic fluid. Therefore, the lower the temperature, the greater the vehicle damping force that the steering motor needs to overcome; that is, the lower the temperature, the greater the torque of the steering motor. However, the working capacity of a steering motor is usually limited. For example, its maximum torque can be set to 0.5 Nm. If the steering motor requires 0.5 Nm of torque to overcome vehicle damping at a temperature of -20°C, then at temperatures below -20°C, due to the limited capacity of the steering motor, it can only use 0.5 Nm of torque to overcome part of the vehicle damping.

[0047] First, it should be understood that vehicle damping parameters can be either vehicle damping or the change in vehicle damping. The change in vehicle damping can be an increase or decrease in vehicle damping relative to normal temperature conditions. This disclosure does not impose specific limitations on this.

[0048] In this disclosure, the parameter adjustment amount can be either a parameter scaling value or a parameter change amount.

[0049] For example, the parameter adjustment amount is the parameter scaling value. First, based on the correspondence between temperature and parameter adjustment amount, the parameter scaling value corresponding to the current driving temperature is determined. Then, the parameter scaling value corresponding to the current driving temperature is multiplied by the theoretical control parameter to obtain the target control parameter. Finally, the steering motor is controlled according to the target control parameter.

[0050] For example, the parameter adjustment amount is the parameter change amount. First, based on the correspondence between temperature and parameter adjustment amount, the parameter change amount corresponding to the current driving temperature is determined. Then, the parameter change amount corresponding to the current driving temperature is superimposed with the theoretical control parameters to obtain the target control parameters. Finally, the steering motor is controlled according to the target control parameters.

[0051] In this disclosure, the theoretical control parameters can be adjusted based on the current driving temperature. However, considering that the vehicle's driving speed also affects the vehicle's steering system, the theoretical control parameters can also be adjusted using the vehicle's driving speed to further improve the accuracy and reliability of the control parameter adjustment.

[0052] In one embodiment of this disclosure, the method may further include: Get the vehicle's current speed; Based on the current driving speed and the preset relationship between driving speed and parameter adjustment amount, determine the parameter adjustment amount corresponding to the current driving speed; The theoretical control parameters are adjusted based on the parameter adjustment amount to obtain the target control parameters, including: The theoretical control parameters are adjusted based on the parameter adjustment amounts corresponding to the current driving temperature and the current driving speed to obtain the target control parameters.

[0053] In the relationship between driving speed and parameter adjustment, the higher the driving speed, the greater the parameter change, or the smaller the parameter scaling value. For example, if the driving speed is 100 km / h, the parameter scaling value can be 20%, and if the driving speed is 20 km / h, the parameter scaling value can be 70%.

[0054] It should be understood that the correspondence between driving speed and parameter adjustment amount can be pre-calibrated. Similarly, firstly, the correspondence between driving speed and damping parameters of each target component is obtained, whereby the target components include at least one of the following: vehicle suspension, steering column, and hydraulic fluid flowing in the steering motor. Next, based on the correspondence between driving speed and damping parameters of each target component, the correspondence between driving speed and vehicle damping parameters is determined, and the correspondence between vehicle damping parameters and steering motor parameter adjustment amount is obtained. Finally, based on the correspondence between driving speed and vehicle damping parameters, and the correspondence between vehicle damping parameters and steering motor parameter adjustment amount, the correspondence between driving speed and parameter adjustment amount is determined.

[0055] When both the parameter adjustment amount corresponding to the current driving temperature and the parameter adjustment amount corresponding to the current driving speed are parameter scaling values, the specific implementation method for adjusting the theoretical control parameters according to the parameter adjustment amount corresponding to the current driving temperature and the parameter adjustment amount corresponding to the current driving speed to obtain the target control parameters can be as follows: multiply the parameter adjustment amount corresponding to the current driving temperature and the parameter adjustment amount corresponding to the current driving speed to obtain the target parameter adjustment amount, and multiply the target parameter adjustment amount by the theoretical control parameters to obtain the target control parameters.

[0056] In this way, by using the current driving temperature and speed to control the steering motor, the influence of temperature and speed on the vehicle's steering system is eliminated, further improving the driver's experience when turning the steering wheel.

[0057] To eliminate the problems of increased steering effort, slower return to center, and strong stickiness when quickly turning the steering wheel caused by temperature and / or vehicle speed, the steering effort module, return to center module, and damping module in the steering system can be compensated using the current driving temperature and / or current driving speed.

[0058] In this disclosure, the vehicle steering system may include a steering force module, a return-to-center module, and a damping module. The theoretical control parameters include a first theoretical control parameter corresponding to the steering force module, a second theoretical control parameter corresponding to the return-to-center module, and a third theoretical control parameter corresponding to the damping module. Accordingly, Figure 2 Step S23 adjusts the theoretical control parameters according to the current driving temperature to obtain the target control parameters. This may include: determining the first parameter adjustment amount of the first theoretical control parameter, the second parameter adjustment amount of the second theoretical control parameter, and the third parameter adjustment amount of the third theoretical control parameter according to the current driving temperature; adjusting the first theoretical control parameter according to the first parameter adjustment amount to obtain the first target control parameter; adjusting the second theoretical control parameter according to the second parameter adjustment amount to obtain the second target control parameter; adjusting the third theoretical control parameter according to the third parameter adjustment amount to obtain the third target control parameter; and obtaining the target control parameter based on the first target control parameter, the second target control parameter, and the third target control parameter.

[0059] In this disclosure, a first correspondence is established between the pre-calibrated temperature and parameter adjustment amount for the steering hand force module, a second correspondence is established between the pre-calibrated temperature and parameter adjustment amount for the return-to-center module, and a third correspondence is established between the pre-calibrated temperature and parameter adjustment amount for the damping module. Thus, a first parameter adjustment amount for a first theoretical control parameter is obtained based on the first correspondence, and the first theoretical control parameter is adjusted based on the first parameter adjustment amount to obtain a first target control parameter. A second target control parameter and a third target control parameter are obtained in a similar manner. Finally, the target control parameter is obtained based on the first target control parameter, the second target control parameter, and the third target control parameter.

[0060] The method of obtaining the target control parameters based on the first target control parameters corresponding to the steering force module, the second target control parameters corresponding to the return module, and the third target control parameters corresponding to the damping module is a relatively mature technology, and this disclosure does not make any specific limitations on it.

[0061] Considering that the vehicle damping does not change significantly when the vehicle is at normal operating temperature, there is no need to adjust the theoretical control parameters used to control the steering motor based on the operating temperature; that is, there is no need to adjust the steering motor control parameters based on the operating temperature. Therefore, in this disclosure, to reduce workload, the theoretical control parameters can be adjusted based on the current operating temperature once the conditions are met.

[0062] For example, the method further includes: Before adjusting the theoretical control parameters based on the current driving temperature, it is determined that the current driving temperature is less than the first preset temperature, or the current driving temperature is determined to be greater than the second preset temperature, and the first preset temperature is less than the second preset temperature. When the current driving temperature is greater than the first preset temperature but less than the second preset temperature, and / or when the duration for which the theoretical control parameters of the steering motor are adjusted based on the current driving temperature reaches a preset duration, the adjustment of the theoretical control parameters is stopped.

[0063] Temperatures falling within the first and second preset temperature range can be considered as ambient temperature. When the current driving temperature is lower than the first preset temperature, or when the current driving temperature is higher than the second preset temperature, the following actions are executed: Figure 2 In step S23, the control parameters of the steering motor are adjusted under extreme temperature conditions. For example, the first preset temperature can be -5°C, and the second preset temperature can be 20°C or 25°C, etc., but this disclosure does not specifically limit it.

[0064] When the current driving temperature is greater than the first preset temperature but less than the second preset temperature, it is considered that the current driving temperature has little impact on the vehicle damping parameters and little impact on the steering system. At this time, the adjustment of the theoretical control parameters of the steering motor can be stopped.

[0065] Furthermore, when the current driving temperature is lower than the first preset temperature, after the vehicle has been driven for a period of time, the temperature will rise due to friction during operation, which can eliminate the effect of increased vehicle damping caused by low temperature. Therefore, when the duration of adjusting the theoretical control parameters of the steering motor according to the current driving temperature reaches the preset duration, the adjustment of the theoretical control parameters will be stopped.

[0066] For example, the preset duration can be determined based on the current driving temperature. For instance, a pre-set correspondence between the preset duration and the driving temperature can be established. The lower the driving temperature, the longer the corresponding preset duration. For example, if the current driving temperature is -10℃, the preset duration can be 1 hour; if the current driving temperature is -20℃, the preset duration can be 2 hours, and so on. This disclosure does not impose specific limitations on this.

[0067] Furthermore, vehicles equipped with CDC damping systems typically have different driving modes, each corresponding to different CDC control parameters. For example, driving modes may include Comfort mode, Sport mode, and Run+ mode. Comfort mode corresponds to relatively comfortable CDC control parameters, Sport mode corresponds to moderate CDC control parameters, and Run+ mode corresponds to stronger CDC control parameters. Therefore, in this disclosure, different relationships between temperature and parameter adjustment amounts can be preset for different driving modes, and / or, different relationships between temperature and parameter adjustment amounts, different relationships between driving speed and parameter adjustment amounts, etc., can also be preset for different driving modes. This disclosure does not specifically limit these possibilities.

[0068] Based on the same inventive concept, this disclosure also provides a vehicle steering motor control device. Figure 3 This is a block diagram illustrating a vehicle steering motor control device according to an exemplary embodiment. Figure 3 As shown, the vehicle steering motor control device 300 may include: The first acquisition module 301 is configured to acquire the driving status parameters and current driving temperature of the vehicle during the vehicle's operation. The first determining module 302 is configured to determine theoretical control parameters for controlling the operation of the steering motor based on the driving state parameters. The adjustment module 303 is configured to adjust the theoretical control parameters according to the current driving temperature to obtain the target control parameters; The control module 304 is configured to control the steering motor according to the target control parameters.

[0069] Optionally, the adjustment module 303 is configured to: Based on the current driving temperature and the preset correspondence between temperature and parameter adjustment amount, determine the parameter adjustment amount corresponding to the current driving temperature; The theoretical control parameters are adjusted according to the parameter adjustment amount to obtain the target control parameters.

[0070] Optionally, the correspondence between temperature and parameter adjustment amounts is determined in the following way: The correspondence between temperature and damping parameters of each target component is obtained, wherein the target component includes at least one of the following: vehicle suspension, steering column and oil flowing in steering motor; Based on the correspondence between temperature and the damping parameters of each target component, the correspondence between temperature and vehicle damping parameters is determined. Obtain the correspondence between vehicle damping parameters and steering motor parameter adjustment amounts; The correspondence between temperature and vehicle damping parameters is determined based on the correspondence between the vehicle damping parameters and the parameter adjustment amount of the steering motor.

[0071] Optionally, the vehicle steering motor control device 300 may further include: The second acquisition module is configured to acquire the current driving speed of the vehicle; The second determining module is configured to determine the parameter adjustment amount corresponding to the current driving speed based on the current driving speed and the preset correspondence between driving speed and parameter adjustment amount; The adjustment module 303 is configured to adjust the theoretical control parameters according to the parameter adjustment amount corresponding to the current driving temperature and the parameter adjustment amount corresponding to the current driving speed, so as to obtain the target control parameters.

[0072] Optionally, the vehicle steering system includes a steering force module, a return-to-center module, and a damping module, wherein the theoretical control parameters include a first theoretical control parameter corresponding to the steering force module, a second theoretical control parameter corresponding to the return-to-center module, and a third theoretical control parameter corresponding to the damping module; The adjustment module 303 includes: The first determining submodule is configured to determine, based on the current driving temperature, the first parameter adjustment amount of the first theoretical control parameter, the second parameter adjustment amount of the second theoretical control parameter, and the third parameter adjustment amount of the third theoretical control parameter. The first adjustment submodule is configured to adjust the first theoretical control parameter according to the first parameter adjustment amount to obtain the first target control parameter; The second adjustment submodule is configured to adjust the second theoretical control parameter according to the second parameter adjustment amount to obtain the second target control parameter; The third adjustment submodule is configured to adjust the third theoretical control parameter according to the third parameter adjustment amount to obtain the third target control parameter; The second determining submodule is configured to obtain target control parameters based on the first target control parameters, the second target control parameters, and the third target control parameters.

[0073] Optionally, the vehicle steering motor control device 300 may further include: The third determining module is configured to determine, before adjusting the theoretical control parameters based on the current driving temperature, that the current driving temperature is less than a first preset temperature, or to determine that the current driving temperature is greater than a second preset temperature, wherein the first preset temperature is less than the second preset temperature. The stop module is configured to stop adjusting the theoretical control parameters when the current driving temperature is greater than the first preset temperature and less than the second preset temperature, and / or when the duration for which the theoretical control parameters of the steering motor are adjusted according to the current driving temperature reaches a preset duration.

[0074] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0075] This disclosure also provides a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the steps of the vehicle steering motor control method provided in this disclosure.

[0076] Figure 4 This is a block diagram illustrating a vehicle according to an exemplary embodiment. For example, vehicle 600 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. Vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0077] Reference Figure 4 The vehicle 600 may include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. The vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and each component of the vehicle 600 can be interconnected via wired or wireless means.

[0078] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, and a navigation system, etc.

[0079] The perception system 620 may include several sensors for sensing information about the environment surrounding the vehicle 600. For example, the perception system 620 may include a global positioning system (which may be GPS, BeiDou, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0080] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0081] The drive system 640 may include components that provide powered motion to the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0082] Some or all of the functions of vehicle 600 are controlled by computing platform 650. Computing platform 650 may include at least one processor 651 and memory 652, processor 651 can execute instructions 653 stored in memory 652.

[0083] Processor 651 can be any conventional processor, such as a commercially available CPU. Processors may also include graphics processing units (GPUs), field-programmable gate arrays (FPGAs), systems-on-chips (SoCs), application-specific integrated circuits (ASICs), or combinations thereof.

[0084] The memory 652 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0085] In addition to instruction 653, memory 652 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 652 can be used by computing platform 650.

[0086] In this embodiment of the disclosure, processor 651 may execute instruction 653 to complete all or part of the steps of the vehicle steering motor control method described above.

[0087] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the vehicle steering motor control method described above when executed by the programmable device.

[0088] Furthermore, the term “exemplary” is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as “exemplary” is not necessarily to be construed as advantageous compared to other aspects or designs. Rather, the use of the term “exemplary” is intended to present the concept in a concrete manner. As used herein, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless otherwise specified or clear from the context, “X applies A or B” is intended to mean any of the natural inclusive arrangements. That is, “X applies A or B” satisfies any of the foregoing instances if X applies A; X applies B; or both X applies A and B. Additionally, unless otherwise specified or clear from the context to refer to the singular form, the articles “a” and “an” as used in this application and the appended claims are generally understood to mean “one or more.”

[0089] Similarly, although this disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding this specification and the accompanying drawings. This disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, the terminology used to describe such components is intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if structurally not equivalent to the disclosed structure. Furthermore, although specific features of this disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations, as may be desired and advantageous to any given or particular application. Moreover, with regard to the terms “comprising,” “owning,” “having,” “having,” or variations thereof as used in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term “including.”

[0090] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

[0091] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A method for controlling a vehicle steering motor, characterized in that, The method includes: During vehicle operation, the vehicle's driving status parameters and current driving temperature are acquired. Based on the driving state parameters, determine the theoretical control parameters for controlling the operation of the steering motor; The theoretical control parameters are adjusted based on the current driving temperature to obtain the target control parameters; The steering motor is controlled according to the target control parameters.

2. The method according to claim 1, characterized in that, The step of adjusting the theoretical control parameters based on the current driving temperature to obtain the target control parameters includes: Based on the current driving temperature and the preset correspondence between temperature and parameter adjustment amount, determine the parameter adjustment amount corresponding to the current driving temperature; The theoretical control parameters are adjusted according to the parameter adjustment amount to obtain the target control parameters.

3. The method according to claim 2, characterized in that, The correspondence between the temperature and the parameter adjustment amount is determined in the following way: The correspondence between temperature and damping parameters of each target component is obtained, wherein the target component includes at least one of the following: vehicle suspension, steering column and oil flowing in steering motor; Based on the correspondence between temperature and the damping parameters of each target component, the correspondence between temperature and vehicle damping parameters is determined. Obtain the correspondence between vehicle damping parameters and steering motor parameter adjustment amounts; The correspondence between temperature and vehicle damping parameters is determined based on the correspondence between the vehicle damping parameters and the parameter adjustment amount of the steering motor.

4. The method according to claim 2, characterized in that, The method further includes: Obtain the current speed of the vehicle; Based on the current driving speed and the preset correspondence between driving speed and parameter adjustment amount, determine the parameter adjustment amount corresponding to the current driving speed; The step of adjusting the theoretical control parameters according to the parameter adjustment amount to obtain the target control parameters includes: The theoretical control parameters are adjusted based on the parameter adjustment amounts corresponding to the current driving temperature and the current driving speed to obtain the target control parameters.

5. The method according to claim 1, characterized in that, The vehicle steering system includes a steering force module, a return-to-center module, and a damping module. The theoretical control parameters include a first theoretical control parameter corresponding to the steering force module, a second theoretical control parameter corresponding to the return-to-center module, and a third theoretical control parameter corresponding to the damping module. The step of adjusting the theoretical control parameters based on the current driving temperature to obtain the target control parameters includes: Based on the current driving temperature, determine the first parameter adjustment amount of the first theoretical control parameter, the second parameter adjustment amount of the second theoretical control parameter, and the third parameter adjustment amount of the third theoretical control parameter, respectively. The first target control parameter is obtained by adjusting the first theoretical control parameter according to the first parameter adjustment amount; The second target control parameter is obtained by adjusting the second theoretical control parameter according to the second parameter adjustment amount; The third target control parameter is obtained by adjusting the third theoretical control parameter according to the third parameter adjustment amount; The target control parameters are obtained based on the first target control parameter, the second target control parameter, and the third target control parameter.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: Before adjusting the theoretical control parameters based on the current driving temperature, it is determined that the current driving temperature is less than a first preset temperature, or the current driving temperature is determined to be greater than a second preset temperature, wherein the first preset temperature is less than the second preset temperature. When the current driving temperature is greater than the first preset temperature and less than the second preset temperature, and / or when the duration for which the theoretical control parameters of the steering motor are adjusted according to the current driving temperature reaches a preset duration, the adjustment of the theoretical control parameters is stopped.

7. A vehicle steering motor control device, characterized in that, The device includes: The first acquisition module is configured to acquire the driving status parameters and current driving temperature of the vehicle during the vehicle's operation. The first determining module is configured to determine theoretical control parameters for controlling the operation of the steering motor based on the driving state parameters. The adjustment module is configured to adjust the theoretical control parameters according to the current driving temperature to obtain the target control parameters; The control module is configured to control the steering motor according to the target control parameters.

8. A vehicle, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to implement the steps of the vehicle steering motor control method according to any one of claims 1-6 when executing the instructions.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method described in any one of claims 1-6.

10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1-6.

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