Force sense feedback method and device, medium and steer-by-wire system

Abstract

The invention discloses a force sense feedback method and device, a medium and a steer-by-wire system, and relates to the technical field of steer-by-wire. The method is applied to a steer-by-wire system in a vehicle and comprises the steps that the steering angle and the steering angular speed of a steering wheel in the steer-by-wire system are obtained; determining a steering condition based on the steering angle and the steering angular velocity; if the steering working condition is a forward working condition, determining a compensation torque based on the steering angle, the steering angular velocity and the current vehicle speed; if the steering working condition is a return working condition, determining a friction torque based on the steering angle, the steering angular velocity and the current vehicle speed; according to the compensation torque or the friction torque, a reference feedback torque is adjusted, a target feedback torque is obtained, and the reference feedback torque is obtained at least based on the steering angle and the steering angular speed; and applying the target feedback torque to the steering wheel to simulate a feedback force feeling corresponding to the steering condition. The center position feeling of the steering wheel can be remarkably enhanced, the hand feeling influence caused by steering delay is reduced, and therefore the overall steering performance is improved.

Description

Technical Field

[0001] This application belongs to the field of steer-by-wire technology, and particularly relates to a force feedback method, device, medium, and vehicle. Background Technology

[0002] As an advanced steering technology, steer-by-wire systems eliminate the traditional mechanical connection structure, instead relying on electrical signals to transmit commands and a motor to directly drive the rack to achieve steering. However, due to delays in signal processing and motor drive within the electronic control system, the main torque output of the rack force feedback is difficult to synchronize perfectly with the steering input, especially under conditions of rapid changes in steering action, where the lag becomes even more pronounced.

[0003] The delay in torque output makes it difficult for the driver to obtain clear and timely feedback in the steering center area, creating a noticeable "hollow feeling" that seriously affects steering feel and handling precision. In addition, the existing calibration and dynamic adjustment mechanisms are not yet perfect, making it difficult to balance low-speed agility and high-speed stability, while traditional power assist and return-to-center function modules are also unable to effectively enhance the force feedback in the center area during dynamic steering. Summary of the Invention

[0004] This application provides a force feedback method, device, medium, and steer-by-wire system, which can significantly enhance the center position feel of the steering wheel, reduce the impact of steering delay on the feel, and improve overall steering performance.

[0005] In a first aspect, embodiments of this application provide a force feedback method applied to a steer-by-wire system in a vehicle, the method comprising:

[0006] Obtain the steering angle and steering angular velocity of the steering wheel in the steer-by-wire system;

[0007] The steering conditions are determined based on the steering angle and steering angular velocity.

[0008] If the steering condition is the outbound condition, the compensation torque is determined based on the steering angle, steering angular velocity and current vehicle speed.

[0009] If the steering condition is a return stroke, the friction torque is determined based on the steering angle, steering angular velocity, and current vehicle speed.

[0010] The reference feedback torque is adjusted based on the compensation torque or friction torque to obtain the target feedback torque. The reference feedback torque is at least based on the steering angle and steering angular velocity.

[0011] The target feedback torque is applied to the steering wheel to simulate the feedback force corresponding to steering conditions.

[0012] In a further embodiment, the compensation torque is determined based on the steering angle, steering angular velocity, and current vehicle speed, including:

[0013] Based on the steering angle and current vehicle speed, determine the mid-level compensation torque and mid-level compensation torque gain coefficient corresponding to the current steering condition;

[0014] The compensation torque is obtained by multiplying the median compensation torque and the median compensation torque gain coefficient.

[0015] In a further embodiment, based on the steering angle and current vehicle speed, the median compensation torque and median compensation torque gain coefficient corresponding to the current steering condition are determined, including:

[0016] Based on the steering angle and current vehicle speed, and according to the preset correspondence between the steering angle, vehicle speed and center compensation torque, the corresponding center compensation torque is obtained.

[0017] Based on the steering angular velocity, the corresponding mid-position compensation torque gain coefficient is obtained according to the correspondence between the steering angular velocity and the mid-position compensation torque gain coefficient.

[0018] In a further embodiment, determining the friction torque based on the steering angle, steering angular velocity, and current vehicle speed includes:

[0019] Based on the steering angle, steering angular velocity, and current vehicle speed, the mechanical feedback of the steer-by-wire system is simulated to determine the friction torque used for dynamic compensation.

[0020] In a further embodiment, the method includes:

[0021] Based on the steering angle and current vehicle speed, the maximum friction torque parameters and stiffness parameters of the friction calculation model are determined. The friction calculation model is the Dahl friction model, which is used to simulate the steer-by-wire system.

[0022] The friction torque is determined based on the steering angular velocity, maximum friction torque parameters, and stiffness parameters through a preset friction calculation model.

[0023] In a further embodiment, based on the steering angle and current vehicle speed, the maximum friction torque parameters and stiffness parameters of the friction calculation model are determined, including:

[0024] Based on the steering angle and current vehicle speed, the maximum friction torque parameter is determined according to the preset correspondence between the steering angle, vehicle speed and maximum friction torque.

[0025] Based on the steering angle and current vehicle speed, stiffness parameters are determined according to the preset correspondence between steering angle, vehicle speed and stiffness.

[0026] In a further embodiment, the steering condition is determined based on the steering angle and steering angular velocity, including:

[0027] If the direction of the steering angle relative to the preset steering center position is consistent with the direction of the steering angular velocity, then the steering condition is determined to be the outbound condition.

[0028] Otherwise, the steering condition is determined to be a return condition.

[0029] Secondly, embodiments of this application provide a force feedback device applied to a steer-by-wire system in a vehicle, the device comprising:

[0030] The acquisition module is used to acquire the steering angle and steering angular velocity of the steering wheel in the steer-by-wire system;

[0031] The compensation torque calculation module is used to determine the compensation torque based on the steering angle, steering angular velocity, and current vehicle speed if the steering condition is the outbound condition.

[0032] The friction torque calculation module is used to determine the friction torque based on the steering angle, steering angular velocity, and current vehicle speed if the steering condition is a return driving condition.

[0033] The feedback torque calculation module is used to adjust the reference feedback torque according to the compensation torque or friction torque to obtain the target feedback torque. The reference feedback torque is obtained based on the steering angle and steering angular velocity.

[0034] The force feedback module is used to apply the target feedback torque to the steering wheel to simulate the feedback force corresponding to the steering conditions.

[0035] Thirdly, embodiments of this application provide an electronic device, the device including: a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements any of the above force feedback methods.

[0036] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement any of the force feedback methods described above.

[0037] Fifthly, embodiments of this application provide a computer program product in which instructions, when executed by the processor of an electronic device, cause the electronic device to perform any of the force feedback methods described above.

[0038] In a sixth aspect, embodiments of this application provide a steer-by-wire system, including at least one processor and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements any of the force feedback methods described above by executing the instructions stored in the memory.

[0039] The force feedback method, device, medium, and steer-by-wire system of this application are applied to a steer-by-wire system in a vehicle. The method includes: acquiring the steering angle and steering angular velocity of the steering wheel in the steer-by-wire system; determining the steering condition based on the steering angle and steering angular velocity; if the steering condition is an outward steering condition, determining a compensation torque based on the steering angle, steering angular velocity, and current vehicle speed; if the steering condition is a return steering condition, determining a friction torque based on the steering angle, steering angular velocity, and current vehicle speed; adjusting the reference feedback torque according to the compensation torque or friction torque to obtain a target feedback torque, wherein the reference feedback torque is obtained at least based on the steering angle and steering angular velocity; and applying the target feedback torque to the steering wheel to simulate the feedback force corresponding to the steering condition. Thus, in this embodiment, the feedback force is dynamically determined based on steering wheel parameters and current vehicle speed under different steering conditions: In the outward driving condition, the output of the main torque that varies with the angle is enhanced, effectively mitigating the impact of steering delay on the feel; in the return driving condition, a dynamic friction model is introduced to strengthen the perception of the center position. Simultaneously, this embodiment also effectively improves calibration efficiency, adapts to multiple driving modes, and enhances the consistency of steering performance. Attached Figure Description

[0040] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is one of the flowcharts illustrating the force feedback method provided in the embodiments of this application;

[0042] Figure 2 This is a second schematic flowchart of the force feedback method provided in the embodiments of this application;

[0043] Figure 3 This is a schematic diagram of the force feedback device provided in the embodiments of this application;

[0044] Figure 4 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0045] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0046] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0047] To address the problems of existing technologies, embodiments of this application provide a force feedback method, device, medium, and steer-by-wire system. The force feedback method provided in this application embodiment is described below. A force feedback method is applied to a steer-by-wire system in a vehicle. A steer-by-wire system is an advanced system that eliminates traditional mechanical connections and achieves steering control through electrical signals.

[0048] Figure 1 This document illustrates one of the flowcharts of the force feedback method provided in an embodiment of this application, such as... Figure 1 As shown, the method includes the following steps:

[0049] S101. Obtain the steering angle and steering angular velocity of the steering wheel in the steer-by-wire system.

[0050] In this embodiment, the system can acquire the steering angle and steering angular velocity signals of the steering wheel in real time through the SBW steering angle sensor, and calculate the current steering angle and steering angular velocity of the steering wheel based on the steering angle and steering angular velocity signals. According to the steering angle and steering angular velocity, the magnitude and direction of the corresponding feedback torque can be determined, thereby outputting corresponding tactile feedback to the driver through the feedback system. This effectively improves the intuitiveness and realism of driving operations, enhancing the safety and comfort of the driving experience.

[0051] It should be noted that there are already several mature and feasible technical solutions in the field for obtaining steering wheel angle and angular velocity, which can be selected or replaced according to actual needs. The core innovation of this application lies in the subsequent decision-making and generation of feedback torque based on these signals to optimize the feel feedback. Therefore, the specific methods for acquiring steering angle and angular velocity will not be elaborated in the embodiments of this application.

[0052] S102. Determine the steering condition based on the steering angle and the steering angular velocity.

[0053] In this step, if the direction of the steering angle relative to the preset steering center position is consistent with the direction of the steering angular velocity, then the steering condition is determined to be the outbound condition; otherwise, the steering condition is determined to be the return condition.

[0054] Specifically, the steering center position is the reference position of the steering wheel when it is not subjected to external force and the vehicle is traveling in a straight line. In this embodiment, the steering center position under the current operating condition can first be determined by looking up a pre-established data table containing the mapping relationship between vehicle operating parameters and steering center position, based on vehicle operating parameters. Furthermore, to avoid minor disturbances in the steering system, this embodiment also defines a custom angle range around the steering center position, for example, ±10°. Within this custom angle range, the angular displacement of the steering wheel is considered as normal fluctuation under straight-line driving conditions.

[0055] Subsequently, by analyzing the directional relationship between the steering angle and the steering angular velocity, the embodiments of this application can accurately identify the current steering condition. Figure 2 This illustrates a second schematic flowchart of the force feedback method provided in an embodiment of this application, as shown below. Figure 2 As shown, when the angular velocity direction is in the same direction as the angle direction, that is, when the product of the two is greater than zero, it is determined to be the outward working condition, and the turning motion is away from the center position; conversely, if the two directions are opposite and the product is less than or equal to zero, it is determined to be the return working condition, and the turning motion is close to the center.

[0056] The embodiments of this application can implement differentiated feedback strategies in subsequent steps based on the determination results of different steering conditions, thereby providing a reliable basis for steering assistance and stability control, and effectively improving the accuracy and stability of vehicle steering control.

[0057] S103. If the steering condition is an outbound driving condition, then the compensation torque is determined based on the steering angle, the steering angular velocity, and the current vehicle speed.

[0058] This step includes: determining the median compensation torque and median compensation torque gain coefficient corresponding to the current steering condition based on the steering angle and the current vehicle speed. Specifically, in this embodiment, the corresponding median compensation torque can be obtained based on the steering angle and the current vehicle speed, according to a preset correspondence between steering angle, vehicle speed, and median compensation torque. Simultaneously, the corresponding median compensation torque gain coefficient is obtained based on the steering angular velocity, according to the correspondence between steering angular velocity and median compensation torque gain coefficient.

[0059] Specifically, in this embodiment, the system has a pre-set mapping table between steering angle, vehicle speed, and center compensation torque. Based on the real-time collected steering wheel angle and vehicle speed, the center compensation torque corresponding to the current operating condition can be obtained by querying the above mapping table. This center compensation torque serves as a reference value, accurately reflecting the basic torque required to compensate for inherent system delays and other factors under a specific combination of steering angle and vehicle speed. Furthermore, the system also has a pre-set mapping table between steering angular velocity and center compensation torque gain coefficient. Based on the steering wheel angular velocity, the center compensation torque gain coefficient can be obtained by querying this mapping table. This coefficient is used to dynamically adjust the center compensation torque, ensuring that the final compensation effect sensitively follows changes in the speed of steering wheel rotation.

[0060] After determining the median compensation torque and median compensation torque gain coefficient corresponding to the current steering condition, the compensation torque can be obtained by multiplying the median compensation torque and the median compensation torque gain coefficient. The compensation torque is used to increase the main torque output that changes with the steering angle.

[0061] In this embodiment of the application, under outbound driving conditions, the compensation torque can be determined based on the steering wheel parameters and the current vehicle speed, so that the compensation torque can be used in subsequent steps to achieve precise torque compensation based on the steering wheel parameters and vehicle speed, effectively enhancing the main torque output that changes with the steering angle, thereby significantly reducing the sense of delay during steering operation and improving the vehicle's handling response speed and the driver's steering feel.

[0062] S104. If the steering condition is a return trip condition, then the friction torque is determined based on the steering angle, the steering angular velocity, and the current vehicle speed.

[0063] In this embodiment, based on the steering angle, the steering angular velocity, and the current vehicle speed, the mechanical feedback of the steer-by-wire system is simulated to determine the friction torque used for dynamic compensation.

[0064] Specifically, firstly, based on the steering angle and the current vehicle speed, the maximum friction torque parameters and stiffness parameters of the friction calculation model are determined. The friction calculation model is the Dahl friction model, used to simulate the steer-by-wire system. In this embodiment, the expression of the Dahl friction model is as follows:

[0065]

[0066] In the formula, For stiffness parameters, Steering wheel speed, For Dahl friction torque, This represents the parameter for the maximum Daltonian frictional torque.

[0067] Specifically, the maximum friction torque parameter can be determined based on the steering angle and the current vehicle speed, according to a preset correspondence between steering angle, vehicle speed, and maximum friction torque. Simultaneously, the stiffness parameter is determined based on the steering angle and the current vehicle speed, according to a preset correspondence between steering angle, vehicle speed, and stiffness. In particular, in this embodiment, the system queries a pre-calibrated data table based on the real-time steering wheel angle and the current vehicle speed to determine the maximum friction torque parameter and stiffness parameter corresponding to the operating condition.

[0068] After determining the maximum friction torque and stiffness parameters, the system will determine the friction torque based on the steering angular velocity, the maximum friction torque, and the stiffness parameters using a preset friction calculation model. Specifically, the steering angular velocity, the maximum friction torque, and the stiffness parameters are input together into the Darl friction model. After calculation, the model outputs the required simulated friction torque, thereby completing an accurate simulation of the friction characteristics of the steering system.

[0069] In this embodiment, during the return journey, the system will combine the actual parameters of the steering wheel with the current vehicle speed to calculate the required friction torque. In subsequent steps, the friction torque will be used to effectively simulate the "viscous feeling" of the mechanical system, thereby improving the center positioning accuracy of the steering wheel.

[0070] S105. Adjust the reference feedback torque according to the compensation torque or the friction torque to obtain the target feedback torque, wherein the reference feedback torque is at least based on the steering angle and the steering angular velocity.

[0071] Among them, the reference feedback torque is a basic torque calculated based on key parameters such as the vehicle's steering angle and steering angular velocity through a preset assist or feedback mapping relationship. It constitutes the core component of steering wheel force feedback and represents the torque reference required to provide the driver with basic road feel and directional feedback under ideal working conditions.

[0072] Specifically, in the outbound driving condition, the obtained compensation torque can be superimposed with the reference feedback torque to obtain the target feedback torque. The target feedback torque increases with the increase of the steering angle, which helps to reduce the delay effect of the system and improve the response performance. In the return driving condition, the obtained friction torque can be superimposed with the reference feedback torque to obtain the target feedback torque. The target feedback torque, due to the introduction of a dynamic friction model, effectively enhances the steering wheel's return-to-center feel and positional feel in the center area.

[0073] S106. Apply the target feedback torque to the steering wheel to simulate the feedback force corresponding to the steering condition.

[0074] Specifically, the embodiments of this application use a rack and pinion feedback system to output the dynamically compensated target torque to the steering wheel, which can effectively restore a realistic and natural steering feel.

[0075] The embodiments of this application can provide targeted compensation for the reference feedback torque according to different steering conditions, and accurately transmit it to the steering wheel through the feedback system. This not only helps to alleviate the problems of steering response delay and "hollow" force feel, but also significantly improves calibration efficiency, flexibly adapts to various driving modes (such as comfort mode and sport mode), and enhances the consistency of steering performance.

[0076] The force feedback method of this application embodiment is applied to a steer-by-wire system in a vehicle. The method includes: acquiring the steering angle and steering angular velocity of the steering wheel in the steer-by-wire system; determining the steering condition based on the steering angle and steering angular velocity; if the steering condition is an outward steering condition, determining a compensation torque based on the steering angle, steering angular velocity, and current vehicle speed; if the steering condition is a return steering condition, determining a friction torque based on the steering angle, steering angular velocity, and current vehicle speed; adjusting the reference feedback torque according to the compensation torque or friction torque to obtain a target feedback torque, wherein the reference feedback torque is obtained at least based on the steering angle and steering angular velocity; and applying the target feedback torque to the steering wheel to simulate the feedback force corresponding to the steering condition. Thus, in this application embodiment, by dynamically determining the feedback force matching the current steering condition based on the steering wheel parameters and current vehicle speed under different steering conditions: by enhancing the main torque output that changes with the angle in the outward steering condition, the influence of steering delay on the feel is effectively mitigated; and by introducing a dynamic friction model in the return steering condition, the perception of the center position is enhanced. Meanwhile, the embodiments of this application can also effectively improve calibration efficiency, adapt to multiple driving modes, and enhance the consistency of steering performance.

[0077] Based on the force feedback method provided in the above embodiments, this application also provides specific implementation methods of the force feedback device. Please refer to the following embodiments.

[0078] like Figure 3 As shown in the embodiment of this application, the force feedback device is applied to a steer-by-wire system in a vehicle. The device includes:

[0079] The acquisition module 301 is used to acquire the steering angle and steering angular velocity of the steering wheel in the steer-by-wire system.

[0080] The steering condition determination module 302 is used to determine the steering condition based on the steering angle and the steering angular velocity.

[0081] The compensation torque calculation module 303 is used to determine the compensation torque based on the steering angle, the steering angular velocity and the current vehicle speed if the steering condition is an outbound condition.

[0082] The friction torque calculation module 304 is used to determine the friction torque based on the steering angle, the steering angular velocity and the current vehicle speed if the steering condition is a return condition.

[0083] The feedback torque calculation module 305 is used to adjust the reference feedback torque according to the compensation torque or the friction torque to obtain the target feedback torque, wherein the reference feedback torque is obtained based on the steering angle and the steering angular velocity.

[0084] The force feedback module 306 is used to apply the target feedback torque to the steering wheel to simulate the feedback force corresponding to the steering condition.

[0085] Figure 4 A schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application is shown.

[0086] An electronic device may include a processor 601 and a memory 602 storing computer program instructions.

[0087] Specifically, the processor 601 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0088] Memory 602 may include mass storage for data or instructions. For example, and not limitingly, memory 602 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 602 may include removable or non-removable (or fixed) media. Where appropriate, memory 602 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 602 is non-volatile solid-state memory.

[0089] In a particular embodiment, memory 602 may include read-only memory (ROM), random access memory (RAM), disk storage media device, optical storage media device, flash memory device, electrical, optical, or other physical / tangible memory storage device. Thus, generally, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of this disclosure.

[0090] The processor 601 implements any of the force feedback methods described in the above embodiments by reading and executing computer program instructions stored in the memory 602.

[0091] In one example, the electronic device may also include a communication interface 603 and a bus 610. For example, Figure 4 As shown, the processor 601, memory 602, and communication interface 603 are connected through bus 610 and complete communication with each other.

[0092] The communication interface 603 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0093] Bus 610 includes hardware, software, or both, that couples components of an electronic device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 610 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, this application contemplates any suitable bus or interconnect.

[0094] The electronic device can execute the force feedback method in the embodiments of this application, thereby achieving a combination Figure 1 and Figure 3 Describes the force feedback method and device.

[0095] Furthermore, in conjunction with the force feedback methods in the above embodiments, this application embodiment can provide a computer-readable storage medium for implementation. This computer-readable storage medium stores computer program instructions; when executed by a processor, these computer program instructions implement any of the force feedback methods in the above embodiments.

[0096] In conjunction with the force feedback methods in the above embodiments, this application embodiment can provide a computer program product, in which the instructions in the computer program product, when executed by the processor of an electronic device, cause the electronic device to perform any of the force feedback methods described above.

[0097] In conjunction with the force feedback method in the above embodiments, this application provides a steer-by-wire system to implement this method. The steer-by-wire system includes at least one of the following: the force feedback device described above; the computer-readable storage medium described above; the computer program product described above; a processor; and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements the force feedback method as described above.

[0098] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0099] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0100] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0101] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0102] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A force feedback method, characterized in that, The method, applied to a steer-by-wire system in a vehicle, includes: Obtain the steering angle and steering angular velocity of the steering wheel in the steer-by-wire system; The steering condition is determined based on the steering angle and the steering angular velocity; If the steering condition is an outbound driving condition, then the compensation torque is determined based on the steering angle, the steering angular velocity, and the current vehicle speed; If the steering condition is a return trip, then the friction torque is determined based on the steering angle, the steering angular velocity, and the current vehicle speed; The reference feedback torque is adjusted according to the compensation torque or the friction torque to obtain the target feedback torque, wherein the reference feedback torque is at least based on the steering angle and the steering angular velocity; The target feedback torque is applied to the steering wheel to simulate the feedback force corresponding to the steering condition.

2. The force feedback method according to claim 1, characterized in that, Determining the compensation torque based on the steering angle, the steering angular velocity, and the current vehicle speed includes: Based on the steering angle and the current vehicle speed, determine the mid-level compensation torque and the mid-level compensation torque gain coefficient corresponding to the current steering condition; The compensation torque is obtained by multiplying the median compensation torque and the median compensation torque gain coefficient.

3. The force feedback method according to claim 2, characterized in that, The step of determining the median compensation torque and median compensation torque gain coefficient corresponding to the current steering condition based on the steering angle and the current vehicle speed includes: Based on the steering angle and the current vehicle speed, the corresponding mid-position compensation torque is obtained according to the preset correspondence between the steering angle and vehicle speed and the mid-position compensation torque. Based on the steering angular velocity, and according to the correspondence between the steering angular velocity and the mid-position compensation torque gain coefficient, the corresponding mid-position compensation torque gain coefficient is obtained.

4. The force feedback method according to claim 1, characterized in that, Determining the friction torque based on the steering angle, the steering angular velocity, and the current vehicle speed includes: Based on the steering angle, the steering angular velocity, and the current vehicle speed, the mechanical feedback of the steer-by-wire system is simulated to determine the friction torque used for dynamic compensation.

5. The force feedback method according to claim 4, characterized in that, The method includes: Based on the steering angle and the current vehicle speed, the maximum friction torque parameters and stiffness parameters of the friction calculation model are determined. The friction calculation model is the Dahl friction model, which is used to simulate the steer-by-wire system. The friction torque is determined based on the steering angular velocity, the maximum friction torque parameter, and the stiffness parameter through a preset friction calculation model.

6. The force feedback method according to claim 5, characterized in that, The step of determining the maximum friction torque parameters and stiffness parameters of the friction calculation model based on the steering angle and the current vehicle speed includes: Based on the steering angle and the current vehicle speed, the maximum friction torque parameter is determined according to the preset correspondence between the steering angle, vehicle speed and maximum friction torque. Based on the steering angle and the current vehicle speed, and according to the preset correspondence between steering angle, vehicle speed and stiffness, the stiffness parameter is determined.

7. The force feedback method according to claim 1, characterized in that, Determining the steering condition based on the steering angle and the steering angular velocity includes: If the direction of the steering angle relative to the preset steering center position is consistent with the direction of motion of the steering angular velocity, then the steering condition is determined to be the outbound condition. Otherwise, the steering condition is determined to be a return trip condition.

8. A force feedback device, characterized in that, A steer-by-wire system applied in vehicles, the device comprising: The acquisition module is used to acquire the steering angle and steering angular velocity of the steering wheel in the steer-by-wire system; The compensation torque calculation module is used to determine the compensation torque based on the steering angle, the steering angular velocity, and the current vehicle speed if the steering condition is an outbound condition. The friction torque calculation module is used to determine the friction torque based on the steering angle, the steering angular velocity, and the current vehicle speed if the steering condition is a return driving condition. The feedback torque calculation module is used to adjust the reference feedback torque according to the compensation torque or the friction torque to obtain the target feedback torque, wherein the reference feedback torque is obtained based on the steering angle and the steering angular velocity; The force feedback module is used to apply the target feedback torque to the steering wheel to simulate the feedback force corresponding to the steering condition.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one instruction or at least one program, which is loaded and executed by a processor to implement the force feedback method as described in any one of claims 1-7.

10. A steer-by-wire system, characterized in that, The steer-by-wire system includes: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, it implements the force feedback method as described in any one of claims 1-7.

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