Vehicle hand simulation system, vehicle, and related control method and product

Abstract

The embodiment of the invention provides a vehicle hand simulation system, a vehicle and a related control method and product. The vehicle hand power simulation system comprises a multi-zone control unit, a mechanical friction unit and a motor damping unit. Wherein the mechanical friction unit and the motor damping unit are used for establishing friction force and serve as mechanical friction backups mutually; and the multi-area control unit is used for controlling the mechanical friction unit and the motor damping unit so as to realize hand power simulation of the vehicle. Mechanical friction backup is realized based on two independent systems of the mechanical friction unit and the motor damping unit, so that high redundancy of manual simulation realized based on friction can be ensured; compared with the method for realizing redundancy based on a six-phase motor alone, the method has the advantages that the redundancy degree is better, and the safety requirement of a driving scene can be met.

Description

Technical Field

[0001] This invention relates to the technical field of vehicles, and in particular to a vehicle hand force simulation system, a vehicle, and related vehicle control methods, vehicle control devices, and a computer-readable storage medium. Background Technology

[0002] In vehicles with steer-by-wire, a hand force simulator can be deployed in the vehicle to enable the driver to feel information such as the vehicle's dynamic response, road conditions, and steering effort. The hand force simulator can transmit information such as the vehicle's dynamic response, road conditions, and steering effort to the driver through the control of the steering wheel.

[0003] In practical applications, manual force simulators can be implemented using six-phase motors. To achieve redundancy, some of the six-phase motors can be grouped together, while others can be grouped into a separate group. However, since both groups are essentially part of the six-phase system, a malfunction in one group could affect the operation of the other. Clearly, this redundancy is insufficient for scenarios with high safety requirements, such as driving. Summary of the Invention

[0004] In view of the above problems, a vehicle manual force simulation system, a vehicle, and related vehicle control methods, vehicle control devices, and a computer-readable storage medium are proposed to overcome or at least partially solve the above problems, comprising:

[0005] A vehicle hand force simulation system, comprising: a multi-area control unit, a mechanical friction unit, and a motor damping unit; wherein:

[0006] The mechanical friction unit and the motor damping unit are used to establish friction and serve as backups for each other in mechanical friction.

[0007] The multi-area control unit is used to control the mechanical friction unit and the motor damping unit to simulate the hand force of the vehicle.

[0008] Optionally, the multi-region control unit integrates a manual force simulation motor drive and manual force simulation software for controlling the mechanical friction unit and the motor damping unit.

[0009] Optionally, the multi-zone control unit is further configured to control the mechanical friction unit to simulate the hand force of the vehicle when the motor damping unit fails.

[0010] Optionally, the vehicle hand force simulation system further includes a front wheel actuator and an angle sensor;

[0011] The multi-zone control unit is used to control the front wheel actuator, the mechanical friction unit, and / or the motor damping unit based on the data output by the angle sensor.

[0012] Optionally, the angle sensor includes a torque angle sensor and a steering angle sensor;

[0013] The multi-zone control unit is used to control the front wheel actuator based on the data output by the torque angle sensor and / or the steering angle sensor.

[0014] Optionally, the vehicle hand force simulation system further includes an extended control unit, and the front wheel actuator includes a first front wheel actuator and a second front wheel actuator;

[0015] The multi-zone control unit is connected to the torque angle sensor, the first front wheel actuator, and the extended control unit, respectively; the extended control unit is connected to the steering angle sensor and the second front wheel actuator, respectively.

[0016] The multi-zone control unit is used to control the first front wheel actuator based on the data output by the torque angle sensor and / or the steering angle sensor;

[0017] The extended control unit is used to control the second front wheel actuator based on the data output by the torque angle sensor and / or the steering angle sensor.

[0018] Optionally, the multi-region control unit includes a first domain control unit and a second domain control unit, and the front wheel actuator includes a first front wheel actuator and a second front wheel actuator;

[0019] The first domain control unit is connected to the torque angle sensor, the first front wheel actuator, and the second domain control unit; the second domain control unit is connected to the steering angle sensor and the second front wheel actuator.

[0020] The first domain control unit is configured to control the first front wheel actuator based on data output by the torque angle sensor and / or the steering angle sensor;

[0021] The second domain control unit is used to control the second front wheel actuator based on the data output by the torque angle sensor and / or the steering angle sensor.

[0022] This invention also provides a vehicle that includes the vehicle hand force simulation system described above.

[0023] This invention also provides a vehicle control method, which is applied to the vehicle hand force simulation system described above, or to the vehicle described above; the method includes:

[0024] Obtain the steering angle data of the vehicle;

[0025] Based on the steering angle data, the mechanical friction unit and the motor damping unit in the vehicle hand force simulation system are controlled.

[0026] This invention also provides a vehicle control device, which is applied to the vehicle hand force simulation system described above, or to the vehicle described above; the device includes:

[0027] The acquisition module is used to acquire the steering angle data of the vehicle;

[0028] The control module is used to control the mechanical friction unit and the motor damping unit in the vehicle hand force simulation system based on the steering angle data.

[0029] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the vehicle control method described above.

[0030] The embodiments of the present invention have the following advantages:

[0031] In this embodiment of the invention, the vehicle hand force simulation system includes: a multi-region control unit, a mechanical friction unit, and a motor damping unit; wherein: the mechanical friction unit and the motor damping unit are used to establish frictional force and serve as mechanical friction backups for each other; the multi-region control unit is used to control the mechanical friction unit and the motor damping unit to realize the vehicle hand force simulation. By implementing mechanical friction backup based on two independent systems—the mechanical friction unit and the motor damping unit—a high degree of redundancy can be ensured in the friction-based hand force simulation; compared to redundancy achieved solely based on a six-phase motor, this embodiment of the invention offers better redundancy and can meet the safety requirements of driving scenarios. Attached Figure Description

[0032] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the structure of a vehicle hand force simulation system according to an embodiment of the present invention;

[0034] Figure 2a This is a schematic diagram of another vehicle hand force simulation system according to an embodiment of the present invention;

[0035] Figure 2b This is a schematic diagram of the structure of another vehicle hand force simulation system according to an embodiment of the present invention;

[0036] Figure 3 This is a flowchart of the steps of a vehicle control method according to an embodiment of the present invention;

[0037] Figure 4 This is a structural block diagram of a vehicle control device according to an embodiment of the present invention. Detailed Implementation

[0038] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0039] This invention provides a vehicle hand force simulation system, which includes a mechanical friction unit and a motor damping unit. The mechanical friction unit and the motor damping unit are used to establish the frictional force for simulating vehicle hand force and serve as backups for each other in terms of mechanical friction. Compared to achieving redundancy solely based on a six-phase motor, this invention offers better redundancy and can meet the safety requirements of driving scenarios. For details, please refer to... Figure 1 .

[0040] Figure 1 A schematic diagram of a vehicle hand force simulation system according to an embodiment of the present invention is shown; as follows: Figure 1 As shown, the vehicle hand force simulation system 10 may include: a multi-area control unit 110, a mechanical friction unit 120, and a motor damping unit 130; wherein:

[0041] The mechanical friction unit 120 and the motor damping unit 130 are used to establish friction and serve as backups for each other in mechanical friction.

[0042] The multi-zone control unit 110 is used to control the mechanical friction unit 120 and the motor damping unit 130 to achieve the simulation of the vehicle's hand force.

[0043] In this embodiment of the invention, the vehicle hand force simulation system 10 may consist of a multi-area control unit 110 for unified control, and a mechanical friction unit 120 and a motor damping unit 130 for establishing friction and serving as backups for each other in mechanical friction; for example, the motor damping unit 130 may be a three-phase motor, which is cheaper than a six-phase motor, in order to reduce the cost of the system.

[0044] In some feasible embodiments, the mechanical friction unit 120 may consist of an HWA (Hand Wheel actuator) column and a mechanical structure (e.g., a hydraulic damper or a magnetorheological damper) that provides damping. Since the mechanical friction unit 120 is composed of simple mechanical structures (such as friction plates, dampers, etc.), its manufacturing cost is relatively low compared to an electric motor, thus further reducing the cost of implementing hand force simulation in vehicles with steer-by-wire systems.

[0045] In practical applications, the multi-zone control unit 110 can control the mechanical friction unit 120 and the motor damping unit 130 to achieve hand force simulation of the vehicle. Since the mechanical friction unit 120 and the motor damping unit 130 serve as backups for each other in terms of mechanical friction, the multi-zone control unit 110 can control the other unit to establish friction force when one of the units fails, thereby achieving full redundancy hand force simulation.

[0046] In this embodiment of the invention, the vehicle hand force simulation system 10 includes: a multi-region control unit 110, a mechanical friction unit 120, and a motor damping unit 130; wherein: the mechanical friction unit 120 and the motor damping unit 130 are used to establish friction and serve as mechanical friction backups for each other; the multi-region control unit 110 is used to control the mechanical friction unit 120 and the motor damping unit 130 to realize the vehicle hand force simulation. By implementing mechanical friction backup based on two independent systems—the mechanical friction unit and the motor damping unit—a high degree of redundancy in the friction-based hand force simulation can be ensured; compared to redundancy achieved solely based on a six-phase motor, this embodiment of the invention offers better redundancy and can meet the safety requirements of driving scenarios.

[0047] In one embodiment of the present invention, the multi-region control unit 110 integrates a hand force simulation motor drive and hand force simulation software for controlling the mechanical friction unit 120 and the motor damping unit 130.

[0048] In some feasible embodiments, by reusing the MCU (Microcontroller Unit) and power chip in the multi-region control unit 110, the cost of simulating manual force in steer-by-wire vehicles can be further reduced.

[0049] For example, a hand force simulation motor drive can be used as the drive for the motor damping unit 130, and hand force simulation software can be used to control the mechanical friction unit 120. This embodiment of the invention does not limit this.

[0050] In one embodiment of the present invention, the multi-area control unit 110 is also used to control the mechanical friction unit 120 to simulate the hand force of the vehicle when the motor damping unit 130 fails.

[0051] In some feasible embodiments, when the motor damping unit 130 fails, the multi-zone control unit 110 can simulate the hand force of the vehicle by individually controlling the mechanical friction unit 120.

[0052] In other feasible embodiments, the multi-zone control unit 110 can also simulate the hand force of the vehicle by individually controlling the motor damping unit 130 when the mechanical friction unit 120 fails.

[0053] In one embodiment of the present invention, the vehicle hand force simulation system 10 further includes a front wheel actuator and an angle sensor;

[0054] The multi-zone control unit 110 is used to control the front wheel actuator, the mechanical friction unit 120, and / or the motor damping unit 130 based on the data output by the angle sensor.

[0055] In some feasible embodiments, the front wheel actuator can be connected to the vehicle's wheels to control the steering of the vehicle's wheels; angle sensors can be used to detect the steering wheel angle and / or the steering of the wheels, etc., and the embodiments of the present invention do not limit this.

[0056] In practical applications, the angle sensor can be used to output data to the multi-zone control unit 110. This data can be the vehicle's steering angle data, which can be determined based on the steering wheel angle and / or the wheel steering, etc.

[0057] After obtaining the data output by the angle sensor, the multi-zone control unit 110 can control the front wheel actuator according to the data output by the angle sensor to control the steering of the vehicle wheels; the multi-zone control unit 110 can also control the mechanical friction unit 120 and / or the motor damping unit 130 according to the data output by the angle sensor to simulate the hand force of the vehicle.

[0058] In one embodiment of the present invention, the angle sensor includes a torque angle sensor and a steering angle sensor;

[0059] The multi-zone control unit 110 is used to control the front wheel actuators based on data output from the torque angle sensor and / or steering angle sensor.

[0060] In some feasible embodiments, the angle sensor may include a torque angle sensor and a steering angle sensor; wherein, the torque angle sensor (TAS) is a sensor that integrates a torque sensor and an angle sensor, capable of simultaneously measuring the torque applied to the steering wheel by the driver and the steering wheel rotation angle. The steering angle sensor is a sensor specifically designed to measure the steering wheel rotation angle.

[0061] In practical applications, the multi-zone control unit 110 can control the front wheel actuators based on the data output by the torque angle sensor and / or steering angle sensor, so as to control the steering of the vehicle wheels through the front wheel actuators.

[0062] In one embodiment of the present invention, the vehicle hand force simulation system 10 further includes an extended control unit, and the front wheel actuator includes a first front wheel actuator and a second front wheel actuator;

[0063] The multi-zone control unit 110 is connected to the torque angle sensor, the first front wheel actuator, and the extended control unit respectively; the extended control unit is connected to the steering angle sensor and the second front wheel actuator respectively.

[0064] The multi-zone control unit 110 is used to control the first front wheel actuator based on data output by the torque angle sensor and / or the steering angle sensor;

[0065] An extended control unit is used to control the second front wheel actuator based on data output from a torque angle sensor and / or a steering angle sensor.

[0066] In some feasible embodiments, the front wheel actuator may include a first front wheel actuator and a second front wheel actuator to increase the overall redundancy of the vehicle hand force simulation system 10.

[0067] For example, the multi-zone control unit 110 can be connected to the torque angle sensor, the first front wheel actuator, and the extended control unit respectively; specifically, the multi-zone control unit 110 can be connected to the torque angle sensor, the first front wheel actuator, and the extended control unit respectively via PCAN (PEAK-System Controller Area Network). The extended control unit can also be connected to the steering angle sensor and the second front wheel actuator respectively via PCAN.

[0068] In practical applications, the multi-zone control unit 110 can receive data from the torque angle sensor and / or the steering angle sensor, and control the first front wheel actuator based on the data output by the torque angle sensor and / or the steering angle sensor, so as to control the steering of the vehicle wheels through the first front wheel actuator.

[0069] In other feasible embodiments, the extended control unit may also receive data from the torque angle sensor and / or steering angle sensor; specifically, the extended control unit may acquire the data output by the torque angle sensor through the multi-zone control unit 110. After obtaining the data output by the torque angle sensor and / or steering angle sensor, the extended control unit may control the second front wheel actuator based on the data output by the torque angle sensor and / or steering angle sensor, so as to control the steering of the vehicle wheels through the first front wheel actuator.

[0070] For example, the first and second front wheel actuators can be redundant in their control; the torque angle sensor and the steering angle sensor can be redundant in their angle data. For instance, if the multi-zone control unit 110 or the torque angle sensor malfunctions, the extended control unit can control the second front wheel actuator based on the data output by the steering angle sensor. Similarly, if the extended control unit or the steering angle sensor malfunctions, the multi-zone control unit 110 can control the first front wheel actuator based on the data output by the torque angle sensor; this embodiment of the invention does not impose limitations on this.

[0071] In some feasible embodiments, the first front wheel actuator and the second front wheel actuator can communicate via an IMC (Intermediate Module Connector).

[0072] For example, such as Figure 2a As shown: The vehicle hand force simulation system 10 may include MZCU (i.e., multi-zone control unit), XCU (i.e., extended control unit), mechanical friction unit 120 (which may be an HWA column and mechanical damping structure), TAS, HWAMOTOR (three-phase motor (i.e., motor damping unit)), SAS (steering angle sensor), RWA1 (i.e., first front wheel actuator) and RWA2 (i.e., second front wheel actuator).

[0073] The MZCU is equipped with an HWA motor drive and hand force simulation software at the application layer; TAS and SAS are at ASILD (Automotive Safety Integrity Level D); and MPS (Micro Position Sensor) is also installed at TAS.

[0074] The MZCU can be connected to the HWA column, TAS, MPS and three-phase motor respectively. The MZCU can also be connected to the XCU and RWA1 through PCAN1; the XCU can be connected to the SAS and RWA2 through PCAN2; the RWA1 and RWA2 are connected through the IMC; the peak current of the three-phase motor can be set to 80A.

[0075] against Figure 2a As shown in the diagram, the MZCU can receive data output from TAS and MPS, and can control the HWA column, the three-phase motor, and RWA1. The XCU can receive data output from SAS and control RWA2. The MZCU and XCU can also exchange data.

[0076] In one embodiment of the present invention, the multi-region control unit 110 includes a first domain control unit and a second domain control unit, and the front wheel actuator includes a first front wheel actuator and a second front wheel actuator;

[0077] The first domain control unit is connected to the torque angle sensor, the first front wheel actuator, and the second domain control unit; the second domain control unit is connected to the steering angle sensor and the second front wheel actuator.

[0078] The first domain control unit is used to control the first front wheel actuator based on the data output by the torque angle sensor and / or steering angle sensor;

[0079] The second domain control unit is used to control the second front wheel actuator based on data output from the torque angle sensor and / or steering angle sensor.

[0080] In some feasible embodiments, the first domain control unit can be connected to the torque angle sensor, the first front wheel actuator, and the second domain control unit, respectively; the second domain control unit can be connected to the steering angle sensor and the second front wheel actuator, respectively. Specifically, the first domain control unit can be connected to the torque angle sensor, the first front wheel actuator, and the second domain control unit via PCAN (PEAK-System Controller Area Network). The second domain control unit can also be connected to the steering angle sensor and the second front wheel actuator via PCAN.

[0081] In practical applications, the first domain control unit can receive data from the torque angle sensor and / or steering angle sensor, and control the first front wheel actuator based on the data output by the torque angle sensor and / or steering angle sensor, so as to control the steering of the vehicle wheels through the first front wheel actuator.

[0082] In other feasible embodiments, the second domain control unit may also receive data from the torque angle sensor and / or steering angle sensor; specifically, the second domain control unit can acquire the data output by the torque angle sensor through the first domain control unit. After obtaining the data output by the torque angle sensor and / or steering angle sensor, the second domain control unit can control the second front wheel actuator based on the data output by the torque angle sensor and / or steering angle sensor, so as to control the steering of the vehicle wheels through the first front wheel actuator.

[0083] For example, the first and second front wheel actuators can be redundant in their control; the torque angle sensor and the steering angle sensor can be redundant in their angle data. For instance, if the first domain control unit or the torque angle sensor malfunctions, the second domain control unit can control the second front wheel actuator based on the data output by the steering angle sensor. Conversely, if the second domain control unit or the steering angle sensor malfunctions, the first domain control unit can control the first front wheel actuator based on the data output by the torque angle sensor. This embodiment of the invention does not impose any limitations on this.

[0084] like Figure 2b As shown, the vehicle manual force simulation system 10 may include ZCU_A (i.e., the first domain control unit), ZCU_B (i.e., the second domain control unit), HWA column, TAS, three-phase motor, SAS, RWA1 and RWA2.

[0085] ZCU_A contains an HWA motor driver and a hand force simulation software at the application layer; MPS is also set at TAS.

[0086] ZCU_A can be connected to HWA column, TAS, MPS and three-phase motor respectively. ZCU_A can also be connected to ZCU_B and RWA1 through PCAN1; ZCU_B is connected to SAS and RWA2 through PCAN2; RWA1 and RWA2 are connected through IMC; the peak current of the three-phase motor can be set to 80A.

[0087] against Figure 2b As shown in the diagram, ZCU_A can receive data output from TAS and MPS, and can control the HWA column, the three-phase motor, and RWA1. ZCU_B can receive data output from SAS and control RWA2. ZCU_A and ZCU_B can also exchange data.

[0088] Based on the vehicle hand force simulation system described above, this embodiment of the invention also provides a vehicle in which any of the vehicle hand force simulation systems mentioned in the above embodiments can be deployed; in addition, the vehicle may also include wheels and a steering wheel, etc., so as to control the wheels and steering wheel, etc. through the vehicle hand force simulation system.

[0089] Based on the aforementioned vehicle hand force simulation system and / or the aforementioned vehicle, embodiments of the present invention also provide a vehicle control method; this vehicle control method can be applied to the aforementioned vehicle hand force simulation system or vehicle. Specifically, please refer to... Figure 3 , Figure 3 A flowchart illustrating the steps of a vehicle control method according to an embodiment of the present invention is shown.

[0090] like Figure 3 As shown, the vehicle control method may include the following steps:

[0091] Step 301: Obtain the vehicle's steering angle data.

[0092] In practical applications, the vehicle's steering angle data can be obtained first through an angle sensor; specifically, the vehicle's steering angle data can be determined based on the data output by the torque angle sensor, or it can be determined based on the data output by the steering angle sensor. This embodiment of the invention does not limit this.

[0093] Step 302: Based on the steering angle data, control the mechanical friction unit and motor damping unit in the vehicle hand force simulation system.

[0094] After determining the vehicle's steering angle data, the mechanical friction unit and motor damping unit in the vehicle's hand force simulation system can be controlled based on the steering angle data to achieve hand force simulation of the vehicle.

[0095] In this embodiment of the invention, vehicle steering angle data is acquired; based on the steering angle data, the mechanical friction unit and the motor damping unit in the vehicle hand force simulation system are controlled. By implementing mechanical friction backup based on two independent systems—the mechanical friction unit and the motor damping unit—a high degree of redundancy in the friction-based hand force simulation can be ensured. Compared to redundancy achieved solely based on a six-phase motor, this embodiment of the invention offers better redundancy and can meet the safety requirements of driving scenarios.

[0096] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0097] Reference Figure 4 This diagram illustrates a structural schematic of a vehicle control device according to an embodiment of the present invention, applicable to the vehicle hand force simulation system or vehicle described above. Figure 4 As shown, the device may include the following modules:

[0098] The acquisition module 401 is used to acquire the vehicle's steering angle data;

[0099] The control module 402 is used to control the mechanical friction unit and the motor damping unit in the vehicle hand force simulation system based on the steering angle data.

[0100] In this embodiment of the invention, vehicle steering angle data is acquired; based on the steering angle data, the mechanical friction unit and the motor damping unit in the vehicle hand force simulation system are controlled. By implementing mechanical friction backup based on two independent systems—the mechanical friction unit and the motor damping unit—a high degree of redundancy in the friction-based hand force simulation can be ensured. Compared to redundancy achieved solely based on a six-phase motor, this embodiment of the invention offers better redundancy and can meet the safety requirements of driving scenarios.

[0101] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the vehicle control method described above.

[0102] As the apparatus embodiment is basically similar to the method embodiment, it is described in a relatively simple manner. For relevant details, please refer to the description of the method embodiment.

[0103] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0104] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0105] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of 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, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0106] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0107] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0108] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0109] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only 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 terminal device 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 terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0110] The foregoing has provided a detailed description of a vehicle hand force simulation system, a vehicle, a related vehicle control method, a vehicle control device, and a computer-readable storage medium. Specific examples have been used to illustrate the principles and implementation methods of the invention. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of the invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the invention.

Claims

1. A vehicle hand force simulation system, characterized in that, The vehicle hand force simulation system includes: a multi-area control unit, a mechanical friction unit, and a motor damping unit; wherein: The mechanical friction unit and the motor damping unit are used to establish friction and serve as backups for each other in mechanical friction. The multi-area control unit is used to control the mechanical friction unit and the motor damping unit to simulate the hand force of the vehicle.

2. The vehicle hand force simulation system according to claim 1, characterized in that, The multi-region control unit integrates a manual force simulation motor drive and manual force simulation software for controlling the mechanical friction unit and the motor damping unit.

3. The vehicle hand force simulation system according to claim 1, characterized in that, The multi-region control unit is also used to simulate the hand force of the vehicle by controlling the mechanical friction unit when the motor damping unit fails.

4. The vehicle hand force simulation system according to claim 1, characterized in that, The vehicle hand force simulation system also includes a front wheel actuator and an angle sensor; The multi-zone control unit is used to control the front wheel actuator, the mechanical friction unit, and / or the motor damping unit based on the data output by the angle sensor.

5. The vehicle hand force simulation system according to claim 4, characterized in that, The angle sensor includes a torque angle sensor and a steering angle sensor; The multi-zone control unit is used to control the front wheel actuator based on the data output by the torque angle sensor and / or the steering angle sensor.

6. The vehicle hand force simulation system according to claim 5, characterized in that, The vehicle hand force simulation system also includes an extended control unit, and the front wheel actuator includes a first front wheel actuator and a second front wheel actuator; The multi-zone control unit is connected to the torque angle sensor, the first front wheel actuator, and the extended control unit, respectively; the extended control unit is connected to the steering angle sensor and the second front wheel actuator, respectively. The multi-zone control unit is used to control the first front wheel actuator based on the data output by the torque angle sensor and / or the steering angle sensor; The extended control unit is used to control the second front wheel actuator based on the data output by the torque angle sensor and / or the steering angle sensor.

7. The vehicle hand force simulation system according to claim 5, characterized in that, The multi-region control unit includes a first domain control unit and a second domain control unit, and the front wheel actuator includes a first front wheel actuator and a second front wheel actuator; The first domain control unit is connected to the torque angle sensor, the first front wheel actuator, and the second domain control unit; the second domain control unit is connected to the steering angle sensor and the second front wheel actuator. The first domain control unit is configured to control the first front wheel actuator based on data output by the torque angle sensor and / or the steering angle sensor; The second domain control unit is used to control the second front wheel actuator based on the data output by the torque angle sensor and / or the steering angle sensor.

8. A vehicle, characterized in that, The vehicle includes a vehicle hand force simulation system as described in any one of claims 1-7.

9. A method for controlling a vehicle, characterized in that, The method is applied to the vehicle hand force simulation system as described in any one of claims 1-7, or to the vehicle as described in claim 8; the method includes: Obtain the steering angle data of the vehicle; Based on the steering angle data, the mechanical friction unit and the motor damping unit in the vehicle hand force simulation system are controlled.

10. A vehicle control device, characterized in that, The device is applied to the vehicle hand force simulation system as described in any one of claims 1-7, or in the vehicle as described in claim 8; the device comprises: The acquisition module is used to acquire the steering angle data of the vehicle; The control module is used to control the mechanical friction unit and the motor damping unit in the vehicle hand force simulation system based on the steering angle data.

11. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the vehicle control method as described in claim 9.

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