Vehicle steering control method, vehicle and storage medium

Abstract

This application provides a vehicle steering control method, a vehicle, and a storage medium, relating to the field of vehicle control technology. The electronic control unit (ECU) can, based on a target steering angle, begin controlling the rotation of the electric steering transmission structure, which in turn drives the steering tie rod to steer the wheels via a linear damping structure. The ECU receives the actual steering angle of the electric steering transmission structure from a second steering angle sensor. When the actual steering angle of the electric steering transmission structure is less than the target steering angle, and the difference between the actual and target angles is less than a set angle threshold, it indicates that the actual steering angle is about to exceed the target angle, meaning the wheel steering angle is approaching the angle required by the driver's steering wheel. The ECU then controls the linear damping structure to increase the damping force applied to the electric steering transmission structure, thereby limiting the wheel steering angle to the angle required by the driver's steering wheel and preventing over-rotation of the wheels.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle steering control method, a vehicle, and a storage medium. Background Technology

[0002] Steering-by-wire means that the vehicle's steering wheel assembly acts only as a "signal generator" for the driver's intentions. Sensors accurately collect the driver's steering angle and torque, and the controller calculates the optimal steering command based on the steering angle and torque. Finally, the steering command drives an independent steering motor to precisely control the wheel steering angle. The entire process is achieved entirely through electrical signals.

[0003] Currently, while steer-by-wire eliminates the mechanical connection between the steering wheel and the steering wheels, it introduces physical decoupling between the handwheel module and the steering execution module. As a result, when the driver turns the steering wheel, due to inertia and other factors, the actual steering angle of the wheels may be greater than the angle the driver expects, causing over-rotation of the wheels. Summary of the Invention

[0004] This application provides a vehicle steering control method, a vehicle, and a storage medium to solve the problem in the prior art where, when the driver turns the steering wheel, the actual steering angle of the wheels may be greater than the angle required by the driver's steering wheel due to inertia and other reasons, causing the wheels to over-rotate.

[0005] In a first aspect, this application provides a vehicle steering control method applied to a vehicle steering control system. The steering control system includes a steering wheel, an electronic control unit, a first steering angle sensor, a second steering angle sensor, an electric steering transmission structure, a linear damping structure, a steering tie rod, and wheels. The steering wheel, electric steering transmission structure, linear damping structure, steering tie rod, and wheels are connected sequentially. The electronic control unit is electrically connected to the first steering angle sensor, the second steering angle sensor, the electric steering transmission structure, and the linear damping structure, respectively. The method provided in this application includes: The electronic control unit receives the steering wheel angle collected by the first steering angle sensor at preset unit intervals, and determines the target steering angle of the electric steering transmission structure based on the steering wheel angle and the preset steering angle mapping relationship. Based on the target turning angle, the electronic control unit begins to control the rotation of the electric steering transmission structure, which in turn drives the steering tie rod to steer the wheels via the linear damping structure. The electronic control unit receives the actual steering angle of the electric steering transmission structure from the second steering angle sensor; When the actual turning angle of the electric steering transmission structure is less than the target turning angle, and the difference between the actual turning angle and the target turning angle is less than the set angle threshold, the electronic control unit controls the linear damping structure to increase the damping force applied to the electric steering transmission structure.

[0006] In some embodiments, the linear damping structure includes a damping cylinder filled with magnetorheological or electrorheological fluid, an excitation coil circumferentially arranged around the inner wall of the damping cylinder, a current regulating module electrically connected to the excitation coil, and a piston disposed within the excitation coil. One end of the electric steering transmission structure is connected to the steering wheel, and the other end of the electric steering transmission structure extends into the excitation coil and is connected to the piston. The piston is connected to the wheel via a steering tie rod, and the excitation coil is electrically connected to an electronic control unit. The electronic control unit starts controlling the rotation of the electric steering transmission structure based on the target turning angle, and drives the steering tie rod to turn the wheel through the linear damping structure. This includes: based on the target turning angle, starting to control the rotation of the electric steering transmission structure to drive the piston to move in the damping cylinder, thereby driving the steering tie rod to turn the wheel. The electronic control unit controls the linear damping structure to increase the damping force applied to the electric steering transmission structure, including: the electronic control unit controls the current regulation module to increase the current of the excitation coil to increase the viscosity of the magnetorheological fluid or electrorheological fluid, thereby increasing the damping force applied to the electric steering transmission structure.

[0007] In some implementations, the current regulating module is a sliding resistor, and the electronic control unit controls the current regulating module to enhance the current of the excitation coil, including: The electronic control unit controls the sliding resistor to decrease its resistance in order to increase the current in the excitation coil.

[0008] In some embodiments, the electric power steering transmission structure includes a drive motor, a gear shaft, a worm gear, and a rack. The steering wheel is fitted over one end of the gear shaft, the side of the gear shaft meshes with the worm of the worm gear, the worm gear's worm wheel meshes with the side of the rack, one end of the rack is connected to a linear damping structure, and the drive motor is electrically connected to an electronic control unit. Based on the target steering angle, the electronic control unit begins to control the rotation of the electric steering transmission structure, which in turn drives the steering tie rod to steer the wheels via a linear damping structure, including: Based on the target turning angle, the electronic control unit starts to control the drive motor to drive the gear shaft to rotate, thereby driving the worm gear to move, which in turn drives the rack to drive the steering tie rod based on the linear damping structure to turn the wheel.

[0009] In some embodiments, the steering control system further includes a torque sensor. After controlling the linear damping structure to increase the damping force applied to the electric steering transmission structure, the method provided in this application includes: The electronic control unit receives the actual torque applied to the steering wheel by the driver, collected by the torque sensor. If the actual torque exceeds the preset upper limit threshold, the electronic control unit stops controlling the linear damping structure to increase the damping force applied to the electric steering transmission structure.

[0010] In some embodiments, after controlling the linear damping structure to increase the damping force applied to the electric steering transmission structure, the method provided in this application further includes: If the electronic control unit does not receive the steering wheel angle from the first steering angle sensor after a preset time, it will stop controlling the linear damping structure to increase the damping force applied to the electric steering transmission structure.

[0011] In some implementations, the set angle threshold is greater than 1 degree and less than 5 degrees.

[0012] Secondly, this application also provides a vehicle, which includes a steering wheel, an electronic control unit, a first steering angle sensor, a second steering angle sensor, an electric steering transmission structure, a linear damping structure, a steering tie rod, and wheels. The steering wheel, the electric steering transmission structure, the linear damping structure, the steering tie rod, and the wheels are connected in sequence. The electronic control unit is electrically connected to the first steering angle sensor, the second steering angle sensor, the electric steering transmission structure, and the linear damping structure, respectively. The electronic control unit is used to execute the method provided in the first aspect of this application.

[0013] Thirdly, this application also provides a storage medium storing a computer program, which, when executed by an electronic control unit, causes the computer to perform the method provided in the first aspect of this application.

[0014] Fourthly, this application also provides a computer program product, including a computer program that, when run, causes an electronic control unit to perform the method provided in the first aspect of this application.

[0015] This application provides a vehicle steering control method, a vehicle, and a storage medium. The electronic control unit can start controlling the rotation of the electric steering transmission structure based on the target turning angle, and drive the steering tie rod to turn the wheel through the linear damping structure. The electronic control unit receives the actual turning angle of the electric steering transmission structure collected by the second turning angle sensor.

[0016] When the actual turning angle of the electric steering transmission structure is less than the target turning angle, and the difference between the actual turning angle and the target turning angle is less than the set angle threshold, it indicates that the actual turning angle of the electric steering transmission structure is about to exceed the target turning angle (i.e., the leading area at the midpoint of the steering). This means that the wheel steering angle is close to the angle required by the driver turning the steering wheel. The electronic control unit then controls the linear damping structure to increase the damping force applied to the electric steering transmission structure, thereby reducing the steering speed of the electric steering transmission structure. This limits the wheel steering angle to the angle required by the driver turning the steering wheel, preventing wheel over-rotation. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a structural block diagram of the steering control system provided in an embodiment of this application; Figure 2 A flowchart of a vehicle steering control method provided in an embodiment of this application; Figure 3 A schematic diagram of the specific structure of the steering control system provided in the embodiments of this application; Figure 4 A functional block diagram of the vehicle steering control device provided in the embodiments of this application. Detailed Implementation

[0019] Embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0020] The accompanying drawings illustrate various structural schematics according to embodiments of the present disclosure. These drawings are not to scale, and some details have been enlarged for clarity, and some details may have been omitted. The shapes of the various regions and layers shown in the drawings, as well as their relative sizes and positional relationships, are merely exemplary and may deviate from reality due to manufacturing tolerances or technical limitations. Furthermore, those skilled in the art can design regions / layers with different shapes, sizes, and relative positions as needed.

[0021] In the context of this disclosure, when a layer / element is referred to as being "above" another layer / element, the layer / element may be directly above the other layer / element, or there may be an intermediate layer / element between them. Additionally, if a layer / element is "above" another layer / element in one orientation, then when the orientation is reversed, the layer / element may be "below" the other layer / element.

[0022] The technical solutions of this application and how they solve the aforementioned technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0023] This application provides a vehicle steering control method, applied to the vehicle's steering control system. For example... Figure 1 As shown, the steering control system includes a steering wheel 101, an electronic control unit, a first steering angle sensor, a second steering angle sensor, an electric steering transmission structure, a linear damping structure, a steering tie rod 110, and wheels 110. The steering wheel 101, electric steering transmission structure, linear damping structure, steering tie rod 110, and wheels 110 are connected sequentially. The electronic control unit is electrically connected to the first steering angle sensor, the second steering angle sensor, the electric steering transmission structure, and the linear damping structure. The first steering angle sensor is used to collect the steering angle of the steering wheel 101, and the second steering angle sensor is used to collect the actual steering angle of the electric steering transmission structure. Figure 2 As shown, the method provided in this application embodiment includes: S201: The electronic control unit receives the steering angle of the steering wheel 101 collected by the first steering angle sensor at preset unit intervals, and determines the target steering angle of the electric steering transmission structure based on the steering angle of the steering wheel 101 and the preset steering angle mapping relationship.

[0024] S202: Based on the target turning angle, the electronic control unit starts to control the rotation of the electric steering transmission structure, and drives the steering tie rod 110 to pull the wheel 110 to steer via the linear damping structure.

[0025] Specifically, such as Figure 3As shown, the electric steering transmission structure includes a drive motor 103, a gear shaft 102, a worm gear, and a rack 106. A steering wheel 101 is fitted over one end of the gear shaft 102. The side of the gear shaft 102 meshes with the worm gear's worm wheel 104, which in turn meshes with the side of the rack 106. One end of the rack 106 is connected to a linear damping structure. The drive motor 103 is electrically connected to an electronic control unit. Thus, based on a target steering angle, the electronic control unit starts controlling the drive motor 103 to rotate the gear shaft 102, thereby driving the worm gear. This, in turn, causes the rack 106 to drive the steering tie rod 110 based on the linear damping structure, pulling the wheel 110 to steer.

[0026] S203: The electronic control unit receives the actual steering angle of the electric steering transmission structure collected by the second steering angle sensor.

[0027] S204: When the actual angle of the electric steering transmission structure is less than the target angle, and the difference between the actual angle and the target angle is less than the set angle threshold, the electronic control unit controls the linear damping structure to increase the damping force applied to the electric steering transmission structure.

[0028] For example, the set angle threshold is greater than 1 degree and less than 5 degrees.

[0029] Specifically, still as Figure 3 As shown, the linear damping structure includes a damping cylinder 111 filled with magnetorheological fluid or electrorheological fluid, an excitation coil 108 circumferentially arranged around the inner wall of the damping cylinder 111, a current regulating module electrically connected to the excitation coil 108, and a piston 107 disposed in the excitation coil 108. One end of the electric steering transmission structure is connected to the steering wheel 101, and the other end of the electric steering transmission structure extends into the excitation coil 108 and is connected to the piston 107. The piston 107 is connected to the wheel 110 through the steering tie rod 110, and the excitation coil 108 is electrically connected to the electronic control unit. Thus, based on the target turning angle, the rotation of the electric steering transmission structure can be controlled to drive the piston 107 to move within the damping cylinder 111, thereby driving the steering tie rod 110 to pull the wheel 110 to turn; then the current regulating module is controlled to increase the current of the excitation coil 108 to increase the viscosity of the magnetorheological fluid or electrorheological fluid, thereby applying a damping force to the electric steering transmission structure (exemplarily, in the case where the current regulating module is a sliding resistor, the electronic control unit controls the resistance value of the sliding resistor to decrease in order to increase the current of the excitation coil 108).

[0030] In summary, this application provides a vehicle steering control method. The electronic control unit (ECU) can control the rotation of the electric steering transmission structure based on a target turning angle, and drive the steering tie rod 110 to steer the wheel 110 via a linear damping structure. The ECU receives the actual turning angle of the electric steering transmission structure from a second turning angle sensor. When the actual turning angle of the electric steering transmission structure is less than the target turning angle, and the difference between the actual and target turning angles is less than a set angle threshold, it indicates that the actual turning angle of the electric steering transmission structure is about to exceed the target turning angle (i.e., in the leading area at the midpoint of steering). This means the steering angle of the wheel 110 is close to the angle required by the driver turning the steering wheel 101. The ECU then controls the linear damping structure to increase the damping force applied to the electric steering transmission structure, thereby reducing the steering speed of the electric steering transmission structure and limiting the steering angle of the wheel 110 to the required angle required by the driver turning the steering wheel 101, thus preventing over-rotation of the wheel 110.

[0031] In addition, in this embodiment, the steering control system may further include a torque sensor. After S204, the method provided in this embodiment may further include: the electronic control unit receiving the actual torque applied by the driver to the steering wheel 101 by the torque sensor; if the actual torque is greater than a preset torque upper limit threshold, it indicates that the driver is forcibly rotating the steering wheel 101 (possibly during obstacle avoidance or sharp turn), and the electronic control unit stops controlling the linear damping structure to increase the damping force applied to the electric steering transmission structure. In this way, the driver's highest operating authority can be maintained, improving driving safety.

[0032] In addition, after S204, the method provided in this application embodiment further includes: if the electronic control unit does not receive the steering angle of the steering wheel 101 collected by the first steering angle sensor after a preset time, it indicates that the driver's operation of the steering wheel 101 has ended, and then stops controlling the linear damping structure to increase the damping force applied to the electric steering transmission structure, so as to save energy consumption.

[0033] In addition, such as Figure 4 As shown, this application embodiment also provides a vehicle steering control device, configured in the electronic control unit of the vehicle's steering control system. For example... Figure 1As shown, the steering control system also includes a steering wheel 101, a first steering angle sensor, a second steering angle sensor, an electric steering transmission structure, a linear damping structure, a steering tie rod 110, and a wheel 110. The steering wheel 101, the electric steering transmission structure, the linear damping structure, the steering tie rod 110, and the wheel 110 are connected sequentially. The electronic control unit is electrically connected to the first steering angle sensor, the second steering angle sensor, the electric steering transmission structure, and the linear damping structure, respectively. The device provided in this application embodiment includes a data receiving unit, a target steering angle determination unit, a transmission control unit, and a damping force amplification unit, wherein... The data receiving unit is used to receive the steering angle of the steering wheel 101 collected by the first steering angle sensor at preset unit intervals.

[0034] The target steering angle determination unit is used to determine the target steering angle of the electric steering transmission structure based on the steering angle of the steering wheel 101 and the preset steering angle mapping relationship.

[0035] The transmission control unit is used to start controlling the rotation of the electric steering transmission structure based on the target turning angle, and drive the steering tie rod 110 to pull the wheel 110 to steer via the linear damping structure.

[0036] The data receiving unit is also used to receive the actual steering angle of the electric steering transmission structure collected by the second steering angle sensor.

[0037] The damping force amplification unit is used to control the linear damping structure to increase the damping force applied to the electric steering transmission structure when the actual turning angle of the electric steering transmission structure is less than the target turning angle and the difference between the actual turning angle and the target turning angle is less than a set angle threshold.

[0038] In some embodiments, the linear damping structure includes a damping cylinder 111 filled with magnetorheological fluid or electrorheological fluid, an excitation coil 108 circumferentially arranged around the inner wall of the damping cylinder 111, a current regulating module electrically connected to the excitation coil 108, and a piston 107 disposed within the excitation coil 108. One end of the electric steering transmission structure is connected to the steering wheel 101, and the other end of the electric steering transmission structure extends into the excitation coil 108 and is connected to the piston 107. The piston 107 is connected to the wheel 110 through the steering tie rod 110, and the excitation coil 108 is electrically connected to the electronic control unit.

[0039] The transmission control unit is specifically used to control the rotation of the electric steering transmission structure based on the target turning angle, so as to drive the piston 107 to move within the damping cylinder 111, thereby driving the steering tie rod 110 to pull the wheel 110 to steer.

[0040] The damping force amplification unit is specifically used to control the current regulation module to enhance the current of the excitation coil 108, thereby increasing the viscosity of the magnetorheological fluid or electrorheological fluid, and thus applying a damping force to the electric steering transmission structure.

[0041] Furthermore, the damping force increasing unit is specifically used to control the resistance value of the sliding resistor to decrease, thereby increasing the current of the excitation coil 108.

[0042] In some embodiments, the electric steering transmission structure includes a drive motor 103, a gear shaft 102, a worm gear, and a rack 106. The steering wheel 101 is sleeved on one end of the gear shaft 102. The side of the gear shaft 102 meshes with the worm gear's worm wheel 104. The worm gear's worm wheel meshes with the side of the rack 106. One end of the rack 106 is connected to a linear damping structure. The drive motor 103 is electrically connected to an electronic control unit.

[0043] The transmission control unit is specifically used to control the drive motor 103 to drive the gear shaft 102 to rotate based on the target rotation angle, so as to drive the worm gear to move, thereby driving the rack 106 to drive the steering tie rod 110 to pull the wheel 110 to steer based on the linear damping structure.

[0044] In some implementations, the data receiving unit is also used to receive the actual torque applied by the driver to the steering wheel 101 by the torque sensor.

[0045] The device provided in this application embodiment may further include: a damping force release unit, used to stop controlling the linear damping structure to increase the damping force applied to the electric steering transmission structure if the actual torque is greater than a preset upper limit threshold torque.

[0046] The damping force release unit is also used to stop controlling the linear damping structure to increase the damping force applied to the electric steering transmission structure if the steering wheel 101 is not received from the first steering angle sensor after a preset time.

[0047] For example, the set angle threshold is greater than 1 degree and less than 5 degrees.

[0048] In addition, this application also provides a vehicle, which includes a steering wheel 101, an electronic control unit, a first steering angle sensor, a second steering angle sensor, an electric steering transmission structure, a linear damping structure, a steering tie rod 110, and wheels 110. The steering wheel 101, the electric steering transmission structure, the linear damping structure, the steering tie rod 110, and the wheels 110 are connected in sequence. The electronic control unit is electrically connected to the first steering angle sensor, the second steering angle sensor, the electric steering transmission structure, and the linear damping structure, respectively. The electronic control unit is used to execute the method provided in the above embodiments of this application.

[0049] In addition, embodiments of this application also provide a storage medium storing a computer program, which, when executed by an electronic control unit, causes the computer to perform the method provided above in this application.

[0050] In addition, this application also provides a computer program product, including a computer program that, when run, causes an electronic control unit to perform the method provided in the above embodiments of this application.

[0051] The above description does not provide detailed technical specifications regarding the structure of each layer. However, those skilled in the art should understand that layers and regions of desired shapes can be formed using various technical means. Furthermore, to form the same structure, those skilled in the art can also design methods that are not entirely identical to those described above. Additionally, although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be advantageously combined.

[0052] Although preferred embodiments of this application 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 this application.

[0053] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A vehicle steering control method, characterized in that, A steering control system for vehicles, comprising a steering wheel, an electronic control unit, a first steering angle sensor, a second steering angle sensor, an electric steering transmission structure, a linear damping structure, a steering tie rod, and wheels, wherein the steering wheel, the electric steering transmission structure, the linear damping structure, the steering tie rod, and the wheels are connected sequentially, and the electronic control unit is electrically connected to the first steering angle sensor, the second steering angle sensor, the electric steering transmission structure, and the linear damping structure, respectively; the method includes: The electronic control unit receives the steering wheel angle collected by the first steering angle sensor at preset unit intervals, and determines the target steering angle of the electric steering transmission structure based on the steering wheel angle and the preset steering angle mapping relationship. Based on the target turning angle, the electronic control unit starts to control the rotation of the electric steering transmission structure, and drives the steering tie rod to turn the wheel through the linear damping structure; The electronic control unit receives the actual steering angle of the electric steering transmission structure collected by the second steering angle sensor; When the actual turning angle of the electric steering transmission structure is less than the target turning angle, and the difference between the actual turning angle and the target turning angle is less than a set angle threshold, the electronic control unit controls the linear damping structure to increase the damping force applied to the electric steering transmission structure.

2. The method according to claim 1, characterized in that, The linear damping structure includes a damping cylinder filled with magnetorheological fluid or electrorheological fluid, an excitation coil circumferentially arranged around the inner wall of the damping cylinder, a current regulating module electrically connected to the excitation coil, and a piston disposed within the excitation coil. One end of the electric steering transmission structure is connected to the steering wheel, and the other end of the electric steering transmission structure extends into the excitation coil and is connected to the piston. The piston is connected to the wheel via the steering tie rod, and the excitation coil is electrically connected to the electronic control unit. The electronic control unit, based on the target turning angle, begins to control the rotation of the electric steering transmission structure, and drives the steering tie rod to turn the wheel via the linear damping structure, including: based on the target turning angle, starting to control the rotation of the electric steering transmission structure to drive the piston to move within the damping cylinder, thereby driving the steering tie rod to turn the wheel; The electronic control unit controls the linear damping structure to increase the damping force applied to the electric steering transmission structure, including: the electronic control unit controls the current regulation module to increase the current of the excitation coil to increase the viscosity of the magnetorheological fluid or electrorheological fluid, thereby increasing the damping force applied to the electric steering transmission structure.

3. The method according to claim 2, characterized in that, The current regulating module is a sliding resistor, and the electronic control unit controls the current regulating module to increase the current of the excitation coil, including: The electronic control unit controls the resistance of the sliding resistor to decrease, thereby increasing the current in the excitation coil.

4. The method according to claim 1, characterized in that, The electric steering transmission structure includes a drive motor, a gear shaft, a worm gear, and a rack. The steering wheel is sleeved on one end of the gear shaft. The side of the gear shaft meshes with the worm of the worm gear. The worm gear's worm wheel meshes with the side of the rack. One end of the rack is connected to the linear damping structure. The drive motor is electrically connected to the electronic control unit. Based on the target steering angle, the electronic control unit begins to control the rotation of the electric steering transmission structure, and through the linear damping structure, drives the steering tie rod to steer the wheels, including: Based on the target turning angle, the electronic control unit starts controlling the drive motor to drive the gear shaft to rotate, thereby driving the worm gear to move, which in turn drives the rack to drive the steering tie rod to turn the wheel based on the linear damping structure.

5. The method according to claim 1, characterized in that, The steering control system further includes a torque sensor, and after controlling the linear damping structure to increase the damping force applied to the electric steering transmission structure, the method includes: The electronic control unit receives the actual torque applied by the driver to the steering wheel, which is collected by the torque sensor. If the actual torque is greater than the preset upper limit threshold torque, the electronic control unit stops controlling the linear damping structure to increase the damping force applied to the electric steering transmission structure.

6. The method according to claim 1, characterized in that, After controlling the linear damping structure to increase the damping force applied to the electric steering transmission structure, the method further includes: If the electronic control unit does not receive the steering wheel angle collected by the first steering angle sensor after a preset time, it will stop controlling the linear damping structure to increase the damping force applied to the electric steering transmission structure.

7. The method according to any one of claims 1-6, characterized in that, The set angle threshold is greater than 1 degree and less than 5 degrees.

8. A vehicle, characterized in that, The vehicle includes a steering wheel, an electronic control unit, a first steering angle sensor, a second steering angle sensor, an electric steering transmission structure, a linear damping structure, a steering tie rod, and wheels. The steering wheel, the electric steering transmission structure, the linear damping structure, the steering tie rod, and the wheels are connected in sequence. The electronic control unit is electrically connected to the first steering angle sensor, the second steering angle sensor, the electric steering transmission structure, and the linear damping structure, respectively. The electronic control unit is used to execute the method described in any one of claims 1-7.

9. A storage medium storing a computer program, characterized in that, When the computer program is executed by the electronic control unit, it causes the computer to perform the method as described in any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is run, it causes the electronic control unit to perform the method as claimed in any one of claims 1 to 7.

Images