Vehicle steering control method, controller, vehicle, storage medium, and program product

Abstract

The present disclosure relates to a vehicle steering control method, a controller, a vehicle, a storage medium and a program product, wherein the method comprises: when the vehicle is in an out-of-control state, controlling the vehicle to steer according to the driving speed of the vehicle. Through the above technical solution, the vehicle can be controlled to steer according to the driving speed of the vehicle when the vehicle is in an out-of-control state. Thus, different steering controls can be performed on the vehicle based on different driving speeds when the vehicle is out of control, so that the steering control of the vehicle can be targeted based on different driving speeds, the control effect of the vehicle steering control is improved, and the driving safety is further improved. In addition, since the present solution controls the vehicle to steer based on the driving speed, on the one hand, the influence of steering control caused by inaccurate identification of driving intention and vehicle tire pressure can be reduced, and the driving safety is further improved; on the other hand, the cost and complexity of steering control can be reduced.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle technology, and more specifically, to a vehicle steering control method, controller, vehicle, storage medium, and program product. Background Technology

[0002] With the continuous development of vehicle technology, electric power steering (EPS) systems have been widely used. However, in related technologies, there are problems such as unsatisfactory steering control effects when using electric power steering systems for vehicle steering control. Summary of the Invention

[0003] The purpose of this disclosure is to provide a vehicle steering control method, controller, vehicle, storage medium, and program product to solve the aforementioned technical problems.

[0004] To achieve the above objectives, the first aspect of this disclosure provides a vehicle steering control method, the vehicle steering control method comprising: When the vehicle is out of control, the vehicle is steered according to its speed.

[0005] Optionally, controlling the vehicle to steer based on its speed includes: Based on the vehicle's speed, a steering control curve is determined for controlling the vehicle's steering. The vehicle is steered according to the steering control curve.

[0006] Optionally, determining the steering control curve for controlling the vehicle to steer based on the vehicle's travel speed includes: Based on the vehicle's speed, at least one of the following steering control curves is determined for controlling the vehicle's steering: assist curve, return curve, and damping compensation curve. The step of controlling the vehicle to steer according to the steering control curve includes: The vehicle is controlled to steer based on at least one of the assist curve, the return curve, and the damping compensation curve.

[0007] Optionally, determining the steering control curve for controlling the vehicle to steer based on the vehicle's travel speed includes: Steering control parameters are determined based on the vehicle's driving speed and a preset correspondence, wherein the preset correspondence is used to characterize the correspondence between the driving speed and the steering control parameters; Based on the steering control parameters, a steering control curve is determined for controlling the vehicle to steer.

[0008] Optionally, determining the steering control parameters based on the vehicle's speed and a preset correspondence includes: Based on the vehicle's driving speed and a first preset correspondence, the assist curve control parameters are determined, wherein the first preset correspondence is used to characterize the correspondence between the driving speed and the assist curve control parameters; The step of determining the steering control curve for controlling the vehicle to steer based on the steering control parameters includes: Based on the power assist curve control parameters, a power assist curve for controlling the vehicle's steering is determined.

[0009] Optionally, determining the steering control parameters based on the vehicle's speed and a preset correspondence includes: Based on the vehicle's driving speed and a second preset correspondence, the return curve control parameters are determined, wherein the second preset correspondence is used to characterize the correspondence between the driving speed and the return curve control parameters; The step of determining the steering control curve for controlling the vehicle to steer based on the steering control parameters includes: Based on the return curve control parameters, a return curve for controlling the vehicle's steering is determined.

[0010] Optionally, determining the steering control parameters based on the vehicle's speed and a preset correspondence includes: Based on the vehicle's driving speed and a third preset correspondence, the damping compensation curve control parameters are determined, wherein the third preset correspondence is used to characterize the correspondence between the driving speed and the damping compensation curve control parameters; The step of determining the steering control curve for controlling the vehicle to steer based on the steering control parameters includes: Based on the control parameters of the damping compensation curve, a damping compensation curve for controlling the vehicle's steering is determined.

[0011] Optionally, the out-of-control state is determined based on the vehicle's driving parameters and the vehicle's body parameters.

[0012] Optionally, the driving parameters include a first preset number of parameters, and the vehicle body parameters include a second preset number of parameters; When each of the driving parameters meets the corresponding preset condition, and any one of the vehicle body parameters meets the corresponding preset condition, the vehicle is determined to be in an out-of-control state.

[0013] Optionally, the driving parameters include driving speed, steering wheel angle, steering wheel force, and steering wheel speed. The preset condition for driving speed is that the driving speed is greater than or equal to a driving speed threshold; the preset condition for steering wheel angle is that the steering wheel angle is greater than or equal to a steering wheel angle threshold; the preset condition for steering wheel force is that the steering wheel force is greater than or equal to a steering wheel force threshold; and the preset condition for steering wheel speed is that the steering wheel speed is greater than or equal to a steering wheel speed threshold.

[0014] Optionally, the vehicle parameters include vehicle yaw rate, vehicle roll angle, vehicle pitch angle, and vehicle slip angle. The preset condition for the vehicle yaw rate is that the vehicle yaw rate is greater than or equal to a vehicle yaw rate threshold; the preset condition for the vehicle roll angle is that the vehicle roll angle is greater than or equal to a vehicle roll angle threshold; the preset condition for the vehicle pitch angle is that the vehicle pitch angle is greater than or equal to a vehicle pitch angle threshold; and the preset condition for the vehicle slip angle is that the vehicle slip angle is greater than or equal to a vehicle slip angle threshold.

[0015] Optionally, the vehicle steering control method further includes: When the vehicle is out of control, a warning message is triggered to notify the vehicle user that the vehicle is out of control.

[0016] A second aspect of this disclosure provides a controller, the controller comprising: processor; Memory used to store processor-executable instructions; The processor is configured to perform the steps of the method described in any one of the first aspects.

[0017] A third aspect of this disclosure provides a vehicle including the controller described in the second aspect.

[0018] A fourth aspect of this disclosure provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the method described in any of the first aspects.

[0019] The fifth aspect of this disclosure provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described in any one of the first aspects.

[0020] The above technical solution enables vehicle steering based on its speed when the vehicle is out of control. This allows for different steering controls at different speeds, improving steering effectiveness and thus enhancing driving safety. Furthermore, because this solution bases steering control on speed, it reduces the risk of poor steering performance due to inaccurate driver intent and tire pressure recognition, further improving driving safety. It also reduces the cost and complexity of steering control.

[0021] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0022] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart illustrating a vehicle steering control method according to an exemplary embodiment of the present disclosure; Figure 2 This is a schematic diagram illustrating the correspondence between driving speed and assist curve control parameters in a runaway state, according to an exemplary embodiment of the present disclosure. Figure 3 This is a schematic diagram of the assist curves corresponding to different speeds in a runaway state, according to an exemplary embodiment of the present disclosure; Figure 4 This is a schematic diagram illustrating the correspondence between driving speed and return curve control parameters in an out-of-control state according to an exemplary embodiment of the present disclosure; Figure 5 This is a schematic diagram of the recovery curves corresponding to different speeds in a runaway state, according to an exemplary embodiment of the present disclosure; Figure 6 This is a schematic diagram illustrating the correspondence between driving speed and damping compensation curve control parameters under an exemplary embodiment of the present disclosure. Figure 7 This is a schematic diagram of damping compensation curves corresponding to different speeds under an exemplary embodiment of the present disclosure; Figure 8 This is a block diagram illustrating a vehicle steering control system according to an exemplary embodiment of the present disclosure; Figure 9 This is a flowchart illustrating a vehicle steering control method according to an exemplary embodiment of the present disclosure; Figure 10This is a schematic diagram illustrating the correspondence between driving speed and assist curve control parameters in a non-out-of-control state, according to an exemplary embodiment of the present disclosure; Figure 11 This is a schematic diagram of the assist curves corresponding to different speeds in a non-out-of-control state, according to an exemplary embodiment of the present disclosure; Figure 12 This is a schematic diagram illustrating the correspondence between driving speed and return curve control parameters in a non-out-of-control state, according to an exemplary embodiment of the present disclosure; Figure 13 This is a schematic diagram of the recovery curves corresponding to different speeds in a non-out-of-control state, according to an exemplary embodiment of the present disclosure; Figure 14 This is a schematic diagram illustrating the correspondence between driving speed and damping compensation curve control parameters in a non-out-of-control state, according to an exemplary embodiment of this disclosure; Figure 15 This is a schematic diagram of damping compensation curves corresponding to different speeds in a non-runaway state, according to an exemplary embodiment of the present disclosure; Figure 16 This is a block diagram illustrating a vehicle steering control device according to an exemplary embodiment of the present disclosure. Detailed Implementation

[0023] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0024] In this disclosure, unless otherwise stated, directional terms such as "upper" and "lower" are defined according to the actual arrangement of the battery assembly, and directional terms such as "inner" and "outer" are defined according to the outline of the corresponding components. The terms "first," "second," etc., are used to distinguish different components and do not imply sequentiality or importance. Furthermore, in the following description, when referring to the accompanying drawings, unless otherwise explained, the same reference numerals in different drawings denote the same or similar elements.

[0025] As mentioned in the background section, the relevant technologies have problems such as unsatisfactory steering control effects when using electric power steering systems for vehicle steering control.

[0026] For example, to meet personal preferences and improve the driver's driving experience, the driver can select the operating mode of the electric power steering system manually or automatically. In manual mode, the user manually selects the operating mode of the electric power steering system; in automatic mode, the electric power steering system generally judges the driving intention or driving style based on the steering wheel pressure signal, and then selects the operating mode of the electric power steering system based on the driving intention or driving style, thereby adjusting the steering assistance.

[0027] This approach fails to consider the impact of road traffic conditions on the judgment of driving intentions or driving style, leading to inaccurate recognition of driving intentions. This results in the vehicle not receiving effective steering assistance, thus causing driving safety issues. For example, in the event of an impending rear-end collision, a driver might jerk the steering wheel sharply to avoid a collision, causing the vehicle to lose control. After losing control, to mitigate the safety risks, the driver typically applies full force to the steering wheel to restore the vehicle to its original driving state. However, because the vehicle sways from side to side when out of control, the driver's steering wheel pressure becomes uneven, causing dynamic changes in the pressure signal. Consequently, the judgment of driving intentions or driving style based on steering wheel pressure signals can be inaccurate, resulting in the vehicle not receiving effective steering assistance in an out-of-control state. Incorrect steering direction or force may even further exacerbate the loss of control, leading to driving safety problems.

[0028] For example, patent application CN112046605A, entitled "An Invention Patent for a Car Safety Steering Control System," discloses a car safety steering control system that can use tire pressure, vehicle speed, steering wheel angle, and intermediate shaft torque to provide signals to sensors. The sensor unit is mounted on a mechanical transmission mechanism, and a hydraulic safety steering mechanism is connected to the mechanical transmission mechanism. Both the hydraulic safety steering mechanism and the sensor unit are communicatively connected to a control unit. The sensor unit is used to detect the operating status data on the mechanical transmission mechanism in real time and send the detected operating status data to the control unit. The control unit is used to generate corresponding control commands based on the operating status data. The hydraulic safety steering mechanism can receive the control commands from the control unit and can activate and block the transmission of tire friction force to the mechanical transmission mechanism when a tire blowout is detected.

[0029] In this method, tire pressure is monitored to determine whether a tire blowout has occurred. However, since tire pressure is affected by vehicle weight and road conditions, there is a problem of inaccurate tire blowout detection, which in turn affects the steering control effect.

[0030] For example, the invention patent with publication number CN112498343A, entitled "A Vehicle Steering Control System and Method," discloses a vehicle steering control system. This system includes a data acquisition module, sensors, a controller, and an alarm module. The data acquisition module acquires real-time information about the vehicle's external environment. The sensors detect vehicle driving information. The controller, when the turn signal is triggered, determines whether the vehicle is changing lanes or turning into an intersection based on the external environment information and driving information. If it determines the vehicle is turning into an intersection, it obtains information about obstacles around the vehicle based on the external environment information, driving information, and obstacle information. Based on these factors, it determines in real-time whether there is a collision risk between the vehicle and the obstacle, and provides alarm information to the alarm module for output based on the collision risk assessment result.

[0031] In this approach, an additional acquisition module is needed to collect external environment and obstacle information, and steering control is performed based on the external environment, vehicle driving, and obstacle information, which increases the cost and complexity of steering control.

[0032] In view of the above, this disclosure provides a vehicle steering control method, controller, vehicle, storage medium, and program product to solve the aforementioned technical problems.

[0033] The embodiments of this disclosure will be further explained below with reference to the accompanying drawings.

[0034] Figure 1 This is a flowchart illustrating a vehicle steering control method according to an exemplary embodiment of the present disclosure, with reference to... Figure 1 The vehicle steering control method may include the following steps: S101: When the vehicle is out of control, control the vehicle to steer according to the vehicle's speed.

[0035] In this embodiment, the vehicle steering control method can be executed by the EPS system in the vehicle, or by the controller in the vehicle used to control the EPS system, or by other devices or controllers. This disclosure does not impose any limitations on this.

[0036] For example, when the vehicle steering control method is executed by the EPS system in the vehicle, the vehicle may include a Central Processing Unit (CPU) and an EPS system. The CPU can receive detection data transmitted from various sensors in the vehicle, detect whether the vehicle is in a state of loss of control, and, upon detecting a loss of control, send the vehicle speed and a first signal characterizing the loss of control to the EPS system. After receiving the vehicle speed and the first signal, the EPS system can control the vehicle to steer according to the vehicle speed.

[0037] For example, when the vehicle steering control method is executed by a controller for controlling the EPS system, the vehicle may include a controller, a CPU, and the EPS system. The CPU can receive detection data transmitted from various sensors in the vehicle, detect whether the vehicle is in a state of loss of control, and, upon detecting a loss of control, send the vehicle speed and a first signal characterizing the loss of control to the controller. After receiving the vehicle speed and the first signal, the controller can control the EPS system to perform steering control on the vehicle based on the vehicle speed.

[0038] The above technical solution enables vehicle steering based on its speed when the vehicle is out of control. This allows for different steering controls at different speeds, improving steering effectiveness and thus enhancing driving safety. Furthermore, because this solution bases steering control on speed, it reduces the impact of inaccurate driver intent and tire pressure recognition on steering control, further improving safety. It also reduces the cost and complexity of steering control.

[0039] To facilitate understanding of the vehicle steering control method provided in this disclosure, the possible implementations of this disclosure are described below.

[0040] It should be understood that when an EPS system controls vehicle steering, it generally does so by controlling the motor's speed and direction, and the motor's speed and direction can operate based on a steering control curve. Therefore, among possible methods, controlling the vehicle's steering based on its speed can include: Based on the vehicle's speed, a steering control curve is determined to control the vehicle's steering; based on the steering control curve, the vehicle is steered.

[0041] For example, we can simulate the situation where a vehicle loses control at different speeds through experiments or software simulations. Then, we can determine the best steering control strategies using different steering control curves to control the vehicle, thus establishing the correlation between speed and steering control curves. For instance, for each speed, we can use CarSim simulation software to simulate the vehicle losing control at that speed, applying different steering control curves. By comparing the simulation results under different steering control curves, we can obtain the most suitable steering control curve for each speed, thus establishing the correlation between speed and steering control curves. Then, when the vehicle is in a state of loss of control, we can obtain the target steering control curve based on the speed and the correlation between speed and steering control curves, allowing us to control the vehicle's steering accordingly.

[0042] When controlling vehicle steering based on a steering control curve, the inventors discovered through experiments that in situations of vehicle loss of control, to quickly restore the vehicle's direction and reduce the probability of traffic accidents, it is generally desirable to be able to easily turn the steering wheel. Therefore, a power assist curve can be used to control vehicle steering, thereby correcting the vehicle's direction. Furthermore, in situations of vehicle loss of control, oversteering or understeering may occur, causing the vehicle to deviate from its intended trajectory. Therefore, to enable the vehicle to return to its original driving state more quickly, a return-to-center curve can be used to control vehicle steering, automatically adjusting the steering wheel's return-to-center torque, thus allowing the vehicle to return to its original direction more quickly. In addition, in situations of vehicle loss of control, the vehicle may also be affected by uneven road surfaces or sudden events, causing the steering wheel to vibrate or become unstable. Therefore, to reduce steering wheel vibration and instability, a damping compensation curve can be used to control vehicle steering, increasing the damping torque of the steering system and improving driving safety. In other words, in possible methods, the steering control curve used to control vehicle steering, determined based on the vehicle's speed, can include: Based on the vehicle's speed, determine at least one of the following steering control curves to control the vehicle's steering: power assist curve, return curve, and damping compensation curve. Accordingly, controlling the vehicle to steer according to the steering control curve can include: The vehicle is steered based on at least one of the assist curve, return curve, and damping compensation curve.

[0043] In the above manner, when the vehicle is out of control, steering control can be performed using at least one of the assist curve, return curve, and damping compensation curve. Thus, steering control can be assisted by at least one of the assist curve, return curve, and damping compensation curve, thereby improving the steering stability of the vehicle in out-of-control scenarios and thus improving driving safety.

[0044] In some possible ways, determining a steering control curve for controlling the vehicle's steering based on the vehicle's speed may include: Based on the vehicle's speed and a preset correspondence, steering control parameters are determined, where the preset correspondence characterizes the relationship between the speed and the steering control parameters; based on the steering control parameters, a steering control curve is determined to control the vehicle's steering.

[0045] As mentioned earlier, the steering control curve used to control vehicle steering may include at least one of an assist curve, a return curve, and a damping compensation curve. Therefore, when the steering control curve is an assist curve, the steering control parameters determined based on the vehicle's speed and a preset correspondence may include: Based on the vehicle's driving speed and the first preset correspondence, the power assist curve control parameters are determined, wherein the first preset correspondence is used to characterize the correspondence between driving speed and power assist curve control parameters; Accordingly, based on the steering control parameters, a steering control curve for controlling the vehicle's steering is determined, which may include: Based on the power assist curve control parameters, determine the power assist curve used to control the vehicle's steering.

[0046] In this embodiment, the assist curve control parameters are parameters used to generate the assist curve, and can be determined according to actual conditions. This disclosure does not impose any limitations on this. For example, such as... Figure 2 As shown, the power steering curve control parameters can include the slope and intercept of the steering wheel at different driving speeds and different torques. Therefore, the power steering curve can be obtained by data fitting based on these parameters, or by substituting the parameters into a preset power steering relationship. Figure 3 As shown. Among them, Figure 2In this diagram, -40 indicates a reversing speed of 40 km / h, KO represents the slope at the first torque, PO represents the intercept at the first torque, K1 represents the slope at the second torque, P1 represents the intercept at the second torque, K2 represents the slope at the third torque, P2 represents the intercept at the third torque, and P3 represents the intercept at the end of the steering input. The first torque is less than the second torque, and the second torque is less than the third torque. The specific first, second, and third torques can be determined according to actual conditions, and this embodiment does not impose any limitations on them. For example, the first torque can be set to 1.8 N / m, the second torque can be set to 2.4 N / m, and the third torque can be set to 3.0 N / m.

[0047] In this embodiment, the assist curve control parameters can be obtained in advance through experiments or software simulation, or through other means. This disclosure does not impose any restrictions on this.

[0048] When the steering control curve is a return-to-center curve, the steering control parameters are determined based on the vehicle's speed and a preset correspondence, and may include: Based on the vehicle's driving speed and the second preset correspondence, the return curve control parameters are determined, wherein the second preset correspondence is used to characterize the correspondence between the driving speed and the return curve control parameters; Accordingly, based on the steering control parameters, a steering control curve for controlling the vehicle's steering is determined, which may include: Based on the return curve control parameters, determine the return curve used to control the vehicle's steering.

[0049] In this embodiment, the return-to-normal curve control parameters are parameters used to generate the return-to-normal curve, and can be determined according to actual conditions. This disclosure does not impose any limitations on this. For example, such as... Figure 4 As shown, the return curve control parameters can include driving speed, steering wheel rotation angle, and steering wheel return coefficient at different driving speeds and rotation angles. Therefore, a return curve can be obtained by data fitting based on the return curve control parameters, or the return curve control parameters can be substituted into a preset return relationship formula to obtain the return curve, as shown below. Figure 5 As shown.

[0050] In this embodiment, the assist curve control parameters can be obtained in advance through experiments or software simulation, or through other means. This disclosure does not impose any restrictions on this.

[0051] When the steering control curve is a damping compensation curve, the steering control parameters are determined based on the vehicle's speed and a preset correspondence, and may include: Based on the vehicle's driving speed and the third preset correspondence, the control parameters of the damping compensation curve are determined, wherein the third preset correspondence is used to characterize the correspondence between the driving speed and the control parameters of the damping compensation curve. Accordingly, based on the steering control parameters, a steering control curve for controlling the vehicle's steering is determined, which may include: Based on the control parameters of the damping compensation curve, determine the damping compensation curve used to control the vehicle's steering.

[0052] In this embodiment, the damping compensation curve control parameters are the parameters used to generate the damping compensation curve. These parameters can be determined based on actual conditions, and this disclosure does not impose any limitations on them. For example, such as... Figure 6 As shown, the control parameters for the damping compensation curve can include the driving speed, the steering wheel speed, and the compensation coefficient of the steering wheel at different driving speeds and speeds. Therefore, the damping compensation curve can be obtained by data fitting based on these control parameters, or by substituting the control parameters into a preset compensation formula. Figure 7 As shown. Among them, Figure 6 In this context, D1_2, D1_1, and D2 represent rotational speeds. The magnitudes of the rotational speeds corresponding to D1_2, D1_1, and D2 can be determined based on actual conditions, and this embodiment does not impose any limitations on this. For example, D1_2 can be 0.15 r / s, D1_1 can be 0.35 r / s, and D2 can be 0.5 r / s.

[0053] In this embodiment, the damping compensation control parameters can be obtained in advance through experiments or software simulation, or through other means. This disclosure does not impose any restrictions on this.

[0054] In the most probable ways, the state of being out of control can be determined based on the vehicle's driving parameters and body parameters.

[0055] In this embodiment, the out-of-control state can be determined by the CPU, the controller used to control the EPS system, or other devices or controllers; this disclosure does not impose any limitations on this. For example, when the out-of-control state is determined by the CPU, the CPU can receive driving parameters and vehicle body parameters transmitted from various sensors in the vehicle, thereby determining whether the vehicle is in an out-of-control state based on the driving parameters and vehicle body parameters.

[0056] In this embodiment, the driving parameters and vehicle body parameters can be determined according to actual conditions, and this disclosure does not impose any limitations on them. For example, driving parameters may include driving speed, driving direction, steering wheel angle, and / or engine power, etc. Vehicle body parameters may include vehicle weight, drag coefficient, yaw rate, and / or roll angle, etc.

[0057] In this embodiment, when determining whether a vehicle is out of control based on driving parameters and vehicle body parameters, pre-set judgment conditions for whether the vehicle is out of control can be implemented. Therefore, after obtaining the driving parameters and vehicle body parameters, these parameters can be compared with the judgment conditions, and the vehicle's out of control can be determined based on the comparison results. Of course, other methods can also be used to determine whether a vehicle is out of control, and this embodiment does not impose any limitations on this.

[0058] In possible ways, the driving parameters may include a first preset number of parameters, and the vehicle body parameters may include a second preset number of parameters; when each of the driving parameters satisfies the corresponding preset condition, and any one of the vehicle body parameters satisfies the corresponding preset condition, it is determined that the vehicle is in an out-of-control state.

[0059] In this embodiment, the preset conditions corresponding to each of the first preset quantity, the second preset quantity, the driving parameters, and the vehicle body parameters can all be determined according to the actual situation, and this embodiment does not impose any restrictions on this.

[0060] For example, driving parameters may include driving speed, steering wheel angle, steering wheel force, and steering wheel speed. The preset conditions for driving speed are that the driving speed is greater than or equal to a driving speed threshold; the preset conditions for steering wheel angle are that the steering wheel angle is greater than or equal to a steering wheel angle threshold; the preset conditions for steering wheel force are that the steering wheel force is greater than or equal to a steering wheel force threshold; and the preset conditions for steering wheel speed are that the steering wheel speed is greater than or equal to a steering wheel speed threshold.

[0061] The driving speed threshold, steering wheel angle threshold, steering wheel force threshold, and steering wheel speed threshold are all determined according to actual conditions, and this embodiment does not impose any restrictions on them. For example, the driving speed threshold can be set to 60 km / h, the steering wheel angle threshold can be set to 120°, the steering wheel force threshold can be set to 12N, and the steering wheel speed threshold can be set to 450° / s.

[0062] For example, vehicle parameters may include vehicle yaw rate, vehicle roll angle, vehicle pitch angle, and vehicle slip angle. The preset condition for vehicle yaw rate is that the vehicle yaw rate is greater than or equal to a vehicle yaw rate threshold. The preset condition for vehicle roll angle is that the vehicle roll angle is greater than or equal to a vehicle roll angle threshold. The preset condition for vehicle pitch angle is that the vehicle pitch angle is greater than or equal to a vehicle pitch angle threshold. The preset condition for vehicle slip angle is that the vehicle slip angle is greater than or equal to a vehicle slip angle threshold.

[0063] The threshold values ​​for vehicle yaw rate, vehicle roll angle, vehicle pitch angle, and vehicle sideslip angle are all determined based on actual conditions, and this embodiment does not impose any restrictions on them. For example, the vehicle yaw rate threshold can be set to 15° / s, the vehicle roll angle threshold can be set to 8°, the vehicle pitch angle threshold can be set to 10°, and the vehicle sideslip angle threshold can be set to 3°.

[0064] Among the possible approaches, vehicle steering control methods may also include: When the vehicle is out of control, a warning message is triggered to notify the vehicle user that the vehicle is out of control.

[0065] In this embodiment, the warning message can be a clear signal such as an instrument panel, lights, or voice indicating that the vehicle is out of control and about to enter a violent steering mode. Of course, it can also be a reminder through other means, and this embodiment does not impose any restrictions on this.

[0066] For example, when a warning is issued via the vehicle's instrument panel, the displayed information on the instrument panel can flash at a preset frequency. When a warning is issued via the vehicle's lights, the vehicle lights can switch between high beams and low beams at preset time intervals, or the hazard warning lights in the vehicle can be activated. When a warning is issued via voice, voice information such as the vehicle being out of control can be output through the vehicle's speakers.

[0067] The above method can trigger a warning message to alert the vehicle user when the vehicle is out of control, thus prompting the user to take timely measures to reduce the probability of traffic accidents and further improve driving safety.

[0068] To facilitate a further understanding of the vehicle steering control method provided in this disclosure, the following description, in conjunction with each step, further explains the vehicle steering control method provided in this disclosure: For example, such as Figure 8 and Figure 9As shown, a vehicle may include a motor, EPS, CPU, a yaw rate sensor, a roll angle sensor, a pitch angle sensor, a sideslip angle sensor, a vehicle speed sensor, a steering wheel angle sensor, a steering wheel force sensor, and a steering wheel speed sensor. The roll angle sensor, yaw rate sensor, pitch angle sensor, and sideslip angle sensor are mounted at the vehicle's center of gravity, while the vehicle speed sensor is mounted at the wheel hub. The steering wheel angle, steering wheel speed, and steering wheel torque are acquired via the vehicle's CAN signal within the EPS system. During vehicle operation, the CPU receives the yaw rate from the yaw rate sensor, the roll angle from the roll angle sensor, the pitch angle from the pitch angle sensor, the sideslip angle from the sideslip angle sensor, the vehicle speed from the speed sensor, the steering wheel angle from the steering wheel angle sensor, the steering wheel force from the steering wheel force sensor, and the steering wheel speed from the steering wheel speed sensor. It then determines whether the vehicle is at risk of losing control using the following methods: When the following conditions are met simultaneously: vehicle speed greater than or equal to 60 km / h, steering wheel angle greater than or equal to 120°, steering wheel force greater than or equal to 12N, and steering wheel speed greater than or equal to 450° / s, determine whether at least one of the following conditions is met: vehicle roll angle greater than or equal to 8°, vehicle pitch angle greater than or equal to 10°, vehicle slip angle greater than or equal to 3°, and peak vehicle yaw rate ≥ 15°. If any one of the following conditions is met, the vehicle is determined to be in a state of loss of control, and the CPU sends the vehicle speed and a first signal indicating that the vehicle is in a state of loss of control to the EPS system.

[0069] After receiving the driving speed and the first signal, the EPS system determines at least one of the following control parameters: assist curve control parameters, return curve control parameters, and damping compensation curve control parameters, based on the driving speed. Based on the assist curve control parameters, return curve control parameters, and damping compensation curve control parameters, it determines at least one of the assist curve, return curve, and damping compensation curve, and controls the vehicle to steer based on the assist curve, return curve, and damping compensation curve.

[0070] For example, the power steering curve control parameters can be determined based on the vehicle speed and the first preset correspondence, and the power steering curve can be determined based on the power steering curve control parameters. Then, the power steering torque can be adjusted in real time based on the power steering curve, and then the power steering torque can be output through the motor to control the steering of the vehicle, thereby improving the steering safety of the vehicle in a loss of control state.

[0071] For example, the return curve control parameters can be determined based on the vehicle speed and the second preset correspondence, and the return curve can be determined based on the return curve control parameters. Then, the return torque can be adjusted in real time based on the return curve, and the corresponding torque can be output through the motor, thereby bringing faster yaw convergence to the vehicle and reducing the risk of vehicle loss of control.

[0072] For example, the damping compensation control parameters can be determined based on the vehicle speed and the third preset correspondence, and the damping compensation curve can be determined based on the damping compensation control parameters. Then, the damping torque can be adjusted in real time based on the damping compensation curve, thereby increasing the stickiness and resistance of the steering, while also balancing the abruptness caused by less power assist and stronger self-centering.

[0073] When it is determined through the above methods that there is no risk of the vehicle losing control, the CPU can send the vehicle speed and a second signal indicating that the vehicle is not in a state of loss of control to the EPS system. After receiving the vehicle speed and the second signal, the EPS system can determine at least one of the conventional power assist curve control parameters, self-centering curve control parameters, and damping compensation curve control parameters based on the vehicle speed. Then, based on at least one of the conventional power assist curve control parameters, self-centering curve control parameters, and damping compensation curve control parameters, it determines at least one of the power assist curve, self-centering curve, and damping compensation curve control parameters, and controls the vehicle to steer according to at least one of the power assist curve, self-centering curve, and damping compensation curve.

[0074] For example, such as Figure 10 and Figure 11 As shown, the power steering curve control parameters under non-loss-of-control scenarios can be obtained based on the vehicle speed. Alternatively, the conventional power steering curve control parameters can be calculated based on the steering wheel input angle, speed, and torque. These parameters are the power steering curve control parameters under non-loss-of-control scenarios. Then, based on the conventional power steering curve control parameters, the conventional power steering curve is determined. Finally, the power steering torque can be adjusted in real time based on the conventional power steering curve, and then the power steering torque is output through the motor to control the vehicle's steering assist.

[0075] For example, such as Figure 12 and Figure 13 As shown, the control parameters for the normal return curve can be obtained based on the vehicle speed. Then, based on the control parameters for the normal return curve, the normal return curve can be determined. Finally, the return torque can be adjusted in real time based on the normal return curve, and then the corresponding torque can be output through the motor to control the steering assist of the vehicle.

[0076] For example, such as Figure 14 and Figure 15As shown, the conventional damping compensation control parameters can be determined based on the vehicle speed, and the conventional damping compensation curve can be determined based on the conventional damping compensation control parameters. Then, the damping torque can be adjusted in real time based on the conventional damping compensation curve, thereby increasing the steering stickiness and resistance, and balancing the abruptness caused by less power assist and stronger self-centering.

[0077] In summary, by employing the methods described above, different steering strategies can be adopted based on vehicle speed and vehicle status to control the vehicle's steering, thereby improving driving safety. Furthermore, comparing the power assist curves under different vehicle states reveals that when the vehicle is out of control, the motor's power assist decreases proportionally with vehicle speed, resulting in greater steering effort. This allows the driver to quickly recognize the danger of the current situation and significantly reduces the risk of oversteering due to excessive steering effort, thus increasing driving safety. Comparing the return-to-center curves under different vehicle states shows that when the vehicle is out of control, a greater return-to-center torque is generated. This correction leads to faster yaw convergence, reducing the risk of loss of control and further increasing driving safety. By comparing the damping compensation curves under different vehicle conditions, it can be found that when the vehicle is out of control, the effect of damping compensation will increase proportionally with speed. By slightly increasing the damping compensation, the steering stickiness can be increased, achieving a good sense of resistance. At the same time, it can balance the abruptness brought by less power assist and stronger self-centering, thereby increasing driving safety.

[0078] Furthermore, since there is only one motor in this embodiment, when controlling the vehicle's steering based on the motor, compared to setting multiple motors in related technologies, this solution can reduce the problem of coordinated control between multiple motors, thereby reducing energy loss during transmission and distribution. In addition, the single-motor system reduces the number of components such as motors, controllers, and sensors, thereby reducing system complexity.

[0079] Based on the same concept, embodiments of this disclosure also provide a vehicle steering control device, such as... Figure 16 As shown, the vehicle steering control device 1600 may include: The control module 1601 is used to control the vehicle to steer according to the vehicle's speed when the vehicle is out of control.

[0080] The vehicle steering control device 1600 described above can control the vehicle's steering based on its speed when the vehicle is out of control. This allows for different steering controls based on different speeds, improving the effectiveness of steering control and thus enhancing driving safety. Furthermore, since this solution uses speed-based steering control, it reduces the impact of inaccurate driver intent and tire pressure recognition on steering control, further improving driving safety. It also reduces the cost and complexity of steering control.

[0081] In one possible manner, the control module 1601 may include: The determination submodule is used to determine the steering control curve for controlling the vehicle's steering based on the vehicle's speed. The control submodule is used to control the vehicle's steering according to the steering control curve.

[0082] In one possible manner, the determination submodule can be used to determine, based on the vehicle's speed, at least one of the following steering control curves for controlling the vehicle's steering: assist curve, return curve, and damping compensation curve. Accordingly, the control submodule can be used to control the vehicle to steer based on at least one of the assist curve, return curve, and damping compensation curve.

[0083] Among the possible approaches, identifying submodules may include: The first determining unit is used to determine steering control parameters based on the vehicle's driving speed and a preset correspondence, wherein the preset correspondence is used to characterize the correspondence between the driving speed and the steering control parameters; The second determining unit is used to determine the steering control curve for controlling the vehicle to steer based on the steering control parameters.

[0084] In one possible manner, the first determining unit can be used to determine the power assist curve control parameters based on the vehicle's driving speed and a first preset correspondence, wherein the first preset correspondence is used to characterize the correspondence between the driving speed and the power assist curve control parameters; Accordingly, the second determining unit can be used to determine the assist curve for controlling the vehicle to steer based on the assist curve control parameters.

[0085] In one possible manner, the first determining unit can be used to determine the return curve control parameters based on the vehicle's driving speed and a second preset correspondence, wherein the second preset correspondence is used to characterize the correspondence between the driving speed and the return curve control parameters.

[0086] Accordingly, the second determining unit can be used to determine the return curve for controlling the vehicle to steer based on the return curve control parameters.

[0087] In one possible manner, the first determining unit can be used to determine the damping compensation curve control parameters based on the vehicle's driving speed and a third preset correspondence, wherein the third preset correspondence is used to characterize the correspondence between the driving speed and the damping compensation curve control parameters.

[0088] Accordingly, the second determining unit can be used to determine the damping compensation curve for controlling the vehicle to steer based on the control parameters of the damping compensation curve.

[0089] In the most probable ways, the state of being out of control can be determined based on the vehicle's driving parameters and body parameters.

[0090] In possible ways, the driving parameters may include a first preset number of parameters, and the vehicle body parameters may include a second preset number of parameters; when each of the driving parameters satisfies the corresponding preset condition, and any one of the vehicle body parameters satisfies the corresponding preset condition, it is determined that the vehicle is in an out-of-control state.

[0091] In some possible ways, driving parameters may include driving speed, steering wheel angle, steering wheel force, and steering wheel speed. The preset condition for driving speed is that the driving speed is greater than or equal to a driving speed threshold. The preset condition for steering wheel angle is that the steering wheel angle is greater than or equal to a steering wheel angle threshold. The preset condition for steering wheel force is that the steering wheel force is greater than or equal to a steering wheel force threshold. The preset condition for steering wheel speed is that the steering wheel speed is greater than or equal to a steering wheel speed threshold.

[0092] In possible configurations, vehicle parameters may include vehicle yaw rate, vehicle roll angle, vehicle pitch angle, and vehicle slip angle. The preset condition for vehicle yaw rate is that the vehicle yaw rate is greater than or equal to a vehicle yaw rate threshold. The preset condition for vehicle roll angle is that the vehicle roll angle is greater than or equal to a vehicle roll angle threshold. The preset condition for vehicle pitch angle is that the vehicle pitch angle is greater than or equal to a vehicle pitch angle threshold. The preset condition for vehicle slip angle is that the vehicle slip angle is greater than or equal to a vehicle slip angle threshold.

[0093] In some possible configurations, the vehicle steering control device 1600 may also include: The alert module is used to trigger a warning message when the vehicle is out of control. The warning message is used to notify the vehicle user that the vehicle is out of control.

[0094] Regarding the vehicle steering control device 1600 in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated here.

[0095] Based on the same concept, this disclosure also provides a controller, which includes: processor; Memory used to store processor-executable instructions; The processor is configured to execute the steps of the vehicle steering control method described above.

[0096] Based on the same concept, embodiments of this disclosure also provide a vehicle including the controller described above.

[0097] Based on the same concept, embodiments of this disclosure also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described vehicle steering control method.

[0098] Based on the same concept, this disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described vehicle steering control method.

[0099] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0100] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0101] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A vehicle steering control method, characterized in that, The vehicle steering control method includes: When the vehicle is out of control, the vehicle is steered according to its speed.

2. The vehicle steering control method according to claim 1, characterized in that, The step of controlling the vehicle to steer based on the vehicle's speed includes: Based on the vehicle's speed, a steering control curve is determined for controlling the vehicle's steering. The vehicle is steered according to the steering control curve.

3. The vehicle steering control method according to claim 2, characterized in that, The step of determining a steering control curve for controlling the vehicle's steering based on the vehicle's travel speed includes: Based on the vehicle's speed, at least one of the following steering control curves is determined for controlling the vehicle's steering: assist curve, return curve, and damping compensation curve. The step of controlling the vehicle to steer according to the steering control curve includes: The vehicle is controlled to steer based on at least one of the assist curve, the return curve, and the damping compensation curve.

4. The vehicle steering control method according to claim 2, characterized in that, The step of determining a steering control curve for controlling the vehicle's steering based on the vehicle's travel speed includes: Steering control parameters are determined based on the vehicle's driving speed and a preset correspondence, wherein the preset correspondence is used to characterize the correspondence between the driving speed and the steering control parameters; Based on the steering control parameters, a steering control curve is determined for controlling the vehicle to steer.

5. The vehicle steering control method according to claim 4, characterized in that, The step of determining steering control parameters based on the vehicle's speed and a preset correspondence includes: Based on the vehicle's driving speed and a first preset correspondence, the assist curve control parameters are determined, wherein the first preset correspondence is used to characterize the correspondence between the driving speed and the assist curve control parameters; The step of determining the steering control curve for controlling the vehicle to steer based on the steering control parameters includes: Based on the power assist curve control parameters, a power assist curve for controlling the vehicle's steering is determined.

6. The vehicle steering control method according to claim 4, characterized in that, The step of determining steering control parameters based on the vehicle's speed and a preset correspondence includes: Based on the vehicle's driving speed and a second preset correspondence, the return curve control parameters are determined, wherein the second preset correspondence is used to characterize the correspondence between the driving speed and the return curve control parameters; The step of determining the steering control curve for controlling the vehicle to steer based on the steering control parameters includes: Based on the return curve control parameters, a return curve for controlling the vehicle's steering is determined.

7. The vehicle steering control method according to claim 4, characterized in that, The step of determining steering control parameters based on the vehicle's speed and a preset correspondence includes: Based on the vehicle's driving speed and a third preset correspondence, the damping compensation curve control parameters are determined, wherein the third preset correspondence is used to characterize the correspondence between the driving speed and the damping compensation curve control parameters; The step of determining the steering control curve for controlling the vehicle to steer based on the steering control parameters includes: Based on the control parameters of the damping compensation curve, a damping compensation curve for controlling the vehicle's steering is determined.

8. The vehicle steering control method according to any one of claims 1-7, characterized in that, The out-of-control state is determined based on the vehicle's driving parameters and the vehicle's body parameters.

9. The vehicle steering control method according to claim 8, characterized in that, The driving parameters include a first preset number of parameters, and the vehicle body parameters include a second preset number of parameters; When each of the driving parameters meets the corresponding preset condition, and any one of the vehicle body parameters meets the corresponding preset condition, the vehicle is determined to be in an out-of-control state.

10. The vehicle steering control method according to claim 9, characterized in that, The driving parameters include driving speed, steering wheel angle, steering wheel force, and steering wheel speed. The preset condition for driving speed is that the driving speed is greater than or equal to a driving speed threshold. The preset condition for steering wheel angle is that the steering wheel angle is greater than or equal to a steering wheel angle threshold. The preset condition for steering wheel force is that the steering wheel force is greater than or equal to a steering wheel force threshold. The preset condition for steering wheel speed is that the steering wheel speed is greater than or equal to a steering wheel speed threshold.

11. The vehicle steering control method according to claim 9, characterized in that, The vehicle parameters include vehicle yaw rate, vehicle roll angle, vehicle pitch angle, and vehicle slip angle. The preset condition for the vehicle yaw rate is that the vehicle yaw rate is greater than or equal to a vehicle yaw rate threshold. The preset condition for the vehicle roll angle is that the vehicle roll angle is greater than or equal to a vehicle roll angle threshold. The preset condition for the vehicle pitch angle is that the vehicle pitch angle is greater than or equal to a vehicle pitch angle threshold. The preset condition for the vehicle slip angle is that the vehicle slip angle is greater than or equal to a vehicle slip angle threshold.

12. The vehicle steering control method according to any one of claims 1-7, characterized in that, The vehicle steering control method further includes: When the vehicle is out of control, a warning message is triggered to notify the vehicle user that the vehicle is out of control.

13. A controller, characterized in that, The controller includes: processor; Memory used to store processor-executable instructions; The processor is configured to perform the steps of the method according to any one of claims 1-12.

14. A vehicle, characterized in that, Includes the controller as described in claim 13.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method described in any one of claims 1-12.

16. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1-12.

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