Vehicle control method and apparatus, and steering actuation apparatus and readable storage medium

Abstract

A vehicle control method and apparatus, and a steering actuation apparatus and a readable storage medium, which relate to the technical field of intelligent driving. The vehicle control method comprises: parsing a manual intervention steering adjustment instruction to obtain a manual intervention adjustment angle, and parsing a vehicle computer steering adjustment instruction to obtain a vehicle computer adjustment angle; calculating a target angle difference between the manual intervention adjustment angle and the vehicle computer adjustment angle; on the basis of a target angle fusion ratio corresponding to the target angle difference, performing a fusion operation on the manual intervention adjustment angle and the vehicle computer adjustment angle, so as to determine a target adjustment angle; and on the basis of the target adjustment angle, controlling a wheel rack structure. An adjustment angle of a vehicle computer driving control apparatus is fused with an adjustment angle input by a driver, such that the effect of responding to the intervention of the driver is achieved, thereby improving the driving safety of a vehicle.

Description

Vehicle control methods, devices, steering actuators, and readable storage media

[0001] This application claims priority to Chinese Patent Application No. 202510046582.5, filed on January 13, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of intelligent driving technology, such as a vehicle control method, apparatus, steering actuator, and readable storage medium. Background Technology

[0003] As a crucial component of modern automotive technology, steer-by-wire systems operate in two modes: human-driven and automated. In human-driven mode, the steering system controls the vehicle through direct driver input, while in automated mode, it relies on commands from the intelligent driving controller. However, intelligent driving technology is not yet fully mature, thus requiring the ability to respond to driver intervention during automated driving to achieve human-machine co-driving. Currently, steering actuators can only respond to vehicle-machine signals at a time, unable to simultaneously respond to driver intervention, resulting in lower driving safety. Summary of the Invention

[0004] This application provides a vehicle control method, apparatus, steering actuator, and computer-readable storage medium to address the problem of low safety in vehicle driving.

[0005] In a first aspect, this application provides a vehicle control method applied to a steering actuator of a vehicle, wherein the vehicle further includes a steering simulation device, a vehicle-mounted driving control device, a wheel rack structure, and a direction control rack structure, and the steering actuator is communicatively connected to the steering simulation device and the vehicle-mounted driving control device respectively; the steering actuator stores angle fusion ratios corresponding to different angle differences; the angle fusion ratios are directly proportional to the angle differences; the method includes:

[0006] When the vehicle is in vehicle-mounted driving mode, it receives manual intervention steering adjustment commands sent by the steering simulation device and vehicle-mounted steering adjustment commands sent by the vehicle-mounted driving control device; the manual intervention steering adjustment command is a command from the driver to adjust the angle of the rack structure of the steering control device; the vehicle-mounted steering adjustment command is a command from the vehicle-mounted driving control device to adjust the angle of the wheel rack structure.

[0007] The manual intervention steering adjustment command is parsed to obtain the manual intervention adjustment angle, and the vehicle system steering adjustment command is parsed to obtain the vehicle system adjustment angle.

[0008] Calculate the target angle difference between the manually adjusted angle and the vehicle-mounted system adjusted angle;

[0009] The target adjustment angle is determined by fusing the manual intervention adjustment angle and the vehicle system adjustment angle according to the target angle fusion ratio corresponding to the target angle difference.

[0010] The wheel rack structure is controlled according to the target adjustment angle to control the driving direction of the vehicle.

[0011] In some embodiments, before performing the fusion operation of the manually intervened adjustment angle and the vehicle-mounted system adjustment angle according to the target angle fusion ratio to determine the target adjustment angle, the method further includes:

[0012] Based on the target angle difference, determine whether to perform a fusion operation on the manually adjusted angle and the vehicle-mounted adjustment angle;

[0013] If the target angle difference is greater than the preset vehicle infotainment driving judgment value and the target angle difference is less than the preset manual intervention driving judgment value, then it is determined that the manual intervention adjustment angle and the vehicle infotainment adjustment angle will be merged.

[0014] In some embodiments, the method further includes:

[0015] If the target angle difference is less than or equal to the preset vehicle driving judgment value, or the target angle difference is greater than or equal to the preset manual intervention driving judgment value, then it is determined that the manual intervention adjustment angle and the vehicle adjustment angle will not be merged, and the manual intervention adjustment angle or the vehicle adjustment angle will be determined as the target adjustment angle.

[0016] In some implementations, determining the target adjustment angle as the manually adjusted angle or the vehicle-mounted system adjustment angle includes:

[0017] If the target angle difference is less than or equal to the preset vehicle infotainment driving judgment value, then the vehicle infotainment adjustment angle is determined as the target adjustment angle;

[0018] If the target angle difference is greater than or equal to the preset manual intervention driving judgment value, then the manual intervention adjustment angle is determined as the target adjustment angle, and the vehicle driving mode is exited.

[0019] In some implementations, the step of fusing the manually adjusted angle and the vehicle-mounted system adjusted angle according to the target angle fusion ratio corresponding to the target angle difference to determine the target adjustment angle includes:

[0020] Count the number of times the manual steering adjustment command sent by the steering simulation device is received;

[0021] Based on the number of times mentioned, determine the fusion ratio adjustment factor;

[0022] The target angle fusion ratio is adjusted according to the fusion ratio adjustment factor;

[0023] The target adjustment angle is determined by fusing the manually adjusted angle and the vehicle-mounted adjustment angle according to the adjusted target angle fusion ratio.

[0024] In some embodiments, the method further includes:

[0025] Obtain the current steering ratio of the steering simulation device;

[0026] The feedback steering angle of the steering simulation device is determined based on the current steering ratio and the target adjustment angle.

[0027] The feedback steering angle is sent to the steering simulation device so that the steering simulation device controls the rack structure of the direction control device according to the feedback steering angle.

[0028] Secondly, this application provides a vehicle control device applied to a vehicle steering actuator, wherein the vehicle further includes a wheel rack structure and a direction control device rack structure, and the steering actuator is communicatively connected to a steering simulation device and a vehicle driving control device; the steering actuator stores angle fusion ratios corresponding to different angle differences; the angle fusion ratio is directly proportional to the angle difference; the device includes:

[0029] The instruction receiving module is configured to receive manual intervention steering adjustment instructions sent by the steering simulation device and vehicle steering adjustment instructions sent by the vehicle driving control device when the vehicle is in vehicle driving mode; the manual intervention steering adjustment instructions are instructions from the driver to adjust the angle of the rack structure of the steering control device; the vehicle steering adjustment instructions are instructions from the vehicle driving control device to adjust the angle of the wheel rack structure.

[0030] The adjustment angle acquisition module is configured to parse the manual intervention steering adjustment command to obtain the manual intervention adjustment angle, and parse the vehicle system steering adjustment command to obtain the vehicle system adjustment angle; calculate the target angle difference between the manual intervention adjustment angle and the vehicle system adjustment angle; and perform a fusion operation on the manual intervention adjustment angle and the vehicle system adjustment angle according to the target angle fusion ratio corresponding to the target angle difference to determine the target adjustment angle.

[0031] The direction control module is configured to control the wheel rack structure according to the target adjustment angle in order to control the driving direction of the vehicle.

[0032] In some implementations, before performing the fusion operation between the manual intervention adjustment angle and the vehicle system adjustment angle according to the target angle fusion ratio to determine the target adjustment angle, the adjustment angle acquisition module is further configured to determine whether to perform the fusion operation between the manual intervention adjustment angle and the vehicle system adjustment angle based on the target angle difference; if the target angle difference is greater than a preset vehicle system driving judgment value and the target angle difference is less than a preset manual intervention driving judgment value, then it is determined that the fusion operation between the manual intervention adjustment angle and the vehicle system adjustment angle will be performed.

[0033] Thirdly, this application provides a steering actuator, including a processor and a memory, wherein the memory stores a computer program executable by the processor, the computer program being executable by the processor to implement the vehicle control method described in any of the foregoing embodiments.

[0034] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle control method as described in any of the foregoing embodiments.

[0035] The vehicle control method, apparatus, steering actuator, and readable storage medium provided in this application embodiment store angle fusion ratios corresponding to different angle differences. The angle fusion ratios are directly proportional to the angle differences. The method includes: in vehicle-machine driving mode, receiving manual intervention steering adjustment commands sent by a steering simulation device and vehicle-machine driving control device, parsing the manual intervention steering adjustment commands to obtain the manual intervention adjustment angle, parsing the vehicle-machine steering adjustment commands to obtain the vehicle-machine adjustment angle, calculating the target angle difference between the manual intervention adjustment angle and the vehicle-machine adjustment angle, fusing the manual intervention adjustment angle and the vehicle-machine adjustment angle according to the target angle fusion ratio corresponding to the target angle difference to determine the target adjustment angle, and controlling the wheel rack structure according to the target adjustment angle to control the vehicle's driving direction. By fusing the adjustment angle of the vehicle-machine driving control device and the adjustment angle input by the driver, the effect of responding to driver intervention is achieved, thereby improving vehicle driving safety. Attached Figure Description

[0036] Figure 1 shows a schematic diagram of an application environment for the vehicle control method provided in an embodiment of this application;

[0037] Figure 2 shows a schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0038] Figure 3 shows a schematic diagram of the correspondence between the angle difference and the angle fusion ratio provided by the embodiment of the present application;

[0039] Figure 4 shows another schematic flowchart of the vehicle control method provided by the embodiment of the present application;

[0040] Figure 5 shows another schematic flowchart of the vehicle control method provided by the embodiment of the present application;

[0041] Figure 6 shows another schematic flowchart of the vehicle control method provided by the embodiment of the present application;

[0042] Figure 7 shows a block diagram of the vehicle control device provided by the embodiment of the present application;

[0043] Figure 8 shows a block diagram of the steering execution device provided by the embodiment of the present application.

[0044] Icons: 100 - Steering execution device; 110 - Memory; 120 - Processor; 130 - Communication module; 200 - Steering simulation device; 300 - Vehicle driving control device; 400 - Wheel rack structure; 500 - Direction control device rack structure; 600 - Vehicle control device; 610 - Instruction receiving module; 620 - Adjustment angle acquisition module; 630 - Direction control module. Detailed implementation manners

[0045] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. The described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Usually, the components of the embodiments of the present application described and shown in the accompanying drawings here can be arranged and designed in various different configurations.

[0046] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application to be protected, but merely represents the selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0047] Relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0048] Please refer to Figure 1, which shows a schematic diagram of an application environment for the vehicle control method provided in this application embodiment. The vehicle includes a steering actuator 100, a steering simulation device 200, a vehicle-mounted driving control device 300, a wheel rack structure 400, and a direction control rack structure 500.

[0049] The steering actuator 100 is communicatively connected to the steering simulator 200 and the vehicle driving control device 300. The steering actuator 100, the steering simulator 200, and the vehicle driving control device 300 are all located in a network. The steering actuator 100 can communicate with the steering simulator 200 and the vehicle driving control device 300 respectively to realize data interaction between the steering actuator 100 and the steering simulator 200 and the vehicle driving control device 300.

[0050] In one approach, the steering actuator 100 can communicate with the steering simulation device 200 and the vehicle driving control device 300 via LIN (Local Interconnect Network) bus, CAN (Controller Area Network) bus, or other communication methods.

[0051] The steering actuator 100 can adjust the angle of the wheel rack structure 400 to adjust the actual driving direction of the vehicle.

[0052] The steering simulation device 200 can adjust the angle of the rack structure 500 of the steering control device to simulate the actual steering resistance of the vehicle, thereby controlling the rotation direction of the vehicle's steering control device to provide feedback to the driver. The steering control device may include the vehicle's steering wheel.

[0053] The vehicle-mounted driving control device 300 is configured to realize the vehicle's autonomous driving function. The vehicle-mounted driving control device 300 can generate vehicle-mounted steering adjustment commands based on the vehicle environment information detected by the various sensors installed in the vehicle, and send the vehicle-mounted steering adjustment commands to the steering actuator 100, so that the steering actuator 100 adjusts the angle of the wheel rack structure 400 according to the vehicle-mounted steering adjustment commands.

[0054] The wheel rack structure 400 is configured to adjust the rotation direction of the wheel, that is, the driving direction of the vehicle.

[0055] The rack and pinion structure 500 of the direction control device is configured to adjust the rotation direction of the vehicle's direction control device.

[0056] In some embodiments, the vehicle also includes a first engine and a second engine, the first engine being configured to drive a wheel rack structure 400 and the second engine being configured to drive a direction control device rack structure 500.

[0057] In some implementations, the vehicle also includes a torque and angle sensor (TAS) and a linear position sensor (LPS).

[0058] TAS can be used to detect the angle parameters of the rack structure 500 of the steering control device and send the angle parameters of the rack structure 500 of the steering control device to the steering simulation device 200 so that the steering simulation device 200 can adjust the rack structure 500 of the steering control device according to the angle parameters of the rack structure 500 of the steering control device.

[0059] LPS can be used to detect the angle parameters of the wheel rack structure 400 and send the angle parameters of the wheel rack structure 400 to the steering actuator 100 so that the steering actuator 100 can adjust the wheel rack structure 400 according to the angle parameters of the wheel rack structure 400.

[0060] The first engine, the second engine, the TAS, and the LPS mentioned above are not shown in Figure 1.

[0061] Please refer to Figure 2, which shows a schematic flowchart of a vehicle control method provided in an embodiment of this application. This vehicle control method can be applied to a vehicle's steering actuator. The steering actuator stores angle fusion ratios corresponding to different angle differences, and the angle fusion ratios are directly proportional to the angle differences. The specific flow of this embodiment is described below using a steering actuator as an example. The flow shown in Figure 2 will be described in detail below. Specifically, this vehicle control method may include the following steps:

[0062] S110: When the vehicle is in vehicle-machine driving mode, it receives manual intervention steering adjustment commands sent by the steering simulation device and vehicle-machine steering adjustment commands sent by the vehicle-machine driving control device.

[0063] Among them, the manual intervention steering adjustment command is the command of the driver to adjust the angle of the rack structure of the steering control device; the vehicle-mounted steering adjustment command is the command of the vehicle-mounted driving control device to adjust the angle of the wheel rack structure.

[0064] When the vehicle is in vehicle-machine driving mode, the steering actuator receives a manual intervention steering adjustment command from the steering simulation device. In reality, the driver intervenes in the vehicle-machine driving control operation by adjusting the rack structure angle of the steering control device. That is, the driver intervenes and controls the vehicle's steering at this time.

[0065] S120: Parse the manual intervention steering adjustment command to obtain the manual intervention adjustment angle, and parse the vehicle steering adjustment command to obtain the vehicle adjustment angle.

[0066] S130: Calculate the target angle difference between the manual intervention adjustment angle and the vehicle system adjustment angle.

[0067] In some implementations, if the adjustment direction of the manually intervened angle is the same as that of the vehicle-mounted adjustment angle, the target angle difference is the difference between the manually intervened angle and the vehicle-mounted adjustment angle; if the adjustment direction of the manually intervened angle is different from that of the vehicle-mounted adjustment angle, the target angle difference is the sum of the manually intervened angle and the vehicle-mounted adjustment angle.

[0068] For example, if the manual adjustment angle is 15° to the left and the vehicle's adjustment angle is 20° to the right, the target angle difference is 35 degrees; if the manual adjustment angle is 10° to the left and the vehicle's adjustment angle is 12° to the left, the target angle difference is 2 degrees.

[0069] S160: Based on the target angle fusion ratio corresponding to the target angle difference, perform a fusion operation on the manually adjusted angle and the vehicle-mounted adjustment angle to determine the target adjustment angle.

[0070] In some implementations, historical angle differences between manual intervention adjustment angles and vehicle-mounted adjustment angles at different vehicle speeds can be sampled. Bayesian estimation methods are then used to fit these historical angle differences at different vehicle speeds, constructing a correspondence between the angle differences and the angle fusion ratio. The steering actuator stores angle fusion ratios corresponding to different angle differences, with the fusion ratio ranging from [0, 1]. As shown in Figure 3, the correspondence between angle differences and angle fusion ratios is evident; the angle fusion ratio is directly proportional to the angle difference. In Figure 3, the horizontal axis represents the angle difference, and the vertical axis represents the angle fusion ratio.

[0071] The difference between the manual intervention adjustment angle and the vehicle-mounted adjustment angle is used as an indicator to assess the degree of driver intervention. A larger target angle difference indicates a greater need for driver intervention, in which case the driver-inputted manual intervention adjustment angle accounts for a larger proportion of the target adjustment angle; conversely, a smaller target angle difference indicates a lesser need for driver intervention, in which case the driver-inputted manual intervention adjustment angle accounts for a smaller proportion of the target adjustment angle. The steering actuator can dynamically adjust the response weight to driver input to ensure appropriate intervention response under different conditions, thereby optimizing the driving experience and improving vehicle driving safety.

[0072] In some implementations, the angle fusion ratio changes more slowly with the angle difference as the vehicle speed increases. For example, in Figure 3, the speed corresponding to curve B is greater than the speed corresponding to curve A.

[0073] In some implementations, the steering actuator can perform a fusion operation of the manual intervention adjustment angle and the vehicle-mounted adjustment angle according to the following formula:

[0074] θ = k × θ1 + (1 - k)θ2

[0075] Where θ represents the target adjustment angle, k represents the target angle fusion ratio, θ1 represents the manual intervention adjustment angle, and θ2 represents the vehicle system adjustment angle.

[0076] For example, as shown in Figure 3, the driving speed corresponding to curve A is driving speed 1, and the driving speed corresponding to curve B is driving speed 2. Driving speed 1 is less than driving speed 2. When the driving speed is driving speed 1, assuming that the manual intervention adjustment angle is 30 degrees to the right, the vehicle system adjustment angle is 10 degrees to the right, and the target angle difference is 20 degrees, then the target fusion ratio is 0.13, and the target adjustment angle is (0.13×30+(1-0.13)×20=21.3).

[0077] S170: The wheel rack structure is controlled according to the target adjustment angle to control the vehicle's direction of travel.

[0078] The vehicle control method provided in this application, when the vehicle is in vehicle-machine driving mode, receives manual intervention steering adjustment commands sent by a steering simulation device and vehicle-machine driving control device. The manual intervention steering adjustment commands are parsed to obtain a manual intervention adjustment angle, and the vehicle-machine steering adjustment commands are parsed to obtain a vehicle-machine adjustment angle. A target angle difference between the manual intervention adjustment angle and the vehicle-machine adjustment angle is calculated. The manual intervention adjustment angle and the vehicle-machine adjustment angle are fused according to the target angle fusion ratio corresponding to the target angle difference to determine the target adjustment angle. The wheel rack structure is controlled according to the target adjustment angle to control the vehicle's driving direction. By fusing the adjustment angle of the vehicle-machine driving control device and the adjustment angle input by the driver, the method achieves a response to driver intervention, thereby improving vehicle driving safety.

[0079] To prevent drivers from accidentally touching the steering wheel or from still performing angle merging in emergency situations, before the manual and vehicle-mounted angle adjustments are merged, the steering actuator intelligently determines whether merging is necessary based on the target angle difference. As shown in Figure 4, the steps preceding S160 are as follows:

[0080] S140: Determine whether to merge the manual angle adjustment and the vehicle-mounted angle adjustment based on the target angle difference.

[0081] In some implementations, the target angle difference is compared with a preset vehicle infotainment system driving judgment value and a preset manual intervention driving judgment value. Based on the comparison result, it is determined whether to perform a fusion operation on the manual intervention adjustment angle and the vehicle infotainment system adjustment angle. As shown in Figure 3, curve A represents the driving speed corresponding to curve A. It can be seen that when the preset vehicle infotainment system driving judgment value is angle 1, and the angle difference is less than or equal to angle 1, the angle fusion ratio is 0, that is, the vehicle infotainment system adjustment angle is determined as the target adjustment angle. When the preset manual intervention driving judgment value is angle 2, and the angle difference is greater than or equal to angle 2, the angle fusion ratio is 1, that is, the manual intervention adjustment angle is determined as the target adjustment angle.

[0082] S150A: If the target angle difference is greater than the preset vehicle driving judgment value and the target angle difference is less than the preset manual intervention driving judgment value, then it is determined that the manual intervention adjustment angle and the vehicle adjustment angle will be merged.

[0083] The target angle difference is located between the preset vehicle-mounted driving judgment value and the preset manual intervention driving judgment value, indicating that the driver is driving normally and is not in an extreme situation. The steering actuator can integrate the manual intervention adjustment angle and the vehicle-mounted adjustment angle according to the target angle difference. The steering actuator can make corresponding feedback when the driver intervenes appropriately, without completely switching to manual driving mode or vehicle-mounted driving mode, thereby improving the driver's driving experience and achieving a smooth transition between driver-driven and vehicle-mounted driving. It responds to the driver's driving operation and utilizes the intelligent driving capabilities of the vehicle-mounted driving control device.

[0084] S150B: If the target angle difference is less than or equal to the preset vehicle driving judgment value, or the target angle difference is greater than or equal to the preset manual intervention driving judgment value, then it is determined that the manual intervention adjustment angle and the vehicle adjustment angle will not be merged, and the manual intervention adjustment angle or the vehicle adjustment angle will be determined as the target adjustment angle.

[0085] In some implementations, if the target angle difference is less than or equal to a preset vehicle driving judgment value, the vehicle adjustment angle is determined as the target adjustment angle.

[0086] If the target angle difference is less than or equal to the preset vehicle driving judgment value, it indicates that the driver may have accidentally touched the vehicle's steering control device, or that the manual intervention adjustment angle is too small. The steering actuator does not merge the manual intervention adjustment angle and the vehicle adjustment angle, but determines the vehicle adjustment angle as the target adjustment angle. In other words, the steering actuator controls the wheel rack structure completely according to the vehicle driving control device's instruction to adjust the wheel rack structure angle.

[0087] In some implementations, if the target angle difference is greater than or equal to the preset manual intervention driving judgment value, the manual intervention adjustment angle is determined as the target adjustment angle, and the vehicle driving mode is exited.

[0088] If the target angle difference is greater than or equal to the preset manual intervention driving judgment value, it indicates that the driver has a high need for intervention in vehicle control due to system failure, complex road conditions or other safety issues. The manual intervention adjustment angle is set as the target adjustment angle, and the vehicle driving mode is exited. In other words, the steering actuator controls the wheel rack structure completely according to the driver's instruction to adjust the angle of the rack structure of the steering control device, so as to detect potential safety hazards in time and improve driving safety.

[0089] In the two extreme situations mentioned above (where the driver may accidentally activate the vehicle's steering control device; or where the driver has a high need for intervention in vehicle control due to system malfunction, complex road conditions, or other safety issues), the steering actuator avoids unnecessary fusion operations, thereby improving the driver's driving experience and driving safety.

[0090] To improve the adaptability of the steering actuator, the steering actuator can dynamically adjust the angle blending ratio according to the driver's habits, as shown in Figure 5. S160 further includes the following steps:

[0091] S161: Count the number of times a manual steering adjustment command is received from the steering simulation device.

[0092] In some implementations, the driver manually controls the vehicle's steering control device, the steering simulation device generates a manual intervention steering adjustment command based on the driver's manual control, and sends the manual intervention steering adjustment command to the steering actuator, which counts the number of times it receives the manual intervention steering adjustment command sent by the steering simulation device.

[0093] For example, starting from the start of the vehicle's driving mode, the steering simulation device sends manual intervention steering adjustment commands to the steering actuator 5 times.

[0094] S162: Determine the fusion ratio adjustment factor based on the number of times.

[0095] The range of the fusion ratio adjustment factor is [1, 2].

[0096] In some implementations, the total number of times the steering actuator controls the wheel rack structure is obtained, and the fusion ratio adjustment factor is determined by adding the minimum value of the fusion ratio adjustment factor to the total number of times the manual intervention steering adjustment command sent by the steering simulation device is received.

[0097] For example, if the total number of control operations is 100, and the number of times the manual intervention steering adjustment command sent by the steering simulation device is received is 40, then the proportion of the number of times the manual intervention steering adjustment command sent by the steering simulation device is received to the total number of control operations is 0.4, and the proportional adjustment factor is 1.4 (1-0.4=1.4).

[0098] S163: Adjust the target angle fusion ratio according to the fusion ratio adjustment factor.

[0099] In some implementations, the product of the fusion ratio adjustment factor and the target angle fusion ratio is used as the adjusted target angle fusion ratio.

[0100] For example, if the fusion ratio adjustment factor is 1.5 and the target angle fusion ratio is 0.5, then the adjusted target angle fusion ratio is 0.75.

[0101] S164: Based on the adjusted target angle fusion ratio, perform a fusion operation on the manually adjusted angle and the vehicle-mounted adjustment angle to determine the target adjustment angle.

[0102] To enhance the driver's driving experience, as shown in Figure 6, the vehicle control method further includes the following steps:

[0103] S210: Obtain the current steering ratio of the steering simulator.

[0104] The steering ratio is the proportional relationship between the rack structure of the steering control device and the rack structure of the wheel. For example, a steering ratio of 16:1 means that when the rack structure of the steering control device rotates 16 degrees, the rack structure of the wheel rotates 1 degree.

[0105] S220: Determine the feedback steering angle of the steering simulation device based on the current steering ratio and the target adjustment angle.

[0106] For example, assuming the target adjustment angle is 5 degrees, the current steering ratio is 8:1, and the feedback steering angle is 40 degrees (5 × 8 = 40 degrees).

[0107] S230: Send the feedback steering angle to the steering simulation device so that the steering simulation device controls the rack structure of the direction control device according to the feedback steering angle.

[0108] By using a steering simulation device to simulate the steering response of a real vehicle in different driving directions based on feedback steering angles, drivers can obtain a more realistic and natural driving experience, which helps improve driver comfort, especially in autonomous driving systems. At the same time, this natural steering feel also helps improve the driver's sense of control over the vehicle, thereby enhancing safety.

[0109] To perform the corresponding steps in the above embodiments and various possible methods, an implementation of a vehicle control device is given below. Please refer to Figure 7, which is a functional block diagram of a vehicle control device provided in an embodiment of this application. The basic principle and technical effects of the vehicle control device provided in this embodiment are the same as those in the above embodiments. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments. The vehicle control device 600 includes: a command receiving module 610, an adjustment angle acquisition module 620, and a direction control module 630, wherein:

[0110] The instruction receiving module 610 is configured to receive manual intervention steering adjustment instructions sent by the steering simulation device and vehicle steering adjustment instructions sent by the vehicle driving control device when the vehicle is in vehicle driving mode; the manual intervention steering adjustment instruction is an instruction from the driver to adjust the angle of the rack structure of the steering control device; the vehicle steering adjustment instruction is an instruction from the vehicle driving control device to adjust the angle of the wheel rack structure.

[0111] The adjustment angle acquisition module 620 is configured to parse the manual intervention steering adjustment command to obtain the manual intervention adjustment angle, and parse the vehicle system steering adjustment command to obtain the vehicle system adjustment angle; calculate the target angle difference between the manual intervention adjustment angle and the vehicle system adjustment angle; and perform a fusion operation on the manual intervention adjustment angle and the vehicle system adjustment angle according to the target angle fusion ratio corresponding to the target angle difference to determine the target adjustment angle.

[0112] The direction control module 630 is configured to control the wheel rack structure according to the target adjustment angle in order to control the driving direction of the vehicle.

[0113] In some embodiments, before performing a fusion operation on the manual intervention adjustment angle and the vehicle system adjustment angle according to the target angle fusion ratio to determine the target adjustment angle, the adjustment angle acquisition module 620 is further configured to determine whether to perform a fusion operation on the manual intervention adjustment angle and the vehicle system adjustment angle based on the target angle difference; if the target angle difference is greater than a preset vehicle system driving judgment value and the target angle difference is less than a preset manual intervention driving judgment value, then it is determined that a fusion operation on the manual intervention adjustment angle and the vehicle system adjustment angle will be performed.

[0114] In some embodiments, the adjustment angle acquisition module 620 is further configured to determine that if the target angle difference is less than or equal to a preset vehicle-mounted vehicle driving judgment value, or the target angle difference is greater than or equal to a preset manual intervention driving judgment value, then the manual intervention adjustment angle and the vehicle-mounted vehicle adjustment angle will not be merged, and the manual intervention adjustment angle or the vehicle-mounted vehicle adjustment angle will be determined as the target adjustment angle.

[0115] In some embodiments, the adjustment angle acquisition module 620 is further configured to determine the vehicle adjustment angle as the target adjustment angle if the target angle difference is less than or equal to the preset vehicle driving judgment value; and to determine the manual intervention adjustment angle as the target adjustment angle and exit the vehicle driving mode if the target angle difference is greater than or equal to the preset manual intervention driving judgment value.

[0116] In some embodiments, the adjustment angle acquisition module 620 is further configured to count the number of times a manual intervention steering adjustment command sent by the steering simulation device is received; determine a fusion ratio adjustment factor based on the number of times; adjust the target angle fusion ratio based on the fusion ratio adjustment factor; and perform a fusion operation on the manual intervention adjustment angle and the vehicle-mounted system adjustment angle based on the adjusted target angle fusion ratio to determine the target adjustment angle.

[0117] In some embodiments, the vehicle control device 600 further includes a feedback adjustment module, wherein:

[0118] The feedback adjustment module is configured to acquire the current steering ratio of the steering simulation device; determine the feedback steering angle of the steering simulation device based on the current steering ratio and the target adjustment angle; and send the feedback steering angle to the steering simulation device so that the steering simulation device controls the rack structure of the direction control device according to the feedback steering angle.

[0119] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described device and module can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0120] In the several embodiments provided in this application, the coupling between modules can be electrical, mechanical, or other forms of coupling.

[0121] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0122] Please refer to Figure 8, which is a block diagram of a steering actuator 100 provided in an embodiment of this application. The steering actuator 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, processor 120, and communication module 130 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0123] The memory 110 is used to store programs or data. The memory 110 can be a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0124] The processor 120 is used to read / write data or programs stored in the memory and perform corresponding functions. For example, when the computer program stored in the memory 110 is executed by the processor 120, the vehicle control method disclosed in the above embodiments can be implemented.

[0125] The communication module 130 is used to establish a communication connection between the steering actuator 100 and the vehicle driving control device and the steering simulation device via the network, and to send and receive data via the network.

[0126] The structure shown in Figure 8 is only a schematic diagram of the steering actuator. The steering actuator may include more or fewer components than those shown in Figure 8. The components shown in Figure 8 can be implemented using hardware, software, or a combination thereof.

[0127] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the vehicle control method described in the above method embodiments.

[0128] Computer-readable storage media can be electronic storage devices such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Optionally, computer-readable storage media includes non-transitory computer-readable storage medium. The computer-readable storage medium has storage space for program code that performs any of the method steps described above. This program code can be read from or written to one or more computer program products. The program code can be compressed, for example, in a suitable form.

[0129] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0130] If a function is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to related technologies, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A vehicle control method applied to a steering actuator of a vehicle, the vehicle further comprising a steering simulation device, a vehicle-mounted driving control device, a wheel rack structure, and a direction control rack structure, wherein the steering actuator is communicatively connected to the steering simulation device and the vehicle-mounted driving control device respectively. The steering actuator stores angle fusion ratios corresponding to different angle differences; The angle fusion ratio is directly proportional to the angle difference; the method includes: When the vehicle is in vehicle-mounted driving mode, it receives manual intervention steering adjustment commands sent by the steering simulation device and vehicle-mounted steering adjustment commands sent by the vehicle-mounted driving control device; the manual intervention steering adjustment command is a command from the driver to adjust the angle of the rack structure of the steering control device; the vehicle-mounted steering adjustment command is a command from the vehicle-mounted driving control device to adjust the angle of the wheel rack structure. The manual intervention steering adjustment command is parsed to obtain the manual intervention adjustment angle, and the vehicle system steering adjustment command is parsed to obtain the vehicle system adjustment angle. Calculate the target angle difference between the manually adjusted angle and the vehicle-mounted system adjusted angle; The target adjustment angle is determined by fusing the manual intervention adjustment angle and the vehicle system adjustment angle according to the target angle fusion ratio corresponding to the target angle difference. The wheel rack structure is controlled according to the target adjustment angle to control the driving direction of the vehicle.

2. The method according to claim 1, before performing the fusion operation between the manually adjusted angle and the vehicle-mounted adjustment angle according to the target angle fusion ratio to determine the target adjustment angle, the method further includes: Based on the target angle difference, determine whether to perform a fusion operation on the manually adjusted angle and the vehicle-mounted adjustment angle; If the target angle difference is greater than the preset vehicle infotainment driving judgment value and the target angle difference is less than the preset manual intervention driving judgment value, then it is determined that the manual intervention adjustment angle and the vehicle infotainment adjustment angle will be merged.

3. The method according to claim 2, further comprising: If the target angle difference is less than or equal to the preset vehicle driving judgment value, or the target angle difference is greater than or equal to the preset manual intervention driving judgment value, then it is determined that the manual intervention adjustment angle and the vehicle adjustment angle will not be merged, and the manual intervention adjustment angle or the vehicle adjustment angle will be determined as the target adjustment angle.

4. The method according to claim 3, wherein, The step of determining the target adjustment angle as the manually adjusted angle or the vehicle-mounted system adjustment angle includes: If the target angle difference is less than or equal to the preset vehicle infotainment driving judgment value, then the vehicle infotainment adjustment angle is determined as the target adjustment angle; If the target angle difference is greater than or equal to the preset manual intervention driving judgment value, then the manual intervention adjustment angle is determined as the target adjustment angle, and the vehicle driving mode is exited.

5. The method according to claim 1, wherein, The step of fusing the manually adjusted angle and the vehicle-mounted system adjusted angle according to the target angle fusion ratio corresponding to the target angle difference to determine the target adjustment angle includes: Count the number of times the manual steering adjustment command sent by the steering simulation device is received; Based on the number of times mentioned, determine the fusion ratio adjustment factor; The target angle fusion ratio is adjusted according to the fusion ratio adjustment factor; The target adjustment angle is determined by fusing the manually adjusted angle and the vehicle-mounted adjustment angle according to the adjusted target angle fusion ratio.

6. The method according to any one of claims 1-5, further comprising: Obtain the current steering ratio of the steering simulation device; The feedback steering angle of the steering simulation device is determined based on the current steering ratio and the target adjustment angle. The feedback steering angle is sent to the steering simulation device so that the steering simulation device controls the rack structure of the direction control device according to the feedback steering angle.

7. A vehicle control device, applied to a steering actuator of a vehicle, the vehicle further comprising a wheel rack structure and a direction control rack structure, the steering actuator being communicatively connected to a steering simulation device and a vehicle driving control device respectively; The steering actuator stores angle fusion ratios corresponding to different angle differences; The angle fusion ratio is directly proportional to the angle difference; the device includes: The instruction receiving module is configured to receive manual intervention steering adjustment instructions sent by the steering simulation device and vehicle steering adjustment instructions sent by the vehicle driving control device when the vehicle is in vehicle driving mode; the manual intervention steering adjustment instructions are instructions from the driver to adjust the angle of the rack structure of the steering control device; the vehicle steering adjustment instructions are instructions from the vehicle driving control device to adjust the angle of the wheel rack structure. The adjustment angle acquisition module is configured to parse the manual intervention steering adjustment command to obtain the manual intervention adjustment angle, and parse the vehicle system steering adjustment command to obtain the vehicle system adjustment angle; calculate the target angle difference between the manual intervention adjustment angle and the vehicle system adjustment angle; and perform a fusion operation on the manual intervention adjustment angle and the vehicle system adjustment angle according to the target angle fusion ratio corresponding to the target angle difference to determine the target adjustment angle. The direction control module is configured to control the wheel rack structure according to the target adjustment angle in order to control the driving direction of the vehicle.

8. The apparatus according to claim 7, wherein, Before performing the fusion operation between the manual intervention adjustment angle and the vehicle system adjustment angle according to the target angle fusion ratio to determine the target adjustment angle, the adjustment angle acquisition module is further configured to determine whether to perform the fusion operation between the manual intervention adjustment angle and the vehicle system adjustment angle based on the target angle difference; if the target angle difference is greater than a preset vehicle system driving judgment value and the target angle difference is less than a preset manual intervention driving judgment value, then it is determined that the fusion operation between the manual intervention adjustment angle and the vehicle system adjustment angle will be performed.

9. A steering actuator, comprising a processor and a memory, the memory storing a computer program executable by the processor to implement the vehicle control method according to any one of claims 1-6.

10. A computer-readable storage medium having a computer program stored thereon, the computer program implementing the vehicle control method as described in any one of claims 1-6 when executed by a processor.

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