Vehicle return-to-center method and apparatus, device, and storage medium

Abstract

A vehicle return-to-center method and apparatus, a device, and a storage medium. The vehicle return-to-center method comprises: acquiring an initial return-to-center torque, and using the initial return-to-center torque to perform return-to-center control on a vehicle (101); if a first torque is acquired on the basis of a torque sensor in a steering wheel, determining a target return-to-center rotational speed on the basis of the first torque (102); and on the basis of the target return-to-center rotational speed, performing return-to-center control on the vehicle (103). When it is determined that a user requires return-to-center during reversing, the return-to-center rotational speed is dynamically adjusted on the basis of the torque applied by the user, so as to reduce the steering effort required from the user, thereby improving the user experience during reversing.

Description

A method, apparatus, device and storage medium for vehicle straightening. Technical Field

[0001] This invention relates to the field of terminal technology, and in particular to a vehicle straightening method, apparatus, device, and storage medium. Background Technology

[0002] When the vehicle turns, three forces assist the vehicle and steering wheel in returning to center, improving the driving experience: the self-centering torque generated by the elastic deformation of the tires, the self-centering torque generated by the kingpin inclination structure of the chassis, and the self-centering torque provided by the electric power steering system based on an algorithm. Among them, the self-centering force provided by the electric power steering system can be dynamically adjusted, playing a key role in the adjustability of the final self-centering feel.

[0003] However, traditional steering control algorithms are primarily designed for forward driving scenarios, prioritizing a smooth and comfortable response. In reversing scenarios, due to lower speeds and limited reversing distances, drivers need to apply significant hand force to center the tires quickly, resulting in a poor driving experience. Summary of the Invention

[0004] The purpose of this invention is to provide a vehicle straightening method, apparatus, device, and storage medium to solve the technical problems in the prior art.

[0005] In a first aspect, embodiments of this application provide a vehicle straightening method, the method comprising:

[0006] The initial return torque is obtained and used to control the vehicle to return to center. If a first torque is obtained based on the torque sensor in the steering wheel, the target return speed is determined based on the first torque. The vehicle is then controlled to return to center based on the target return speed.

[0007] In this embodiment of the application, when it is determined that the user needs to straighten the vehicle, the straightening speed is dynamically adjusted based on the torque applied by the user to reduce the hand force required by the user, thereby improving the user's experience during the reversing process.

[0008] In some possible embodiments, controlling the vehicle to return to center based on a target return speed includes: obtaining the actual return speed based on a speed sensor in the steering wheel; obtaining a corrected return speed based on the actual return speed and the target return speed; obtaining a proportional gain coefficient and an integral gain coefficient based on a first torque; obtaining a target return torque based on the corrected return speed, the proportional gain coefficient, and the integral gain coefficient; and controlling the vehicle to return to center based on the target return torque.

[0009] In this embodiment, the vehicle's return torque is adjusted based on the torque applied by the driver to the reverse wheel, ensuring that the vehicle's return speed meets the user's expectations.

[0010] In some possible embodiments, the target homing torque is obtained based on the corrected homing speed, the proportional gain coefficient, and the integral gain coefficient, including: integrating the corrected homing speed based on the integral gain coefficient to obtain a first target value; and obtaining a second target value based on the proportional gain coefficient and the corrected homing speed; and obtaining the target homing torque based on the first target value and the second target value.

[0011] In this embodiment of the application, by setting the integral gain coefficient and the proportional gain coefficient, the increased feel of rough road surfaces is mitigated, thus ensuring the driver's driving experience.

[0012] In some possible embodiments, the proportional gain coefficient is positively proportional to the first torque, and the proportional gain coefficient is set according to the roughness of the road surface.

[0013] In this embodiment, by setting a proportional gain coefficient, the increased feel of rough road surfaces is mitigated, thus ensuring the driver's driving experience.

[0014] In some possible embodiments, before obtaining the initial return torque, the method further includes: determining that the gear of the vehicle is the target gear, and determining that the vehicle speed is less than a preset speed.

[0015] In this embodiment of the application, by judging the vehicle's gear and speed, it is ensured that the vehicle can be promptly controlled to return to center when the driver needs to reverse.

[0016] In some possible embodiments, the method further includes: if it is determined that the vehicle has finished returning to center, then obtaining the target torque corresponding to the current gear of the vehicle; adjusting the torque value of the vehicle from the target return torque to the normal target return torque according to a preset rate of change.

[0017] In this embodiment, by setting a preset rate of change, a smooth transition of the vehicle torque value is ensured, further guaranteeing the driver's driving experience.

[0018] In some possible embodiments, obtaining the initial return torque includes: obtaining the initial return torque according to a preset initial vehicle return torque table; or, obtaining a preset return torque and using the preset return torque as the initial return torque.

[0019] In this embodiment of the application, the vehicle's return to center is automated by setting an initial vehicle return marker and a preset return speed.

[0020] Secondly, embodiments of this application also provide a vehicle return-to-center control device, the device comprising:

[0021] The acquisition module is used to acquire the initial return torque and use the initial return torque to control the vehicle to return to center.

[0022] The speed determination module is used to determine the target return-to-center speed based on the first torque obtained from the torque sensor in the steering wheel.

[0023] The return-to-center module is used to control the vehicle's return-to-center based on the target return-to-center speed.

[0024] In some possible embodiments, the return-to-center module is specifically used to: obtain the actual return-to-center speed based on the speed sensor in the steering wheel; obtain the corrected return-to-center speed based on the actual return-to-center speed and the target return-to-center speed; obtain the proportional gain coefficient and the integral gain coefficient based on the first torque; obtain the target return-to-center torque based on the corrected return-to-center speed, the proportional gain coefficient and the integral gain coefficient; and control the vehicle to return to center based on the target return-to-center torque.

[0025] In some possible embodiments, the homing module is specifically used to: integrate the corrected homing speed based on the integral gain coefficient to obtain a first target value; and obtain a second target value based on the proportional gain coefficient and the corrected homing speed; and obtain a target homing torque based on the first target value and the second target value.

[0026] In some possible embodiments, the proportional gain coefficient is positively proportional to the first torque, and the proportional gain coefficient is set according to the roughness of the road surface.

[0027] In some possible embodiments, the acquisition module is further configured to determine that the gear of the vehicle is the target gear and to determine that the vehicle speed is less than a preset speed.

[0028] In some possible embodiments, the return-to-center module is further configured to: if it is determined that the vehicle return-to-center has ended, obtain the target torque corresponding to the current gear of the vehicle; and adjust the torque value of the vehicle from the target return-to-center torque to the target torque according to a preset rate of change.

[0029] In some possible embodiments, the acquisition module is specifically used to: obtain the initial return torque according to a preset initial vehicle return table; or, obtain a preset return torque and use the preset return torque as the initial return torque.

[0030] Thirdly, embodiments of this application also provide a vehicle dynamic control system, the system including: the vehicle return-to-center device described in the second aspect above.

[0031] Fourthly, embodiments of this application also provide a vehicle, including: a processor and a memory, the memory being used to store a program; the processor being used to run the program to implement the vehicle return-to-center method described in any of the first aspects above.

[0032] Fifthly, another embodiment of this application provides an electronic device, including at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform any of the methods provided in the first or second aspect of this application.

[0033] Sixthly, another embodiment of this application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for causing a computer to perform any of the methods provided in the first or second aspect of this application.

[0034] In a seventh aspect, another embodiment of this application also provides a computer program product, the computer program product comprising: computer program code, which, when run on a computer, causes the computer to perform any of the methods provided in the first or second aspect embodiments described above.

[0035] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0036] Figure 1 is a schematic diagram of the overall process of a vehicle straightening method provided in an embodiment of this application;

[0037] Figure 2 is a schematic representation of the initial vehicle straightening method provided in an embodiment of this application;

[0038] Figure 3 is a schematic diagram of the process of controlling vehicle return to center based on target return speed according to an embodiment of this application;

[0039] Figure 4 is a schematic representation of the relationship between the proportional gain coefficient, the integral gain coefficient, and the first torque in a vehicle return-to-center method provided in an embodiment of this application.

[0040] Figure 5 is a schematic representation of the relationship between the proportional gain coefficient and the first torque in a vehicle return-to-center method provided in an embodiment of this application.

[0041] Figure 6 is a schematic representation of the relationship between the integral gain coefficient and the first torque in a vehicle return-to-center method provided in an embodiment of this application;

[0042] Figure 7 is a flowchart illustrating a vehicle return-to-center method according to an embodiment of this application, which obtains the target return-to-center torque based on the modified return-to-center speed, proportional gain coefficient, and integral gain coefficient.

[0043] Figure 8 is a schematic diagram of an application scenario of a vehicle straightening method provided in an embodiment of this application;

[0044] Figure 9 is a schematic diagram of an apparatus for a vehicle straightening method provided in an embodiment of this application;

[0045] Figure 10 is a schematic diagram of an electronic device for a vehicle straightening method provided in an embodiment of this application. Detailed Implementation

[0046] The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0047] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0048] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0049] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0050] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0051] When the vehicle turns, three forces assist the vehicle and steering wheel in returning to center, improving the driving experience: the self-centering torque generated by the elastic deformation of the tires, the self-centering torque generated by the kingpin inclination structure of the chassis, and the self-centering torque provided by the electric power steering system based on an algorithm. Among them, the self-centering force provided by the electric power steering system can be dynamically adjusted, playing a key role in the adjustability of the final self-centering feel.

[0052] However, traditional steering control algorithms are primarily designed for forward driving scenarios, prioritizing a smooth and comfortable response. In reversing scenarios, due to lower speeds and limited reversing distances, drivers need to apply significant hand force to center the tires quickly, resulting in a poor driving experience.

[0053] To address the aforementioned problems, this application provides a vehicle centering method, apparatus, device, and storage medium to solve these issues. The inventive concept of this application can be summarized as follows: obtaining an initial centering torque and using the initial centering torque to control vehicle centering; if a first torque is obtained based on a torque sensor in the steering wheel, then determining a target centering speed based on the first torque; and controlling vehicle centering based on the target centering speed.

[0054] In this embodiment of the application, when it is determined that the user needs to straighten the vehicle, the straightening speed is dynamically adjusted based on the torque applied by the user to reduce the hand force required by the user, thereby improving the user's experience during the reversing process.

[0055] For ease of understanding, the vehicle straightening method provided in this application embodiment will be described in detail below with reference to the accompanying drawings:

[0056] Figure 1 shows a schematic diagram of the overall process of a vehicle straightening method provided in an embodiment of this application, wherein:

[0057] In step 101: Obtain the initial return torque and use the initial return torque to control the vehicle to return to center.

[0058] In this embodiment, an initial return torque is set. During the process of the vehicle reversing and returning to center, the initial return torque can be used to control the vehicle's return speed within a preset range. It is understood that different vehicles with the same initial return torque may have different return speeds due to road conditions and other factors.

[0059] It should be clarified that all speeds mentioned in this application (target return speed, corrected return speed, actual return speed) refer to the speed of the steering wheel.

[0060] In some possible embodiments, the initial return torque can be pre-calibrated, i.e., a preset return torque can be obtained and used as the initial return torque; alternatively, the initial return torque can be obtained based on the preset torque and a preset initial vehicle return torque table. It is understood that when using the initial return torque to control vehicle return, if the road surface is too rough, the corresponding return speed of the vehicle may be relatively low; if the road surface is relatively smooth, the return speed of the vehicle may be relatively high.

[0061] For example, the preset initial vehicle return table can be shown in Figure 2, and the initial return torque can be obtained as rr.

[0062] In some other possible embodiments, in order to accurately determine whether the user needs to reverse and straighten the vehicle, the following can be performed before implementing step 101: determining whether the vehicle's gear is the target gear and whether the vehicle speed is less than a preset speed; if the vehicle's gear is determined to be the target gear and the vehicle speed is determined to be less than the preset speed, then the steps shown in Figure 1 are executed. The target gear is the reverse gear (R gear).

[0063] In this embodiment of the application, when the vehicle is in reverse gear and the vehicle speed is lower than the preset speed, it is determined that the driver has a need to straighten the vehicle. When the vehicle is in a non-reverse gear, it indicates that the driver does not have a need to straighten the vehicle. When the vehicle is in reverse gear but the vehicle speed is high, it indicates that the driver may be reversing and does not have a need to straighten the vehicle. Therefore, the straightening method provided in this embodiment of the application is not required.

[0064] In step 102: If the first torque is obtained based on the torque sensor in the steering wheel, the target return speed is determined based on the first torque.

[0065] In this embodiment of the application, if the driver is not satisfied with the vehicle's return speed during the process of the vehicle returning to center according to the initial return torque, the vehicle's return speed can be adjusted by applying torque to the steering wheel. The first torque is the torque applied to the steering wheel by the driver based on the torque sensor in the steering wheel. Determining the target return speed by obtaining the first torque can make the vehicle's return speed reach the driver's expectations.

[0066] In some possible embodiments, when determining the target homing speed based on the first torque, the target homing speed can be determined based on a pre-built lookup table between torque and speed.

[0067] In step 103: the vehicle is controlled to return to center based on the target return speed.

[0068] In this embodiment of the application, after obtaining the target return speed, the vehicle can be controlled to return to center based on the target return speed.

[0069] In some possible embodiments, the vehicle is controlled to return to center based on the target return speed, which can be specifically implemented as shown in Figure 3, wherein:

[0070] Step 301: Obtain the actual return-to-center speed based on the speed sensor in the steering wheel.

[0071] In this embodiment, considering that it takes a certain amount of time from when the driver applies torque to the steering wheel until the steering wheel reaches the driver's required speed, there will be a certain deviation between the target return speed corresponding to the first torque applied by the driver to the steering wheel and the current actual return speed of the steering wheel. Therefore, it is necessary to obtain the actual return speed of the steering wheel through the speed sensor in the steering wheel.

[0072] Step 302: Obtain the corrected return speed based on the actual return speed and the target return speed.

[0073] In this embodiment, after obtaining the actual return-to-center speed and the target return-to-center speed, the difference between the target return-to-center speed and the actual return-to-center speed is used as the corrected return-to-center speed. Specifically, it can be implemented as Formula 1, where: ΔHwVel=HwVel tar -HwVel real , (Formula 1)

[0074] Where ΔHwVel is the corrected return speed, HwVel tar HwVel represents the actual return speed. real The target return speed.

[0075] Understandably, if the driver applies torque in the direction of steering wheel rotation, it means the driver feels the current return to center is too slow and wants to increase the return speed. This will cause the target return speed to be greater than the actual return speed, resulting in a positive corrected return speed. Conversely, if the driver applies torque in the opposite direction of steering wheel rotation, it means the driver feels the current return to center is too fast and wants to decrease the return speed. This will cause the target return speed to be less than the actual return speed, resulting in a negative corrected return speed.

[0076] Step 303: Obtain the proportional gain coefficient and integral gain coefficient based on the first torque.

[0077] In this embodiment, to mitigate the increased force required from rough road surfaces, different proportional gain coefficients are set according to varying road roughness. The rougher the road surface, the greater the force the driver needs to apply; therefore, the proportional gain coefficient is positively proportional to the first torque. Simultaneously, to ensure calculation accuracy, an integral gain coefficient is set in this embodiment, with different integral gain coefficients corresponding to different first torques.

[0078] For example, the relationship between the proportional gain coefficient, the integral gain coefficient and the first torque is shown in Figure 4. If the first torque is A, then the integral gain coefficient is a1 and the proportional gain coefficient is a2.

[0079] In some other possible embodiments, the relationship between the proportional gain coefficient, the integral gain coefficient and the first torque can be the same as shown in Figure 4, or as shown in Figures 5 and 6. Figure 5 is a table showing the relationship between the proportional gain coefficient and the first torque, and Figure 6 is a table showing the relationship between the integral gain coefficient and the first torque.

[0080] Step 304: Obtain the target return torque based on the corrected return speed, proportional gain coefficient, and integral gain coefficient.

[0081] In this embodiment of the application, after obtaining the corrected return speed, proportional gain coefficient and integral gain coefficient, the target return torque can be obtained, and then the vehicle can be controlled to return to center.

[0082] In some possible embodiments, the target return torque is obtained based on the corrected return speed, the proportional gain coefficient, and the integral gain coefficient, specifically implemented as shown in Figure 7, wherein:

[0083] In step 701: The corrected return speed is integrally processed based on the integral gain coefficient to obtain the first target value.

[0084] In this embodiment of the application, the corrected return speed during the time interval between the moment when the target return torque is first obtained and the moment when the target return torque is currently obtained is integrated and multiplied by the integral gain coefficient to obtain the first target value.

[0085] In step 702: the second target value is obtained based on the proportional gain coefficient and the corrected return speed.

[0086] In this embodiment of the application, the product of the proportional gain coefficient and the corrected return speed is used as the second target value.

[0087] In step 703: the target return torque is obtained based on the first target value and the second target value.

[0088] In this embodiment of the application, the sum of the first target value and the second target value is used as the target return torque.

[0089] For example, the steps in Figure 7 above can be specifically implemented as Formula 2, wherein:

[0090] Where MotTq is the target return torque, K P ΔHwVel is the proportional gain coefficient, ΔHwVel is the corrected return speed, Ki is the integral gain coefficient, and t is the time between the moment when the target return torque is first acquired and the moment when the target return torque is currently acquired.

[0091] Step 305: Control the vehicle to return to center based on the target return torque.

[0092] It is understandable that there is a certain amount of time from when the driver starts to apply torque to the steering wheel until the driver releases the steering wheel. After confirming that the driver has released the steering wheel, there is no need to continue to execute the process shown in Figure 7. The target return torque can be obtained by executing the process shown in Figure 7 for the last time to control the vehicle to return to center.

[0093] In some possible embodiments, determining whether the driver is applying torque in the steering wheel can be implemented as follows: if the torque detected by the torque sensor in the steering wheel is greater than a preset torque threshold and the duration exceeds a preset first torque duration, it can be determined that the driver has applied torque in the steering wheel. At this time, the real-time target return torque can be determined through the steps shown in Figure 3 above, and the vehicle can be controlled to return to center based on the real-time determined target return torque.

[0094] In some other possible embodiments, determining whether the driver has released the steering wheel can be implemented as follows: if the torque detected by the torque sensor in the steering wheel is less than a preset torque threshold and the duration exceeds a preset second torque duration, it can be determined that the driver has released the steering wheel. At this time, it is not necessary to execute the steps 301-304 in Figure 3 above. The target return torque obtained from the last execution in Figure 3 can be used to continue to control the vehicle to return to center.

[0095] In some possible embodiments, after the reversing to center position is completed, the driver may switch to another gear to continue driving. In order to ensure the driver's experience, it is necessary to ensure a smooth transition in the torque switching process. Specifically, it can be implemented as follows: if it is determined that the vehicle has finished reversing to center, the target torque corresponding to the current gear of the vehicle is obtained; the torque value of the vehicle is adjusted from the target centering torque to the target torque according to a preset rate of change.

[0096] In this embodiment, a preset rate of change is set. By using the preset rate of change, the torque value of the vehicle can be smoothly transitioned from the target torque to the target torque value, avoiding sudden torque changes that could cause vehicle instability and improving the driver's driving experience.

[0097] To facilitate a further understanding of the vehicle straightening method provided in this application embodiment, the following detailed description of the vehicle straightening method provided in this application embodiment, in conjunction with an application scenario, is shown in Figure 8:

[0098] If it is determined that the vehicle is in reverse gear and the vehicle speed is lower than the preset speed, it can be determined that the vehicle needs to perform a reverse straightening operation. Therefore, the initial straightening torque is obtained and the vehicle is controlled to straighten using the initial straightening torque. If the driver is not satisfied with the speed of the vehicle straightening during the process of the vehicle being controlled to straighten using the torque corresponding to the initial straightening torque, torque can be applied to the steering wheel. If the driver feels the vehicle's return-to-center speed is too fast, they can apply torque in the opposite direction of steering wheel rotation until the desired speed is achieved. The target return-to-center speed is acquired in real-time during the driver's steering wheel rotation, and the target return-to-center torque is determined based on this speed. The vehicle is then controlled to return to center using this torque. If the driver feels the return-to-center speed is too slow, they can apply torque in the same direction until the desired speed is achieved. The target return-to-center speed is acquired in real-time during the driver's steering wheel rotation, and the target return-to-center torque is determined based on this torque. Once the driver is satisfied with the return-to-center speed, they can release the steering wheel, and the vehicle will be controlled based on the final calculated target return-to-center torque until it is straight.

[0099] Based on the same inventive concept, this application also provides a vehicle straightening device, as shown in FIG9, the device comprising:

[0100] The acquisition module 9001 is used to acquire the initial return torque and use the initial return torque to control the vehicle to return to center.

[0101] The speed determination module 9002 is used to determine the target return speed based on the first torque if a first torque is obtained based on the torque sensor in the steering wheel.

[0102] The return-to-center module 9003 is used to control the vehicle to return to center based on the target return-to-center speed.

[0103] In some possible embodiments, the return-to-center module 9003 is specifically used for: obtaining the actual return-to-center speed based on the speed sensor in the steering wheel; obtaining the corrected return-to-center speed based on the actual return-to-center speed and the target return-to-center speed; obtaining the proportional gain coefficient and the integral gain coefficient based on the first torque; obtaining the target return-to-center torque based on the corrected return-to-center speed, the proportional gain coefficient and the integral gain coefficient; and controlling the vehicle to return to center based on the target return-to-center torque.

[0104] In some possible embodiments, the homing module 9003 is specifically used to: perform integral processing on the corrected homing speed based on the integral gain coefficient to obtain a first target value; and obtain a second target value based on the proportional gain coefficient and the corrected homing speed; and obtain a target homing torque based on the first target value and the second target value.

[0105] In some possible embodiments, the proportional gain coefficient is positively proportional to the first torque, and the proportional gain coefficient is set according to the roughness of the road surface.

[0106] In some possible embodiments, the acquisition module 9001 is further configured to determine that the gear of the vehicle is the target gear and to determine that the vehicle speed is less than a preset speed.

[0107] In some possible embodiments, the return-to-center module 9003 is further configured to: if it is determined that the vehicle return-to-center has ended, obtain the target torque corresponding to the current gear of the vehicle; and adjust the torque value of the vehicle from the target return-to-center torque to the target torque according to a preset rate of change.

[0108] In some possible embodiments, the acquisition module 9001 is specifically used to: obtain the initial return torque according to the preset initial vehicle return table; or, obtain the preset return torque and use the preset return torque as the initial return torque.

[0109] This application embodiment also provides a vehicle dynamic control system, the system including: the vehicle return-to-center device shown in FIG9 above.

[0110] This application also provides a vehicle, including: a processor and a memory, wherein the memory is used to store a program; the processor is used to run the program to implement the vehicle return-to-center method described in any one of Figures 1-8 above.

[0111] Corresponding to the above embodiments, this application also provides an electronic device. Figure 10 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. The electronic device 1000 may include: a processor 1001, a memory 1002, and a communication unit 1003. These components communicate through one or more buses. Those skilled in the art will understand that the structure of the electronic device shown in the figure does not constitute a limitation on the embodiments of the present invention. It can be a bus topology or a star topology, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0112] The communication unit 1003 is used to establish a communication channel, enabling the electronic device to communicate with other devices. It receives user data from other devices or sends user data to other devices.

[0113] The processor 1001 serves as the control center of the electronic device, connecting various parts of the device via interfaces and lines. It executes software programs and / or modules stored in the memory 1002 and retrieves data stored in the memory to perform various functions and / or process data. The processor may be composed of integrated circuits (ICs), such as a single packaged IC or multiple packaged ICs with the same or different functions connected together. For example, the processor 1001 may consist only of a central processing unit (CPU). In this embodiment, the CPU may have a single processing core or include multiple processing cores.

[0114] The memory 1002 is used to store the execution instructions of the processor 1001. The memory 1002 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0115] When the execution instructions in memory 1002 are executed by processor 1001, the electronic device 1000 is able to perform some or all of the steps in the embodiment shown in FIG1.

[0116] In a specific implementation, the present invention also provides a computer storage medium, wherein the computer storage medium may store a program, which, when executed, may include some or all of the steps in the various embodiments of the vehicle straightening method provided by the present invention. The storage medium may be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0117] In some possible implementations, various aspects of the terminal device control method provided in this application can also be implemented in the form of a program product, which includes program code. When the program product is run on a computer device, the program code is used to cause the computer device to perform the steps in a vehicle straightening method according to various exemplary embodiments of this application described above.

[0118] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0119] The program product for controlling a terminal device according to embodiments of this application may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on an electronic device. However, the program product of this application is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0120] Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention can be implemented using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions in the embodiments of the present invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments of the present invention.

[0121] The same or similar parts between the various embodiments in this specification can be referred to mutually. In particular, the device embodiments and terminal embodiments are basically similar to the method embodiments, so the description is relatively simple, and the relevant parts can be referred to the description in the method embodiments.

Claims

1. A method for straightening a vehicle, characterized in that, Applied to vehicles, the method includes: Obtain the initial return torque, and use the initial return torque to control the vehicle to return to center; If the first torque is obtained based on the torque sensor in the steering wheel, the target return speed is determined based on the first torque; The vehicle is controlled to return to center based on the target return speed.

2. The method according to claim 1, characterized in that, The method of controlling the vehicle to return to center based on the target return speed includes: The actual return-to-center speed is obtained based on the speed sensor in the steering wheel; The corrected return speed is obtained based on the actual return speed and the target return speed; The proportional gain coefficient and the integral gain coefficient are obtained based on the first torque; The target return torque is obtained based on the corrected return speed, the proportional gain coefficient, and the integral gain coefficient; The vehicle is controlled to return to center based on the target return torque.

3. The method according to claim 2, characterized in that, The process of obtaining the target return torque based on the corrected return speed, the proportional gain coefficient, and the integral gain coefficient includes: Based on the integral gain coefficient, the corrected homing speed is integrated to obtain a first target value; and, The second target value is obtained based on the proportional gain coefficient and the corrected homing speed. The target return torque is obtained based on the first target value and the second target value.

4. The method according to claim 2, characterized in that, The proportional gain coefficient has a positive proportional relationship with the first torque, and the proportional gain coefficient is set according to the roughness of the road surface.

5. The method according to claim 1, characterized in that, Before obtaining the initial return torque, the method further includes: The vehicle's gear position is determined to be the target gear, and the vehicle's speed is determined to be less than the preset speed.

6. The method according to claim 1, characterized in that, The method further includes: If it is determined that the vehicle has finished returning to center, then the target torque corresponding to the current gear of the vehicle is obtained; The torque value of the vehicle is adjusted from the target return torque to the target torque according to a preset rate of change.

7. The method according to claim 1, characterized in that, The process of obtaining the initial return torque includes: The initial return torque is obtained based on a preset initial vehicle return table; or, Obtain the preset return torque and use the preset return torque as the initial return torque.

8. A vehicle return-to-center device, characterized in that, Applied to vehicles, the device includes: An acquisition module is used to acquire the initial return torque and use the initial return torque to control the vehicle to return to center. The speed determination module is used to determine the target return-to-center speed based on the first torque obtained from the torque sensor in the steering wheel. The return-to-center module is used to control the vehicle to return to center based on the target return-to-center speed.

9. A vehicle dynamic control system, characterized in that, The system includes: the vehicle straightening device as described in claim 8.

10. A vehicle, characterized in that, include: A processor and a memory, the memory being used to store a program; the processor being used to run the program to implement the vehicle straightening method as described in any one of claims 1-7.

11. An electronic device, characterized in that, It includes a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device is triggered to perform the method of any one of claims 1-7.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method of any one of claims 1-7.

13. A computer program product, characterized in that, The computer program product includes: computer program code, which, when run on a computer, causes the computer to perform the method described in any one of claims 1-7.

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