CN113022699A - Method and device for adaptively adjusting steering power assistance - Google Patents
Method and device for adaptively adjusting steering power assistance Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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Abstract
The invention discloses a method and a device for adaptively adjusting steering power assistance, which belong to the technical field of automobile steering systems and comprise the following steps: acquiring anti-pinch calibration data from a cloud; and sending the anti-pinch calibration data to a vehicle window controller. The patent provides a method and device for adaptively adjusting steering assistance, and the method and device only need to add 2E service in an upper computer program on the basis of the existing OTA service vehicle type, and the change amount is small, and the function is practical, the manual writing and the labor-consuming process of the reduction diagnosis instrument can be obvious, and the anti-pinch data can be written and brushed in an OTA mode at any time and any place.
Description
Technical Field
The invention discloses a method and a device for adaptively adjusting steering power assistance, and belongs to the technical field of automobile steering systems.
Background
The electric power steering technology has become mature day by day, has a trend of replacing hydraulic power steering, and is one of the development directions of the future power steering technology. The electric power steering adopts a motor to directly provide power assistance, and the power assistance is controlled by an electric control unit. The automobile energy-saving safety device can save energy, improve safety, is favorable for environmental protection, and is a high and new technology which closely follows the development theme of modern automobiles. Therefore, EPS becomes a research hotspot of the current domestic turning technology.
The existing electric power steering technology helps a driver to realize steering operation more easily, is only a single function and is not fused with other functions, so that more comfort or safety cannot be provided for the driver.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method and a device for adaptively adjusting steering power assistance, which can linearly output force feedback torque according to the danger degree, so that a driver does not have a pause feeling, and the driving safety is improved while the comfort is not influenced.
The technical scheme of the invention is as follows:
according to a first aspect of the embodiments of the present invention, there is provided a method for adaptively adjusting steering assist, which includes:
102, obtaining an estimated collision time parameter through distance data, vehicle speed data and steering operation data of the vehicle and the surrounding environment;
and 103, obtaining a force feedback torque parameter through the estimated collision time parameter and the calibration time parameter.
Preferably, the method further comprises the following steps: step 101 is repeated when the force feedback torque parameter recovers the initial data.
Preferably, the step 102 includes:
obtaining a future driving track of the vehicle through the steering operation data;
and obtaining the estimated collision time parameter through the future driving track of the vehicle, the distance data between the vehicle and the surrounding environment and the vehicle speed data.
Preferably, the calibration time parameter includes: the device comprises a first calibration time parameter, a second calibration time parameter and a third calibration time parameter, wherein the first calibration time parameter, the second calibration time parameter and the third calibration time parameter are sequentially arranged from large to small.
Preferably, the step 103 includes:
when the predicted collision time parameter is greater than a first calibration time parameter, the force feedback torque parameter is a forward power-assisted torque parameter;
when the estimated collision time parameter is less than a first calibration time parameter and is greater than a second calibration time parameter, the force feedback torque parameter is a reverse primary resistance torque parameter;
when the estimated collision time parameter is smaller than a second calibration time parameter and is larger than a third calibration time parameter, the force feedback torque parameter is a reverse middle-level resistance torque parameter;
and when the predicted collision time parameter is smaller than a third calibration time parameter, the force feedback torque parameter is a reverse final-stage resistance torque parameter.
According to a second aspect of the embodiments of the present invention, there is provided an apparatus for adaptively adjusting steering assist, including:
the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring distance data, vehicle speed data and steering operation data of a vehicle and the surrounding environment;
the pre-estimation module is used for obtaining pre-estimated collision time parameters through distance data, vehicle speed data and steering operation data of the vehicle and the surrounding environment;
and the execution module is used for obtaining a force feedback torque parameter through the estimated collision time parameter and the calibration time parameter.
Preferably, the estimation module is configured to:
obtaining a future driving track of the vehicle through the steering operation data;
and obtaining the estimated collision time parameter through the future driving track of the vehicle, the distance data between the vehicle and the surrounding environment and the vehicle speed data.
Preferably, the execution module is configured to:
when the predicted collision time parameter is greater than a first calibration time parameter, the force feedback torque parameter is a forward power-assisted torque parameter;
when the estimated collision time parameter is less than a first calibration time parameter and is greater than a second calibration time parameter, the force feedback torque parameter is a reverse primary resistance torque parameter;
when the estimated collision time parameter is smaller than a second calibration time parameter and is larger than a third calibration time parameter, the force feedback torque parameter is a reverse middle-level resistance torque parameter;
and when the predicted collision time parameter is smaller than a third calibration time parameter, the force feedback torque parameter is a reverse final-stage resistance torque parameter.
According to a third aspect of the embodiments of the present invention, there is provided a terminal, including:
one or more processors;
a memory for storing the one or more processor-executable instructions;
wherein the one or more processors are configured to:
the method of the first aspect of the embodiments of the present invention is performed.
According to a fourth aspect of embodiments of the present invention, there is provided a non-transitory computer-readable storage medium, wherein instructions, when executed by a processor of a terminal, enable the terminal to perform the method of the first aspect of embodiments of the present invention.
According to a fifth aspect of embodiments of the present invention, there is provided an application program product, which, when running on a terminal, causes the terminal to perform the method of the first aspect of embodiments of the present invention.
Compared with the prior art, the invention has the beneficial effects that:
the patent provides a method and a device for adaptively adjusting steering power, which are characterized in that distance information of a vehicle and the surrounding environment, which is acquired by a vehicle exterior sensor, is fused with information such as steering operation information of a driver, vehicle speed and the like, and the running track of the vehicle is calculated through an algorithm so as to pre-judge the possibility of collision possibly occurring in the vehicle. The electric power steering device is used for feeding back force to a steering wheel operated by a driver, so that the steering operation of the driver generates resistance, and the driver is reminded of continuing to steer and possibly having risks, and the steering operation needs to be adjusted. The invention collects various information in real time, calculates in real time, and linearly outputs force feedback torque according to the danger degree, so that a driver does not feel jerky, and the driving safety is improved without influencing the comfort.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart illustrating a method of adaptively adjusting steering assist in accordance with an exemplary embodiment;
FIG. 2 is a flow chart illustrating a method of adaptively adjusting steering assist in accordance with an exemplary embodiment;
FIG. 3 is a block diagram illustrating a schematic structure of an apparatus for adaptively adjusting steering assist in accordance with an exemplary embodiment;
fig. 4 is a schematic block diagram of a terminal structure shown in accordance with an example embodiment.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The embodiment of the invention provides a method for adaptively adjusting steering power, which is realized by a terminal, wherein the terminal can be a smart phone, a desktop computer or a notebook computer and the like, and the terminal at least comprises a CPU (Central processing Unit), a voice acquisition device and the like.
Example one
Fig. 1 is a flowchart illustrating a method of adaptively adjusting steering assist, which is used in a terminal, according to an exemplary embodiment, the method including the steps of:
102, obtaining an estimated collision time parameter through distance data, vehicle speed data and steering operation data of the vehicle and the surrounding environment;
and 103, obtaining a force feedback torque parameter through the estimated collision time parameter and the calibration time parameter.
Preferably, the method further comprises the following steps: step 101 is repeated when the force feedback torque parameter recovers the initial data.
Preferably, the step 102 includes:
obtaining a future driving track of the vehicle through the steering operation data;
and obtaining the estimated collision time parameter through the future driving track of the vehicle, the distance data between the vehicle and the surrounding environment and the vehicle speed data.
Preferably, the calibration time parameter includes: the device comprises a first calibration time parameter, a second calibration time parameter and a third calibration time parameter, wherein the first calibration time parameter, the second calibration time parameter and the third calibration time parameter are sequentially arranged from large to small.
Preferably, the step 103 includes:
when the predicted collision time parameter is greater than a first calibration time parameter, the force feedback torque parameter is a forward power-assisted torque parameter;
when the estimated collision time parameter is less than a first calibration time parameter and is greater than a second calibration time parameter, the force feedback torque parameter is a reverse primary resistance torque parameter;
when the estimated collision time parameter is smaller than a second calibration time parameter and is larger than a third calibration time parameter, the force feedback torque parameter is a reverse middle-level resistance torque parameter;
and when the predicted collision time parameter is smaller than a third calibration time parameter, the force feedback torque parameter is a reverse final-stage resistance torque parameter.
Example two
Fig. 2 is a flowchart illustrating a method of adaptively adjusting steering assist, which is used in a terminal, according to an exemplary embodiment, the method including the steps of:
In the running process of the vehicle, the external sensor collects the distance information between the vehicle and the surrounding environment in real time, and the speed information is collected through the wheel speed sensor. When the driver steers in real time, the steering operation signal of the driver is acquired.
And step 202, obtaining a future driving track of the vehicle through the steering operation data.
The method comprises the steps of collecting steering operation signals of a driver, knowing steering intentions (steering direction and steering angle), and generating a future driving track of the vehicle in real time by utilizing an algorithm.
And step 203, obtaining an estimated collision time parameter through the future driving track of the vehicle, the distance data between the vehicle and the surrounding environment and the vehicle speed data.
And calculating an estimated collision time parameter T by combining the future running track of the vehicle with the vehicle speed information, the distance information and the predicted running track.
And 204, obtaining a force feedback torque parameter through the estimated collision time parameter and the calibration time parameter.
The calibration time parameters include: the device comprises a first calibration time parameter T1, a second calibration time parameter T2 and a third calibration time parameter T3, wherein the first calibration time parameter T1, the second calibration time parameter T2 and the third calibration time parameter T3 are sequentially arranged from large to small.
When the estimated collision time parameter is greater than a first calibration time parameter T1, the collision probability is considered to be very low, and the force feedback torque parameter is a forward power-assisted torque parameter;
when the predicted collision time parameter is less than the first calibration time parameter T1 and greater than the second calibration time parameter T2, the probability of collision is considered to be low, and the driver can intervene in the operation, so that slight force feedback of a reminding level is generated for the driver, and the force feedback torque parameter is a reverse primary resistance torque parameter, so that the operation of rotating the steering wheel by the driver meets resistance.
When the predicted collision time parameter is smaller than the second calibration time parameter T2 and is larger than the third calibration time parameter T3, the probability of collision is considered to be high, and the driver needs to intervene in the operation, so that the driver is subjected to medium force feedback of warning level, and the force feedback torque parameter is a reverse medium resistance torque parameter, so that the operation of rotating the steering wheel by the driver meets medium resistance.
When the predicted collision time parameter is less than the third calibration time parameter T3, it is considered that a collision may occur, and the driver must intervene in the operation, so that a "dangerous level" large force feedback is generated to the driver, and the force feedback torque parameter is a reverse final-level resistance torque parameter, which may cause the driver to exert a larger force to rotate the steering wheel, making it feel more and more difficult to steer in the direction, but not making the driver uncontrollable.
The dangerous operation is prevented by increasing the resistance of the driver to implement the dangerous action, and the driving safety of the vehicle is further improved.
In the process of driver operation and force feedback, the algorithm calculates the estimated collision time and collision risk in real time, and adaptively adjusts the output force feedback torque according to the estimated result, so that the driver can smoothly and safely operate the steering wheel to perform steering action. After the force feedback effect is applied, after the driver changes the steering direction or exits the danger zone, the intervention is completed, and the monitoring state is entered again.
According to the invention, the distance information of the vehicle and the surrounding environment, which is acquired by the external sensor, is fused with the information of the steering operation information of the driver, the vehicle speed and the like, and the calculation of the running track of the vehicle is realized through an algorithm, so that the collision possibility possibly occurring in the vehicle is predicted. The electric power steering device is used for feeding back force to a steering wheel operated by a driver, so that the steering operation of the driver generates resistance, and the driver is reminded of continuing to steer and possibly having risks, and the steering operation needs to be adjusted. The invention collects various information in real time, calculates in real time, and linearly outputs force feedback torque according to the danger degree, so that a driver does not feel jerky, and the driving safety is improved without influencing the comfort.
EXAMPLE III
In an exemplary embodiment, there is also provided an apparatus for adaptively adjusting steering assist, as shown in fig. 3, including:
an obtaining module 310, configured to obtain distance data, vehicle speed data, and steering operation data of a vehicle from a surrounding environment;
the estimation module 320 is used for obtaining an estimated collision time parameter through the distance data, the vehicle speed data and the steering operation data of the vehicle and the surrounding environment;
and the execution module 330 is used for obtaining a force feedback torque parameter through the estimated collision time parameter and the calibration time parameter.
Preferably, the estimation module is configured to:
obtaining a future driving track of the vehicle through the steering operation data;
and obtaining the estimated collision time parameter through the future driving track of the vehicle, the distance data between the vehicle and the surrounding environment and the vehicle speed data.
Preferably, the execution module is configured to:
when the predicted collision time parameter is greater than a first calibration time parameter, the force feedback torque parameter is a forward power-assisted torque parameter;
when the estimated collision time parameter is less than a first calibration time parameter and is greater than a second calibration time parameter, the force feedback torque parameter is a reverse primary resistance torque parameter;
when the estimated collision time parameter is smaller than a second calibration time parameter and is larger than a third calibration time parameter, the force feedback torque parameter is a reverse middle-level resistance torque parameter;
and when the predicted collision time parameter is smaller than a third calibration time parameter, the force feedback torque parameter is a reverse final-stage resistance torque parameter.
According to the invention, the distance information of the vehicle and the surrounding environment, which is acquired by the external sensor, is fused with the information of the steering operation information of the driver, the vehicle speed and the like, and the calculation of the running track of the vehicle is realized through an algorithm, so that the collision possibility possibly occurring in the vehicle is predicted. The electric power steering device is used for feeding back force to a steering wheel operated by a driver, so that the steering operation of the driver generates resistance, and the driver is reminded of continuing to steer and possibly having risks, and the steering operation needs to be adjusted. The invention collects various information in real time, calculates in real time, and linearly outputs force feedback torque according to the danger degree, so that a driver does not feel jerky, and the driving safety is improved without influencing the comfort.
Example four
Fig. 4 is a block diagram of a terminal according to an embodiment of the present application, where the terminal may be the terminal in the foregoing embodiment. The terminal 400 may be a portable mobile terminal such as: smart phones, tablet computers. The terminal 400 may also be referred to by other names such as user equipment, portable terminal, etc.
Generally, the terminal 400 includes: a processor 401 and a memory 402.
In some embodiments, the terminal 400 may further optionally include: a peripheral interface 403 and at least one peripheral. Specifically, the peripheral device includes: at least one of radio frequency circuitry 404, touch screen display 405, camera 406, audio circuitry 407, positioning components 408, and power supply 409.
The peripheral interface 403 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 401 and the memory 402. In some embodiments, processor 401, memory 402, and peripheral interface 403 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 401, the memory 402 and the peripheral interface 403 may be implemented on a separate chip or circuit board, which is not limited by this embodiment.
The Radio Frequency circuit 404 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 404 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 404 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 404 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 404 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 404 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.
The touch display screen 405 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. The touch display screen 405 also has the ability to capture touch signals on or over the surface of the touch display screen 405. The touch signal may be input to the processor 401 as a control signal for processing. The touch screen display 405 is used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the touch display screen 405 may be one, providing the front panel of the terminal 400; in other embodiments, the touch screen display 405 may be at least two, respectively disposed on different surfaces of the terminal 400 or in a folded design; in still other embodiments, the touch display 405 may be a flexible display disposed on a curved surface or on a folded surface of the terminal 400. Even more, the touch screen display 405 can be arranged in a non-rectangular irregular pattern, i.e., a shaped screen. The touch screen 405 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), and other materials.
The camera assembly 406 is used to capture images or video. Optionally, camera assembly 406 includes a front camera and a rear camera. Generally, a front camera is used for realizing video call or self-shooting, and a rear camera is used for realizing shooting of pictures or videos. In some embodiments, the number of the rear cameras is at least two, and each of the rear cameras is any one of a main camera, a depth-of-field camera and a wide-angle camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize a panoramic shooting function and a VR (Virtual Reality) shooting function. In some embodiments, camera assembly 406 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.
The audio circuit 407 is used to provide an audio interface between the user and the terminal 400. The audio circuit 407 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 401 for processing, or inputting the electric signals to the radio frequency circuit 404 for realizing voice communication. For the purpose of stereo sound collection or noise reduction, a plurality of microphones may be provided at different portions of the terminal 400. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 401 or the radio frequency circuit 404 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, audio circuitry 407 may also include a headphone jack.
The positioning component 408 is used to locate the current geographic position of the terminal 400 for navigation or LBS (Location Based Service). The Positioning component 408 can be a Positioning component based on the Global Positioning System (GPS) in the united states, the beidou System in china, or the galileo System in russia.
The power supply 409 is used to supply power to the various components in the terminal 400. The power source 409 may be alternating current, direct current, disposable or rechargeable. When the power source 409 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.
In some embodiments, the terminal 400 also includes one or more sensors 410. The one or more sensors 410 include, but are not limited to: acceleration sensor 411, gyro sensor 412, pressure sensor 413, fingerprint sensor 414, optical sensor 415, and proximity sensor 416.
The acceleration sensor 411 may detect the magnitude of acceleration in three coordinate axes of the coordinate system established with the terminal 400. For example, the acceleration sensor 411 may be used to detect components of the gravitational acceleration in three coordinate axes. The processor 401 may control the touch display screen 405 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 411. The acceleration sensor 411 may also be used for acquisition of motion data of a game or a user.
The gyro sensor 412 may detect a body direction and a rotation angle of the terminal 400, and the gyro sensor 412 may cooperate with the acceleration sensor 411 to acquire a 3D (3 dimensional) motion of the user with respect to the terminal 400. From the data collected by the gyro sensor 412, the processor 401 may implement the following functions: motion sensing (such as changing the UI according to a user's tilting operation), image stabilization at the time of photographing, game control, and inertial navigation.
The pressure sensor 413 may be disposed on a side bezel of the terminal 400 and/or a lower layer of the touch display screen 405. When the pressure sensor 413 is disposed at a side frame of the terminal 400, a user's grip signal to the terminal 400 can be detected, and left-right hand recognition or shortcut operation can be performed according to the grip signal. When the pressure sensor 413 is disposed at the lower layer of the touch display screen 405, the operability control on the UI interface can be controlled according to the pressure operation of the user on the touch display screen 405. The operability control comprises at least one of a button control, a scroll bar control, an icon control and a menu control.
The fingerprint sensor 414 is used for collecting a fingerprint of the user to identify the identity of the user according to the collected fingerprint. Upon recognizing that the user's identity is a trusted identity, processor 401 authorizes the user to perform relevant sensitive operations including unlocking the screen, viewing encrypted information, downloading software, paying, and changing settings, etc. The fingerprint sensor 414 may be disposed on the front, back, or side of the terminal 400. When a physical key or vendor Logo is provided on the terminal 400, the fingerprint sensor 414 may be integrated with the physical key or vendor Logo.
The optical sensor 415 is used to collect the ambient light intensity. In one embodiment, the processor 401 may control the display brightness of the touch display screen 405 based on the ambient light intensity collected by the optical sensor 415. Specifically, when the ambient light intensity is high, the display brightness of the touch display screen 405 is increased; when the ambient light intensity is low, the display brightness of the touch display screen 405 is turned down. In another embodiment, the processor 401 may also dynamically adjust the shooting parameters of the camera assembly 406 according to the ambient light intensity collected by the optical sensor 415.
A proximity sensor 416, also known as a distance sensor, is typically disposed on the front side of the terminal 400. The proximity sensor 416 is used to collect the distance between the user and the front surface of the terminal 400. In one embodiment, when the proximity sensor 416 detects that the distance between the user and the front surface of the terminal 400 gradually decreases, the processor 401 controls the touch display screen 405 to switch from the bright screen state to the dark screen state; when the proximity sensor 416 detects that the distance between the user and the front surface of the terminal 400 gradually becomes larger, the processor 401 controls the touch display screen 405 to switch from the breath screen state to the bright screen state.
Those skilled in the art will appreciate that the configuration shown in fig. 4 is not intended to be limiting of terminal 400 and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components may be used.
EXAMPLE five
In an exemplary embodiment, there is also provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a water temperature gauge display method as provided in all inventive embodiments of the present application: acquiring the current water temperature of the engine; determining a numerical value corresponding to a water temperature table according to the current engine water temperature and a preset display rule; and controlling the water temperature meter to display a numerical value corresponding to the water temperature meter.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
EXAMPLE six
In an exemplary embodiment, an application program product is also provided, which includes one or more instructions executable by the processor 401 of the apparatus to perform the method of adaptively adjusting steering assist.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.
Claims (10)
1. A method for adaptively adjusting steering power assistance is characterized by comprising the following specific steps:
step 101, obtaining distance data, vehicle speed data and steering operation data of a vehicle and the surrounding environment;
102, obtaining an estimated collision time parameter through distance data, vehicle speed data and steering operation data of the vehicle and the surrounding environment;
and 103, obtaining a force feedback torque parameter through the estimated collision time parameter and the calibration time parameter.
2. The method of adaptively adjusting steering assist according to claim 1, further comprising: step 101 is repeated when the force feedback torque parameter recovers the initial data.
3. The method of adaptively adjusting steering assist according to claim 1, wherein the step 102 comprises:
obtaining a future driving track of the vehicle through the steering operation data;
and obtaining the estimated collision time parameter through the future driving track of the vehicle, the distance data between the vehicle and the surrounding environment and the vehicle speed data.
4. The method of adaptively adjusting steering assist according to claim 3, wherein the calibration time parameter comprises: the device comprises a first calibration time parameter, a second calibration time parameter and a third calibration time parameter, wherein the first calibration time parameter, the second calibration time parameter and the third calibration time parameter are sequentially arranged from large to small.
5. The method of adaptively adjusting steering assist according to claim 1, wherein the step 103 comprises:
when the predicted collision time parameter is greater than a first calibration time parameter, the force feedback torque parameter is a forward power-assisted torque parameter;
when the estimated collision time parameter is less than a first calibration time parameter and is greater than a second calibration time parameter, the force feedback torque parameter is a reverse primary resistance torque parameter;
when the estimated collision time parameter is smaller than a second calibration time parameter and is larger than a third calibration time parameter, the force feedback torque parameter is a reverse middle-level resistance torque parameter;
and when the predicted collision time parameter is smaller than a third calibration time parameter, the force feedback torque parameter is a reverse final-stage resistance torque parameter.
6. An apparatus for adaptively adjusting steering assist, comprising:
the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring distance data, vehicle speed data and steering operation data of a vehicle and the surrounding environment;
the pre-estimation module is used for obtaining pre-estimated collision time parameters through distance data, vehicle speed data and steering operation data of the vehicle and the surrounding environment;
and the execution module is used for obtaining a force feedback torque parameter through the estimated collision time parameter and the calibration time parameter.
7. The adaptive steering assist control device according to claim 6, wherein the estimation module is configured to:
obtaining a future driving track of the vehicle through the steering operation data;
and obtaining the estimated collision time parameter through the future driving track of the vehicle, the distance data between the vehicle and the surrounding environment and the vehicle speed data.
8. The adaptive steering assist control device according to claim 6, wherein the executing module is configured to:
when the predicted collision time parameter is greater than a first calibration time parameter, the force feedback torque parameter is a forward power-assisted torque parameter;
when the estimated collision time parameter is less than a first calibration time parameter and is greater than a second calibration time parameter, the force feedback torque parameter is a reverse primary resistance torque parameter;
and when the predicted collision time parameter is smaller than a second calibration time parameter, the force feedback torque parameter is a reverse final-stage resistance torque parameter.
9. A terminal, comprising:
one or more processors;
a memory for storing the one or more processor-executable instructions;
wherein the one or more processors are configured to:
a method of performing adaptive steering assist as claimed in any one of claims 1 to 5.
10. A non-transitory computer readable storage medium, wherein instructions in the storage medium, when executed by a processor of a terminal, enable the terminal to perform a method of adaptively adjusting steering assist according to any of claims 1 to 5.
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| CN202110403200.1A CN113022699A (en) | 2021-04-15 | 2021-04-15 | Method and device for adaptively adjusting steering power assistance |
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