CN112009564B - Method, device and equipment for controlling steer-by-wire and storage medium - Google Patents

Method, device and equipment for controlling steer-by-wire and storage medium Download PDF

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CN112009564B
CN112009564B CN202010920710.1A CN202010920710A CN112009564B CN 112009564 B CN112009564 B CN 112009564B CN 202010920710 A CN202010920710 A CN 202010920710A CN 112009564 B CN112009564 B CN 112009564B
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driving mode
steering wheel
weight
determining
vehicle
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CN112009564A (en
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李春善
王宇
张建
刘金波
周添
侯殿龙
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FAW Group Corp
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FAW Group Corp
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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
    • B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications

Abstract

The invention discloses a method, a device, equipment and a storage medium for controlling steer-by-wire. The method comprises the following steps: acquiring parameter information of a vehicle, wherein the parameter information comprises: steering wheel angle and drive pedal opening signals; determining a target virtual power-assisted torque weight according to the steering wheel angle and the driving pedal opening degree signal; calculating a steering load moment according to the target virtual power-assisted moment weight; and when the steering wheel is in a rotating state, feeding the steering load moment back to the steering wheel. According to the technical scheme, the combination of the driving mode selection function and the steer-by-wire system can be realized, so that the steer-by-wire system can adapt to the driving mode of the vehicle, the steer-by-wire system of the vehicle can be controlled according to the driving style of a driver, the requirement of the driver on the control feeling of the vehicle is met, the driving experience of the driver is improved, and the expandability is strong.

Description

Method, device and equipment for controlling steer-by-wire and storage medium
Technical Field
The embodiment of the invention relates to the technical field of vehicles, in particular to a method, a device, equipment and a storage medium for controlling steer-by-wire.
Background
As automobiles become the most important and popular transportation means in modern life, people pay more and more attention to the driving experience of drivers in addition to the safety of automobile driving.
In order to enable a driver to have better driving experience, the conventional automobile is often provided with a driving mode selection function, so that the driver can select a proper driving mode according to needs, and the maneuverability and comfort of the driver in driving the automobile are enhanced. Meanwhile, as a new steering form, the automobile steer-by-wire technology cancels the traditional mechanical connection between a steering wheel and a front axle steering mechanism, can transmit signals through a data bus, and obtains a feedback command from a steering control system, has the characteristics of high safety, strong comfort, strong maneuverability and strong individuation, and also becomes an important technology for improving the driving experience.
However, the driving mode selection is often applied to the conventional vehicle, and the prior art does not combine the driving mode selection function with the steer-by-wire system, and cannot realize the adaptive vehicle driving mode of the steer-by-wire system.
Disclosure of Invention
The embodiment of the invention provides a steer-by-wire control method, a steer-by-wire control device, a steer-by-wire control equipment and a storage medium, which are used for realizing the combination of a driving mode selection function and a steer-by-wire system, so that the steer-by-wire system can be adaptive to a vehicle driving mode and has strong expandability. Therefore, the vehicle steer-by-wire system can be controlled according to the driving style of the driver, the requirement of the driver on the vehicle control feeling is met, and the driving experience of the driver is improved.
In a first aspect, an embodiment of the present invention provides a steer-by-wire control method, including:
acquiring parameter information of a vehicle, wherein the parameter information comprises: steering wheel angle and drive pedal opening signals;
determining a target virtual power-assisted torque weight according to the steering wheel angle and the driving pedal opening degree signal;
calculating a steering load moment according to the target virtual power-assisted moment weight;
and when the steering wheel is in a rotating state, feeding the steering load moment back to the steering wheel.
Further, determining a target virtual assist torque weight according to the steering wheel angle and the drive pedal opening signal includes:
determining a virtual power-assisted torque weight characteristic according to the steering wheel angle and the opening signal of the driving pedal;
determining a target function according to the virtual moment weight characteristics;
obtaining a first virtual power-assisted moment weight according to the driving pedal opening degree signal and the target function;
obtaining a second virtual power-assisted moment weight according to the steering wheel turning angle and the target function;
and taking the maximum value of the first virtual torque assistance weight and the second virtual torque assistance weight as a target virtual torque assistance weight.
Further, determining a virtual assist torque weight characteristic according to the steering wheel angle and the drive pedal opening degree signal includes:
determining the rotating speed of a steering wheel according to the steering wheel rotating angle;
determining an accelerator pedal gradient according to the driving pedal opening degree signal;
determining a first driving mode of the vehicle according to the accelerator pedal gradient;
determining a second driving mode of the vehicle according to the rotating speed of the steering wheel;
determining a virtual assist torque weight characteristic from the first driving mode and the second driving mode.
Further, determining a virtual assist torque weight characteristic based on the first driving mode and the second driving mode includes:
and inquiring a fuzzy rule table according to the first driving mode and the second driving mode to obtain the weight characteristics of the virtual power-assisted torque.
Further, determining a first driving mode of the vehicle based on the accelerator pedal gradient comprises:
calculating a first ratio of time that the accelerator pedal gradient exceeds a gradient threshold to a firing period for a firing period;
if the first ratio is greater than or equal to a first ratio threshold and smaller than a second ratio threshold, the first driving mode of the vehicle is a comfortable driving mode, wherein the first ratio threshold is smaller than the second ratio threshold;
if the first ratio is greater than or equal to a second ratio threshold and smaller than a third ratio threshold, the first driving mode of the vehicle is an automatic driving mode, wherein the second ratio threshold is smaller than the third ratio threshold;
and if the first ratio is greater than or equal to the third ratio threshold, the first driving mode of the vehicle is a sport driving mode.
Further, determining a second driving mode of the vehicle based on the steering wheel speed comprises:
calculating a second ratio of the time that the rotating speed of the steering wheel exceeds the rotating speed threshold value to the ignition period in one ignition period;
if the second ratio is greater than or equal to a fourth ratio threshold and smaller than a fifth ratio threshold, the second driving mode of the vehicle is a comfortable driving mode, wherein the fourth ratio threshold is smaller than the fifth ratio threshold;
if the second ratio is greater than or equal to a fifth ratio threshold and less than a sixth ratio threshold, the second driving mode of the vehicle is an automatic driving mode, wherein the fifth ratio threshold is less than the sixth ratio threshold;
and if the second ratio is greater than or equal to a sixth ratio threshold, the second driving mode of the vehicle is a sport driving mode.
In a second aspect, an embodiment of the present invention further provides a steer-by-wire apparatus, where the apparatus includes:
the device comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring parameter information of a vehicle, and the parameter information comprises: steering wheel angle and drive pedal opening signals;
the determining module is used for determining a target virtual power-assisted torque weight according to the steering wheel angle and the driving pedal opening degree signal;
the calculation module is used for calculating a steering load moment according to the target virtual power-assisted moment weight;
and the feedback module is used for feeding back the steering load moment to the steering wheel when the steering wheel is in a rotating state.
Further, the determining module includes:
the weight characteristic determination submodule is used for determining the weight characteristic of the virtual power-assisted torque according to the steering wheel angle and the opening signal of the driving pedal;
the target function determining submodule is used for determining a target function according to the virtual moment weight characteristics;
the first weight determination submodule is used for obtaining a first virtual power-assisted moment weight according to the driving pedal opening degree signal and the target function;
the second weight determination submodule is used for obtaining a second virtual power-assisted torque weight according to the steering wheel rotating angle and the target function;
and the target weight determining submodule takes the maximum value of the first virtual assist torque weight and the second virtual assist torque weight as a target virtual assist torque weight.
Further, the weight characteristic determination sub-module includes:
the steering wheel rotating speed determining unit is used for determining the rotating speed of the steering wheel according to the steering wheel rotating angle;
the accelerator pedal gradient determining unit is used for determining the gradient of an accelerator pedal according to the opening degree signal of the driving pedal;
a first driving mode determination unit for determining a first driving mode of the vehicle according to the accelerator pedal gradient;
a first driving mode determining unit that determines a second driving mode of the vehicle according to the steering wheel rotation speed;
and a virtual assist torque weight characteristic determination unit which determines a virtual assist torque weight characteristic according to the first driving mode and the second driving mode.
Further, the virtual assist torque weight characteristic determination unit is specifically configured to:
and inquiring a fuzzy rule table according to the first driving mode and the second driving mode to obtain the weight characteristics of the virtual power-assisted torque.
Further, the first driving mode determining unit is specifically configured to:
calculating a first ratio of time that the accelerator pedal gradient exceeds a gradient threshold to a firing period for a firing period;
if the first ratio is greater than or equal to a first ratio threshold and smaller than a second ratio threshold, the first driving mode of the vehicle is a comfortable driving mode, wherein the first ratio threshold is smaller than the second ratio threshold;
if the first ratio is greater than or equal to a second ratio threshold and smaller than a third ratio threshold, the first driving mode of the vehicle is an automatic driving mode, wherein the second ratio threshold is smaller than the third ratio threshold;
and if the first ratio is greater than or equal to the third ratio threshold, the first driving mode of the vehicle is a sport driving mode.
Further, the second driving mode determination unit is specifically configured to:
calculating a second ratio of the time that the rotating speed of the steering wheel exceeds the rotating speed threshold value to the ignition period in one ignition period;
if the second ratio is greater than or equal to a fourth ratio threshold and smaller than a fifth ratio threshold, the second driving mode of the vehicle is a comfortable driving mode, wherein the fourth ratio threshold is smaller than the fifth ratio threshold;
if the second ratio is greater than or equal to a fifth ratio threshold and less than a sixth ratio threshold, the second driving mode of the vehicle is an automatic driving mode, wherein the fifth ratio threshold is less than the sixth ratio threshold;
and if the second ratio is greater than or equal to a sixth ratio threshold, the second driving mode of the vehicle is a sport driving mode.
In a third aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the steer-by-wire control method according to any one of the embodiments of the present invention.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steer-by-wire control method according to any one of the embodiments of the present invention.
According to the embodiment of the invention, the parameter information of the vehicle is acquired, wherein the parameter information comprises: steering wheel angle and drive pedal opening signals; determining a target virtual power-assisted torque weight according to the steering wheel angle and the driving pedal opening degree signal; calculating a steering load moment according to the target virtual power-assisted moment weight; when the steering wheel is in a rotating state, the steering load moment is fed back to the steering wheel, the problem that a steer-by-wire system cannot adapt to a vehicle driving mode is solved, the driving mode selection function is combined with the steer-by-wire system, the steer-by-wire system can adapt to the vehicle driving mode, the steer-by-wire system can be controlled according to the driving style of a driver, the requirement of the driver on vehicle control feeling is met, the driving experience effect of the driver is improved, and the expandability is strong.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flowchart of a steer-by-wire control method according to a first embodiment of the present invention;
fig. 2 is a flowchart of a steer-by-wire control method according to a second embodiment of the present invention;
FIG. 2a is a block diagram of a steer-by-wire configuration in a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a steer-by-wire apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a computer device in the fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example one
Fig. 1 is a flowchart of a steer-by-wire control method according to an embodiment of the present invention, where the present embodiment is applicable to a case of steer-by-wire of a vehicle, and the method may be executed by a steer-by-wire apparatus according to an embodiment of the present invention, where the apparatus may be implemented by software and/or hardware, and as shown in fig. 1, the method specifically includes the following steps:
s110, acquiring parameter information of the vehicle, wherein the parameter information comprises: steering wheel angle and drive pedal opening signal.
Specifically, the steering wheel angle acquired by the steering wheel sensor and the driving pedal opening signal acquired by the pedal opening sensor are acquired through the CAN bus, and vehicle parameter information CAN be acquired through other vehicle parameter information detection devices.
Specifically, the steering wheel angle and the driving pedal opening degree signal that obtain through the CAN bus are digital signals, and for the convenience of post processing, CAN resolve above-mentioned digital signal into analog signal, and the analytic formula CAN be:
X＝(DH·256+DL)·Again+Aoffset；
wherein X is an analog signal value of the analyzed vehicle parameter; dHAnd DLRespectively, a high and a low of a digital vehicle parameter signal acquired via a busgainSignal gain in digital-to-analog conversion; a. theoffsetFor in digital-to-analogue conversionThe amount of offset of (c).
And S120, determining a target virtual power-assisted torque weight according to the steering wheel angle and the driving pedal opening degree signal.
The virtual assist torque refers to a torque provided in a vehicle power system to assist a driver in operating a steering wheel.
Specifically, the method for determining the target virtual assist torque weight according to the steering wheel angle and the driving pedal opening signal may be determining a steering wheel rotation speed according to the steering wheel angle, determining an accelerator pedal gradient according to the driving pedal opening signal, determining a driving mode of the vehicle and a corresponding virtual assist torque weight characteristic according to two parameters of the steering wheel rotation speed and the accelerator pedal gradient, respectively, substituting the two parameters of the accelerator pedal gradient and the steering wheel rotation speed into a target function corresponding to the virtual assist torque weight characteristic, respectively, to obtain a first virtual assist torque weight and a second virtual assist torque weight, and determining the target virtual assist torque weight according to the first virtual assist torque weight and the second virtual assist torque weight; the method also comprises the steps of determining the rotating speed of a steering wheel according to the rotating angle of the steering wheel, determining the gradient of an accelerator pedal according to a driving pedal opening degree signal, determining a first driving mode of the vehicle according to the gradient of the accelerator pedal, determining a second driving mode of the vehicle according to the rotating speed of the steering wheel, determining a first virtual torque assistance weight characteristic according to the first driving mode, determining a second virtual torque assistance weight characteristic according to the second driving mode, and determining a target virtual torque assistance weight according to the first virtual torque assistance weight and the second virtual torque assistance weight.
And S130, calculating a steering load moment according to the target virtual power-assisted moment weight.
Specifically, the lateral force aligning moment, the gravity aligning moment and the virtual assisting moment of the vehicle are calculated according to the vehicle parameter information including the vehicle weight, the distance from the center of mass to the rear axle, the axle distance, the lateral acceleration, the steering wheel angle and the like, and the steering load moment is calculated according to the lateral force aligning moment, the gravity aligning moment, the virtual assisting moment and the target virtual assisting moment weight.
Illustratively, according to the vehicle parameter information including the vehicle weight, the distance from the center of mass to the rear axle, the wheel base, the lateral acceleration and the lateral force aligning moment coefficient, the lateral force aligning moment is calculated, and the calculation formula of the lateral force aligning moment is as follows:
Figure GDA0003315398340000101
wherein, TayFor righting moment, xi, of lateral forceayIs a preset lateral force aligning moment coefficient, m is the mass of the whole vehicle, b is the distance from the mass center of the vehicle to the rear axle, L is the axle distance, ayIs the lateral acceleration.
Calculating the gravity aligning moment according to the automobile parameter information including the steering wheel rotation angle and the gravity aligning moment coefficient, wherein the calculation formula of the gravity aligning moment is as follows:
Tg＝ξg·δsw；
wherein, TgIs gravity aligning moment, xigFor a predetermined coefficient of gravitational aligning moment, δswIs the steering wheel angle.
And respectively calculating basic assistance torque, aligning torque, friction compensation torque and damping compensation torque according to the automobile parameter information including the speed, the steering wheel angle and the steering wheel torque. Calculating a virtual moment of assistance according to the basic moment of assistance, the aligning moment, the friction compensation moment and the damping compensation moment, wherein a calculation formula of the virtual moment of assistance is as follows:
Tast＝Tba+Tarc+Tf+Td；
wherein, TastFor virtual moment of assistance, TbaIs a basic moment assisting moment; t isarcFor aligning moment, TfFor compensating the moment for friction, TdTo compensate for the torque for damping.
According to the lateral force aligning moment, the gravity aligning moment, the virtual assisting moment and the virtual assisting moment weight obtained by calculation, the steering load moment is obtained by calculation, and the calculation formula of the steering load moment is as follows:
TLoad＝Tay+Tg-εTast；
wherein, TLoadAnd epsilon is the weight of the virtual power-assisted torque.
And S140, when the steering wheel is in a rotating state, feeding the steering load moment back to the steering wheel.
Specifically, when the steering wheel is in a rotating state, the steering load moment is fed back to the steering wheel, and road load simulation is achieved through bottom moment closed-loop control.
According to the technical scheme, the driving mode of the vehicle is determined through the parameter information of the vehicle, the corresponding target function is selected according to the driving mode, the virtual power-assisted torque weight is obtained, the steering load moment is calculated, the steering load moment is fed back to the steering wheel to simulate road load, the driving mode selection function is combined with the steer-by-wire system, the steer-by-wire system can adapt to the driving mode of the vehicle, the steer-by-wire system of the vehicle can be controlled according to the driving style of a driver, the requirement of the driver on the vehicle control feeling is met, the driving experience of the driver is improved, and the expandability is strong.
Example two
Fig. 2 is a flowchart of a steer-by-wire control method according to a second embodiment of the present invention, which is optimized based on the above-mentioned embodiments, and in this embodiment, determining a target virtual assist torque weight according to the steering wheel angle and the driving pedal opening signal includes: determining a virtual power-assisted torque weight characteristic according to the steering wheel angle and the opening signal of the driving pedal; determining a target function according to the virtual moment weight characteristics; obtaining a first virtual power-assisted moment weight according to the driving pedal opening degree signal and the target function; obtaining a second virtual power-assisted moment weight according to the steering wheel turning angle and the target function; and taking the maximum value of the first virtual torque assistance weight and the second virtual torque assistance weight as a target virtual torque assistance weight.
As shown in fig. 2, the method of this embodiment specifically includes the following steps:
s210, acquiring parameter information of the vehicle, wherein the parameter information comprises: steering wheel angle and drive pedal opening signal.
And S220, determining a virtual power-assisted torque weight characteristic according to the steering wheel angle and the driving pedal opening degree signal.
Specifically, the manner of determining the virtual assist torque weight characteristic according to the steering wheel angle and the driving pedal opening signal may be determining a steering wheel rotation speed according to the steering wheel angle, determining an accelerator pedal gradient according to the driving pedal opening signal, determining a first driving mode of the vehicle according to the accelerator pedal gradient, determining a second driving mode of the vehicle according to the steering wheel rotation speed, and determining the virtual assist torque weight characteristic according to the first driving mode and the second driving mode; the rotating speed of a steering wheel is determined according to the steering wheel rotating angle, the gradient of an accelerator pedal is determined according to the opening signal of the driving pedal, a first driving mode and a corresponding first driving mode characteristic of the vehicle are determined according to the gradient of the accelerator pedal, a second driving mode and a corresponding second driving mode characteristic of the vehicle are determined according to the rotating speed of the steering wheel, and a fuzzy rule table is inquired according to the first driving mode characteristic and the second driving mode characteristic to obtain a virtual power-assisted moment weight characteristic.
For example, the first driving mode of the vehicle determined according to the gradient of the accelerator pedal may be a comfort mode, an automatic mode and a sport mode, and may also be an economy mode and a sport mode; the second driving mode of the vehicle is determined according to the rotating speed of the steering wheel, and may be a comfort mode, an automatic mode, and a sport mode, and may also be an economy mode and a sport mode, and the first driving mode and the second driving mode of the vehicle may be set according to habits and requirements of a user, which is not limited in this embodiment of the present invention. And obtaining the virtual power-assisted torque weight characteristics according to the first driving mode and the second driving mode.
Optionally, determining a virtual assist torque weight characteristic according to the steering wheel angle and the driving pedal opening degree signal includes:
determining the rotating speed of a steering wheel according to the steering wheel rotating angle; determining an accelerator pedal gradient according to the driving pedal opening degree signal; determining a first driving mode of the vehicle according to the accelerator pedal gradient; determining a second driving mode of the vehicle according to the rotating speed of the steering wheel; determining a virtual assist torque weight characteristic from the first driving mode and the second driving mode.
The rotating speed of the steering wheel is the angle of the steering wheel corner in unit time, namely the ratio of the angle of the steering wheel corner to the unit time; the accelerator pedal gradient is a gradient of the drive pedal opening signal.
Specifically, the steering wheel rotating speed is determined according to the obtained steering wheel rotating speed, and the accelerator pedal gradient is determined according to the obtained calculated driving pedal opening signal. Determining a first driving mode and corresponding first driving mode characteristics of the vehicle according to the gradient of the accelerator pedal, and determining a second driving mode and corresponding second driving mode characteristics of the vehicle according to the rotating speed of the steering wheel; determining a virtual assist torque weight characteristic from the first driving mode characteristic and the second driving mode characteristic.
Optionally, determining a first driving mode of the vehicle according to the accelerator pedal gradient comprises:
calculating a first ratio of time that the accelerator pedal gradient exceeds a gradient threshold to a firing period for a firing period; if the first ratio is greater than or equal to a first ratio threshold and smaller than a second ratio threshold, the first driving mode of the vehicle is a comfortable driving mode, wherein the first ratio threshold is smaller than the second ratio threshold; if the first ratio is greater than or equal to a second ratio threshold and smaller than a third ratio threshold, the first driving mode of the vehicle is an automatic driving mode, wherein the second ratio threshold is smaller than the third ratio threshold; and if the first ratio is greater than or equal to the third ratio threshold, the first driving mode of the vehicle is a sport driving mode.
The ignition period refers to a complete period from the beginning to the end of the ignition of the automobile.
Specifically, a first ratio of the time when the gradient of the accelerator pedal exceeds a gradient threshold value to an ignition period is calculated, and if the first ratio is greater than or equal to the first ratio threshold value and smaller than a second ratio threshold value, a first driving mode of the vehicle is a comfortable driving mode; if the first ratio is greater than or equal to the second ratio threshold and smaller than the third ratio threshold, the first driving mode of the vehicle is an automatic driving mode; and if the first ratio is greater than or equal to the third ratio threshold, the first driving mode of the vehicle is a sport driving mode. The first ratio threshold is smaller than the second ratio threshold, the second ratio threshold is smaller than the third ratio threshold, and the first ratio threshold, the second ratio threshold and the third ratio threshold can be calibrated according to driving habits and subjective intention of a driver.
Optionally, determining a second driving mode of the vehicle according to the steering wheel speed includes:
calculating a second ratio of the time that the rotating speed of the steering wheel exceeds the rotating speed threshold value to the ignition period in one ignition period; if the second ratio is greater than or equal to a fourth ratio threshold and smaller than a fifth ratio threshold, the second driving mode of the vehicle is a comfortable driving mode, wherein the fourth ratio threshold is smaller than the fifth ratio threshold; if the second ratio is greater than or equal to a fifth ratio threshold and less than a sixth ratio threshold, the second driving mode of the vehicle is an automatic driving mode, wherein the fifth ratio threshold is less than the sixth ratio threshold; and if the second ratio is greater than or equal to a sixth ratio threshold, the second driving mode of the vehicle is a sport driving mode.
For example, a second ratio of the time when the rotating speed of the steering wheel exceeds the rotating speed threshold value to the ignition period is calculated, and if the second ratio is greater than or equal to a fourth ratio threshold value and smaller than a fifth ratio threshold value, the second driving mode of the vehicle is a comfortable driving mode; if the second ratio is greater than or equal to a fifth ratio threshold and less than a sixth ratio threshold, the second driving mode of the vehicle is an automatic driving mode; and if the second ratio is greater than or equal to a sixth ratio threshold, the second driving mode of the vehicle is a sport driving mode. The fourth ratio threshold is smaller than the fifth ratio threshold, the fifth ratio threshold is smaller than the sixth ratio threshold, and the fourth ratio threshold, the fifth ratio threshold and the sixth ratio threshold may be calibrated according to driving habits and subjective intentions of the driver, which is not limited in the embodiment of the present invention.
Optionally, determining a virtual assist torque weight characteristic according to the first driving mode and the second driving mode includes:
and inquiring a fuzzy rule table according to the first driving mode and the second driving mode to obtain the weight characteristics of the virtual power-assisted torque.
Wherein the first driving mode includes a comfort mode, an automatic mode and a sport mode, and the corresponding first driving mode is characterized by a PS1、PM1And PB1Forming a first set of driving mode features as { PS1，PM1，PB1}. Determining a second driving mode of the vehicle based on the steering wheel speed, the second driving mode comprising a comfort mode, an automatic mode and a sport mode, the corresponding second driving mode being characterized by a PS2、PM2And PB2Forming a second set of driving mode features as { PS2，PM2，PB2}. Virtual assist torque weighting features include NS0、NB0、PS0And PB0To form a set of virtual torque-assist weight features (NS)0，NB0,PS0，PB0}. The symbolic meaning of each virtual torque-assisted weight feature can be as follows: PB (PB)0、PB1、PB2Indicating a positive increase in virtual assistance torque by a first torque, PM1、PM2Representing a positive increase of the virtual moment of assistance by a second moment, PS0、PS1、PS2Representing the positive increase of the virtual moment of assistance by a third moment, wherein the first moment is larger than the second moment, and the second moment is larger than the third moment; NS (server)0Indicating a negative decrease of the virtual assistance torque by a fourth torque, NB0It is indicated that the virtual assist torque decreases negatively with a fifth torque, and the fourth torque is smaller than with the fifth torque.
Wherein the fuzzy rule table reflects the corresponding relationship among the first driving mode characteristic, the second driving mode characteristic and the virtual assist torque weight characteristic, and the fuzzy rule table is shown in table 1:
TABLE 1
Figure GDA0003315398340000151
In particular, according to the first set of driving mode features { PS }1，PM1，PB1} and a second driving mode feature set PS2，PM2，PB2Inquiring a fuzzy rule table to obtain corresponding virtual power moment weight characteristics. The fuzzy rule table can be adjusted according to the preset condition and according to the actual driving habits of the user.
Illustratively, if the first driving mode is a comfort mode and the second driving mode is a comfort mode, the first driving mode is characterized by PS1The second driving mode is characterized by PS2The corresponding virtual assist torque weight characteristic is PB0(ii) a If the first driving mode is the automatic mode and the second driving mode is the sport mode, the first driving mode is characterized by PM1The second driving mode is characterized by PB2The corresponding virtual assist torque weight characteristic is NB0。
And S230, determining an objective function according to the virtual moment assisting weight characteristics.
The target function is a membership function of the virtual assist torque weight and is used for calculating the virtual assist torque weight. The objective function may be
Figure GDA0003315398340000161
And
Figure GDA0003315398340000162
respectively representing virtual moment of assistance weight characteristics PB0、PS0、NS0And NB0Membership function of (c).
In particular, according to the virtual power-assisted torque weight characteristic PB0、PS0、NS0And NB0Determining the corresponding virtual assist torque weight membership function may be
Figure GDA0003315398340000163
And
Figure GDA0003315398340000164
exemplary virtual boost torque weight feature PB0Corresponding slavery objective function
Figure GDA0003315398340000165
May be:
Figure GDA0003315398340000166
virtual assist torque weight feature PS0Corresponding slavery objective function
Figure GDA0003315398340000167
May be:
Figure GDA0003315398340000168
virtual assist torque weight feature NS0Corresponding slavery objective function
Figure GDA0003315398340000169
May be:
Figure GDA00033153983400001610
virtual assist torque weight feature NB0Corresponding slavery objective function
Figure GDA00033153983400001611
May be:
Figure GDA0003315398340000171
wherein k represents a preset virtual moment weight upper limit; c. C1、c2、c3Respectively represent PS0、NS0And NB0Relative PB of the objective function0Is a shift deviation of membership function of 0 < c1＜c2＜c3，c1、c2、c3The specific numerical value of the steering torque can be specifically set according to different vehicles, and the increasing trend of the steering load torque presentation along with the increase of the aggressiveness degree of the driving mode is met, namely the basic power-assisted torque is in a descending trend. a is1Representing a first ratio threshold or a fourth ratio threshold, a2Representing either a third ratio threshold or a sixth ratio threshold. For example, if a virtual assist torque weighting characteristic corresponding to an accelerator pedal gradient is calculated, then a1Denotes a first ratio threshold, a2Represents a third ratio threshold; if the weight characteristic of the virtual power-assisted torque corresponding to the rotating speed of the steering wheel is calculated, a1Denotes a fourth ratio threshold, a2Representing a sixth ratio threshold.
And S240, obtaining a first virtual power-assisted torque weight according to the driving pedal opening degree signal and the target function.
Specifically, an accelerator pedal gradient is determined according to the driving pedal opening degree signal, and the accelerator pedal gradient is substituted into a target function corresponding to the determined virtual assist torque weight characteristic to obtain a first virtual assist torque weight.
Illustratively, if the virtual torque assist weight characteristic is determined as NB according to the first driving mode and the second driving mode of the vehicle0Substituting the gradient of the accelerator pedal into the weight characteristic NB of the virtual power-assisted torque0Corresponding slavery objective function
Figure GDA0003315398340000172
Calculating to obtain a first virtual power-assisted moment weight; if the virtual power-assisted torque weight characteristic is determined to be PS according to the first driving mode and the second driving mode of the vehicle0Substituting the gradient of the accelerator pedal into the weight characteristic PS of the virtual power-assisted moment0Corresponding slavery objective function
Figure GDA0003315398340000173
And (4) calculating to obtain the weight of the first virtual power-assisted moment.
And S250, obtaining a second virtual power-assisted torque weight according to the steering wheel rotation angle and the target function.
Specifically, the rotating speed of the steering wheel is determined according to the steering wheel rotation angle, and the rotating speed of the steering wheel is substituted into the target function corresponding to the determined virtual assist torque weight characteristic to obtain a second virtual assist torque weight.
Illustratively, if the virtual torque assist weight characteristic is determined as NB according to the first driving mode and the second driving mode of the vehicle0Substituting the rotating speed of the steering wheel into the virtual power-assisted torque weight characteristic NB0Corresponding slavery objective function
Figure GDA0003315398340000181
Calculating to obtain a second virtual power-assisted moment weight; if the virtual power-assisted torque weight characteristic is determined to be PS according to the first driving mode and the second driving mode of the vehicle0Substituting the rotating speed of the steering wheel into the virtual power-assisted torque weight characteristic PS0Corresponding slavery objective function
Figure GDA0003315398340000182
And (4) calculating to obtain the weight of the second virtual power-assisted moment.
And S260, taking the maximum value of the first virtual assist torque weight and the second virtual assist torque weight as a target virtual assist torque weight.
Specifically, if the first virtual torque-assisted weight is greater than or equal to the second virtual torque-assisted weight, determining that the first virtual torque-assisted weight is the target virtual torque-assisted weight; and if the first virtual torque-assisted weight is smaller than the second virtual torque-assisted weight, determining the second virtual torque-assisted weight as the target virtual torque-assisted weight.
And S270, calculating a steering load moment according to the target virtual power-assisted moment weight.
And S280, when the steering wheel is in a rotating state, feeding back the steering load moment to the steering wheel.
As shown in fig. 2a, the technical solution of this embodiment includes the following specific steps: the chassis domain controller is used as a physical carrier of a road sensing simulation and front wheel steering control algorithm and is responsible for information interaction between a steer-by-wire system and a whole vehicle, a communication module in the chassis domain controller acquires parameter information of the vehicle from a CAN bus, wherein the parameter information comprises steering wheel turning angle and driving pedal opening degree signals, and the acquired digital parameter information of the vehicle is analyzed into analog signals; calculating according to the steering wheel angle to obtain the steering wheel rotating speed, calculating according to the opening signal of the driving pedal to obtain the gradient of the accelerating pedal, determining a first driving mode and a corresponding first driving mode characteristic of the vehicle according to the gradient of the accelerating pedal in a driving mode identification module, and determining a second driving mode and a corresponding second driving mode characteristic of the vehicle according to the steering wheel rotating speed; in a configuration reconstruction module, determining a virtual moment of assistance weight characteristic and a corresponding target function according to a first driving mode characteristic and a second driving mode characteristic, substituting an accelerator pedal gradient into the target function to obtain a first virtual moment of assistance, substituting a steering wheel rotating speed into the target function to obtain a second virtual moment of assistance, and selecting the maximum one of the first virtual moment of assistance and the second virtual moment of assistance as a target virtual moment of assistance; in the multi-mode control module, a basic assistance moment, a aligning moment, a friction compensation moment, a damping compensation moment, a lateral force aligning moment and a gravity aligning moment are respectively calculated through vehicle parameter information such as vehicle speed, steering wheel rotation angle and steering wheel torque, and a virtual assistance moment is calculated according to the basic assistance moment, the aligning moment, the friction compensation moment and the damping compensation moment; calculating to obtain a steering load moment according to the lateral force aligning moment, the gravity aligning moment, the target virtual moment and the virtual moment weight; in the road feel simulation controller, when a steering wheel rotates, received steering load moment is fed back to the steering wheel, and road load simulation is achieved.
According to the technical scheme, the driving mode of the vehicle is determined through the parameter information of the vehicle, the corresponding target function is selected according to the driving mode, the virtual power-assisted torque weight is obtained, the steering load moment is calculated, the steering load moment is fed back to the steering wheel to simulate road load, the driving mode selection function is combined with the steer-by-wire system, the steer-by-wire system can adapt to the driving mode of the vehicle, the steer-by-wire system of the vehicle can be controlled according to the driving style of a driver, the requirement of the driver on the vehicle control feeling is met, the driving experience of the driver is improved, and the expandability is strong.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a steer-by-wire apparatus according to a third embodiment of the present invention. The present embodiment may be applied to a steer-by-wire case, the apparatus may be implemented in a software and/or hardware manner, and the apparatus may be integrated into any device providing a steer-by-wire function, as shown in fig. 3, where the steer-by-wire apparatus specifically includes: an acquisition module 310, a determination module 320, a calculation module 330, and a feedback module 340.
The obtaining module 310 is configured to obtain parameter information of a vehicle, where the parameter information includes: steering wheel angle and drive pedal opening signals;
a determining module 320, configured to determine a target virtual assist torque weight according to the steering wheel angle and the driving pedal opening signal;
a calculating module 330, configured to calculate a steering load torque according to the target virtual assist torque weight;
a feedback module 340, configured to feed back the steering load torque to the steering wheel when the steering wheel is in a rotating state.
Further, the determining module includes:
the weight characteristic determination submodule is used for determining the weight characteristic of the virtual power-assisted torque according to the steering wheel angle and the opening signal of the driving pedal;
the target function determining submodule is used for determining a target function according to the virtual moment weight characteristics;
the first weight determination submodule is used for obtaining a first virtual power-assisted moment weight according to the driving pedal opening degree signal and the target function;
the second weight determination submodule is used for obtaining a second virtual power-assisted torque weight according to the steering wheel rotating angle and the target function;
and the target weight determining submodule is used for taking the maximum value of the first virtual assist torque weight and the second virtual assist torque weight as a target virtual assist torque weight.
Further, the weight characteristic determination sub-module includes:
the steering wheel rotating speed determining unit is used for determining the rotating speed of the steering wheel according to the steering wheel rotating angle;
the accelerator pedal gradient determining unit is used for determining the gradient of an accelerator pedal according to the opening degree signal of the driving pedal;
a first driving mode determination unit for determining a first driving mode of the vehicle according to the accelerator pedal gradient;
a second driving mode determining unit that determines a second driving mode of the vehicle according to the steering wheel rotation speed;
and a weight characteristic determination unit for determining a virtual torque-assisted weight characteristic according to the first driving mode and the second driving mode.
Further, the weight feature determining unit is specifically configured to:
and inquiring a fuzzy rule table according to the first driving mode and the second driving mode to obtain the weight characteristics of the virtual power-assisted torque.
Further, the first driving mode determining unit is specifically configured to:
calculating a first ratio of time that the accelerator pedal gradient exceeds a gradient threshold to a firing period for a firing period;
if the first ratio is greater than or equal to a first ratio threshold and smaller than a second ratio threshold, the first driving mode of the vehicle is a comfortable driving mode, wherein the first ratio threshold is smaller than the second ratio threshold;
if the first ratio is greater than or equal to a second ratio threshold and smaller than a third ratio threshold, the first driving mode of the vehicle is an automatic driving mode, wherein the second ratio threshold is smaller than the third ratio threshold;
and if the first ratio is greater than or equal to the third ratio threshold, the first driving mode of the vehicle is a sport driving mode.
Further, the second driving mode determination unit is specifically configured to:
calculating a second ratio of the time that the rotating speed of the steering wheel exceeds the rotating speed threshold value to the ignition period in one ignition period;
if the second ratio is greater than or equal to a fourth ratio threshold and smaller than a fifth ratio threshold, the second driving mode of the vehicle is a comfortable driving mode, wherein the fourth ratio threshold is smaller than the fifth ratio threshold;
if the second ratio is greater than or equal to a fifth ratio threshold and less than a sixth ratio threshold, the second driving mode of the vehicle is an automatic driving mode, wherein the fifth ratio threshold is less than the sixth ratio threshold;
and if the second ratio is greater than or equal to a sixth ratio threshold, the second driving mode of the vehicle is a sport driving mode.
The product can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
According to the technical scheme, the driving mode of the vehicle is determined through the parameter information of the vehicle, the corresponding target function is selected according to the driving mode, the virtual assisted torque weight is obtained, the steering load moment is calculated to simulate road load, the driving mode selection function is combined with the steer-by-wire system, the steer-by-wire system can adapt to the driving mode of the vehicle, the steer-by-wire system of the vehicle can be controlled according to the driving style of a driver, the requirement of the driver on the vehicle control feeling is met, the driving experience of the driver is improved, and the expandability is strong.
Example four
Fig. 4 is a schematic structural diagram of a computer device in the fourth embodiment of the present invention. FIG. 4 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in FIG. 4 is only one example and should not bring any limitations to the functionality or scope of use of embodiments of the present invention.
As shown in FIG. 4, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Computer device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, and commonly referred to as a "hard drive"). Although not shown in FIG. 4, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
Computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with computer device 12, and/or with any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. In the computer device 12 of the present embodiment, the display 24 is not provided as a separate body but is embedded in the mirror surface, and when the display surface of the display 24 is not displayed, the display surface of the display 24 and the mirror surface are visually integrated. Also, computer device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with the other modules of computer device 12 via bus 18. It should be appreciated that although not shown in FIG. 4, other hardware and/or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, implementing a steer-by-wire control method provided by an embodiment of the present invention:
acquiring parameter information of a vehicle, wherein the parameter information comprises: steering wheel angle and drive pedal opening signals;
determining a target virtual power-assisted torque weight according to the steering wheel angle and the driving pedal opening degree signal;
calculating a steering load moment according to the target virtual power-assisted moment weight;
and when the steering wheel is in a rotating state, feeding the steering load moment back to the steering wheel.
EXAMPLE five
Fifth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a steer-by-wire control method according to any embodiment of the present invention:
acquiring parameter information of a vehicle, wherein the parameter information comprises: steering wheel angle and drive pedal opening signals;
determining a target virtual power-assisted torque weight according to the steering wheel angle and the driving pedal opening degree signal;
calculating a steering load moment according to the target virtual power-assisted moment weight;
and when the steering wheel is in a rotating state, feeding the steering load moment back to the steering wheel.
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 many 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).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (8)

1. A steer-by-wire control method, comprising:
acquiring parameter information of a vehicle, wherein the parameter information comprises: steering wheel angle and drive pedal opening signals;
determining a target virtual power-assisted torque weight according to the steering wheel angle and the driving pedal opening degree signal;
calculating a steering load moment according to the target virtual power-assisted moment weight;
when a steering wheel is in a rotating state, feeding the steering load moment back to the steering wheel;
determining a target virtual assist torque weight according to the steering wheel angle and the drive pedal opening signal, comprising:
determining a virtual power-assisted torque weight characteristic according to the steering wheel angle and the opening signal of the driving pedal;
determining a target function according to the virtual moment weight characteristics;
obtaining a first virtual power-assisted moment weight according to the driving pedal opening degree signal and the target function;
obtaining a second virtual power-assisted moment weight according to the steering wheel turning angle and the target function;
and taking the maximum value of the first virtual torque assistance weight and the second virtual torque assistance weight as a target virtual torque assistance weight.
2. The method of claim 1, wherein determining a virtual assist torque weight characteristic based on the steering wheel angle and the drive pedal opening signal comprises:
determining the rotating speed of a steering wheel according to the steering wheel rotating angle;
determining an accelerator pedal gradient according to the driving pedal opening degree signal;
determining a first driving mode of the vehicle according to the accelerator pedal gradient;
determining a second driving mode of the vehicle according to the rotating speed of the steering wheel;
determining a virtual assist torque weight characteristic from the first driving mode and the second driving mode.
3. The method of claim 2, wherein determining a virtual assist torque weight characteristic from the first driving mode and the second driving mode comprises:
and inquiring a fuzzy rule table according to the first driving mode and the second driving mode to obtain the weight characteristics of the virtual power-assisted torque.
4. The method of claim 2, wherein determining a first driving mode of the vehicle based on the accelerator pedal gradient comprises:
calculating a first ratio of time that the accelerator pedal gradient exceeds a gradient threshold to a firing period for a firing period;
if the first ratio is greater than or equal to a first ratio threshold and smaller than a second ratio threshold, the first driving mode of the vehicle is a comfortable driving mode, wherein the first ratio threshold is smaller than the second ratio threshold;
if the first ratio is greater than or equal to a second ratio threshold and smaller than a third ratio threshold, the first driving mode of the vehicle is an automatic driving mode, wherein the second ratio threshold is smaller than the third ratio threshold;
and if the first ratio is greater than or equal to the third ratio threshold, the first driving mode of the vehicle is a sport driving mode.
5. The method of claim 2, wherein determining a second driving mode of the vehicle based on the steering wheel speed comprises:
calculating a second ratio of the time that the rotating speed of the steering wheel exceeds the rotating speed threshold value to the ignition period in one ignition period;
if the second ratio is greater than or equal to a fourth ratio threshold and smaller than a fifth ratio threshold, the second driving mode of the vehicle is a comfortable driving mode, wherein the fourth ratio threshold is smaller than the fifth ratio threshold;
if the second ratio is greater than or equal to a fifth ratio threshold and less than a sixth ratio threshold, the second driving mode of the vehicle is an automatic driving mode, wherein the fifth ratio threshold is less than the sixth ratio threshold;
and if the second ratio is greater than or equal to a sixth ratio threshold, the second driving mode of the vehicle is a sport driving mode.
6. A steer-by-wire apparatus, comprising:
the device comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring parameter information of a vehicle, and the parameter information comprises: steering wheel angle and drive pedal opening signals;
the determining module is used for determining a target virtual power-assisted torque weight according to the steering wheel angle and the driving pedal opening degree signal;
the calculation module is used for calculating a steering load moment according to the target virtual power-assisted moment weight;
the feedback module is used for feeding back the steering load moment to the steering wheel when the steering wheel is in a rotating state; the determining module includes:
the weight characteristic determination submodule is used for determining the weight characteristic of the virtual power-assisted torque according to the steering wheel angle and the opening signal of the driving pedal;
the target function determining submodule is used for determining a target function according to the virtual moment weight characteristics;
the first weight determination submodule is used for obtaining a first virtual power-assisted moment weight according to the driving pedal opening degree signal and the target function;
the second weight determination submodule is used for obtaining a second virtual power-assisted torque weight according to the steering wheel rotating angle and the target function;
and the target weight determining submodule is used for taking the maximum value of the first virtual assist torque weight and the second virtual assist torque weight as a target virtual assist torque weight.
7. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-5 when executing the program.
8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-5.
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