CN113415341A - Steering wheel silent control method and device based on steer-by-wire system - Google Patents
Steering wheel silent control method and device based on steer-by-wire system Download PDFInfo
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- CN113415341A CN113415341A CN202110821072.2A CN202110821072A CN113415341A CN 113415341 A CN113415341 A CN 113415341A CN 202110821072 A CN202110821072 A CN 202110821072A CN 113415341 A CN113415341 A CN 113415341A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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Abstract
The application discloses a steering wheel silence control method and device based on a steer-by-wire system, which are used for reducing the negative influence of steering wheel deflection on drivers and passengers in the automatic driving process. The scheme provided by the application comprises the following steps: receiving a steering wheel muting command for the vehicle; detecting the running state of an Advanced Driving Assistance System (ADAS) of the vehicle according to the steering wheel silencing instruction; when the ADAS of the vehicle is in a normal running state, a steering force sense simulator in a steer-by-wire system of the vehicle is controlled to be decoupled from a steering actuator, wherein the steering force sense simulator is mechanically connected with a steering wheel of the vehicle, and the steering actuator is mechanically connected with a steering wheel of the vehicle. According to the scheme of the embodiment of the application, linkage between the steering wheel and the steering wheel is released before automatic driving is executed, so that the steering wheel is in a silent state in the automatic driving process and does not deflect or shake along with the steering wheel, and negative effects of steering wheel deflection on drivers and passengers in the automatic driving process are effectively reduced.
Description
Technical Field
The present invention relates to the field of automatic driving, and in particular, to a steering wheel muting control method and apparatus based on a steer-by-wire system.
Background
In the field of automobiles, an automobile steer-by-wire system consists of a steering wheel assembly, a steering gear assembly (comprising a steering controller) and a road feel feedback system (comprising a road feel feedback controller), and auxiliary systems such as an automatic fault prevention system and a power supply. When the vehicle performs automatic Driving, the vehicle is automatically driven by an Advanced Driving Assistance System (ADAS) according to various factors such as the Driving state of the vehicle, the road environment, and surrounding vehicles. During automatic driving with a high automation level, the steering wheel may shake or deflect with the steering wheel. Since the steering wheel deflection during automatic driving is not actively controlled by the driver, it may attract the driver's attention and even induce a stressful anxiety to the driver.
How to reduce the negative influence of steering wheel deflection on drivers and passengers in the automatic driving process is the technical problem to be solved by the application.
Disclosure of Invention
The embodiment of the application aims to provide a steering wheel silencing control method and device based on a steer-by-wire system, which are used for reducing the negative influence of steering wheel deflection on an occupant in the automatic driving process.
In a first aspect, a steering wheel silencing control method based on a steer-by-wire system is provided, which includes:
receiving a steering wheel muting command for the vehicle;
detecting the running state of an Advanced Driving Assistance System (ADAS) of the vehicle according to the steering wheel silencing instruction;
when the ADAS of the vehicle is in a normal running state, controlling a steering force sense simulator in a steer-by-wire system of the vehicle to be decoupled from a steering actuator, wherein the steering force sense simulator is mechanically connected with a steering wheel of the vehicle, and the steering actuator is mechanically connected with a steering wheel of the vehicle.
In a second aspect, a steering wheel muting control device based on a steer-by-wire system is provided, comprising:
the receiving module receives a steering wheel silencing instruction for a vehicle;
the detection module detects the running state of an Advanced Driving Assistance System (ADAS) of the vehicle according to the steering wheel silencing instruction;
and the control module is used for controlling a steering force sense simulator in a steer-by-wire system of the vehicle to be decoupled from a steering actuator when the operation state of the ADAS of the vehicle is normal, wherein the steering force sense simulator is mechanically connected with a steering wheel of the vehicle, and the steering actuator is mechanically connected with a steering wheel of the vehicle.
In a third aspect, an electronic device is provided, the electronic device comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method according to the first aspect.
In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, realizes the steps of the method as in the first aspect.
In the embodiment of the application, the steering wheel silencing instruction for the vehicle is received; detecting the running state of an Advanced Driving Assistance System (ADAS) of the vehicle according to the steering wheel silencing instruction; when the ADAS of the vehicle is in a normal running state, controlling a steering force sense simulator in a steer-by-wire system of the vehicle to be decoupled from a steering actuator, wherein the steering force sense simulator is mechanically connected with a steering wheel of the vehicle, and the steering actuator is mechanically connected with a steering wheel of the vehicle. According to the scheme of the embodiment of the application, the ADAS running state is detected after the steering wheel silencing instruction is received, and linkage is released when the running state is normal, so that the running safety of a vehicle is effectively guaranteed. After linkage is released, the steering wheel is in a silent state in the automatic driving process and does not deflect or shake along with the steering wheel, so that the negative influence of steering wheel deflection on drivers and passengers in the automatic driving process is effectively reduced, and the riding experience of the drivers and passengers is optimized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1a is a schematic structural diagram of a steer-by-wire system of a vehicle according to an embodiment of the present application.
FIG. 1b is a flowchart illustrating a steering wheel muting control method based on a steer-by-wire system according to an embodiment of the present application;
fig. 2 is a second flowchart of a steering wheel muting control method based on a steer-by-wire system according to an embodiment of the present application;
FIG. 3 is a third flowchart of a steering wheel muting control method based on a steer-by-wire system according to an embodiment of the present application;
FIG. 4 is a fourth flowchart of a steering wheel muting control method based on a steer-by-wire system according to an embodiment of the present application;
FIG. 5 is a fifth flowchart illustrating a steering wheel muting control method based on a steer-by-wire system according to an embodiment of the present application;
FIG. 6 is a sixth flowchart of a steering wheel muting control method based on a steer-by-wire system according to an embodiment of the present application;
FIG. 7 is a seventh flowchart of a steering wheel muting control method based on a steer-by-wire system according to an embodiment of the present application;
fig. 8 is an eighth flowchart of a steering wheel muting control method based on a steer-by-wire system according to an embodiment of the present application;
FIG. 9 is a ninth flowchart illustrating a steering wheel muting control method based on a steer-by-wire system according to an embodiment of the present application;
FIG. 10 is a flow chart of a steering wheel muting control method based on a steer-by-wire system according to an embodiment of the present application;
fig. 11 is a structural schematic diagram of a steering wheel silencing control device based on a steer-by-wire system according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. 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 application. The reference numbers in the present application are only used for distinguishing the steps in the scheme and are not used for limiting the execution sequence of the steps, and the specific execution sequence is described in the specification.
In order to solve the problems in the prior art, an embodiment of the present application provides a steering wheel silencing control method based on a steer-by-wire system, and fig. 1a shows a structural schematic diagram of a steer-by-wire system of a vehicle. Next, this embodiment will be described by taking the structure shown in fig. 1a as an example.
The steer-by-wire system of the vehicle shown in fig. 1a includes a Steering wheel, a Steering force sense simulator, a center control entertainment screen, a Steering wheel silence switch, an Electric Power Steering (EPS) Steering actuator, a Steering wheel, and an instrument panel.
The steering wheel can be mechanically connected with the steering column, and the steering force sense simulator is mechanically connected with the steering wheel through the steering column. The EPS steering actuator is mechanically connected with the steering wheel, and the EPS steering actuator and the steering force sense simulator can also be in communication connection with a main controller of the steer-by-wire system so as to execute steering action according to an instruction sent by the main controller. In addition, the steering wheel mute switch may be a physical button disposed on a center console of the vehicle, or may be a virtual button displayed on a center entertainment screen, and the steering wheel mute switch may be configured to trigger a steering wheel mute instruction. The dashboard may be used to display status information of the vehicle, such as whether it is in an autonomous driving state, whether the ADAS is operating normally, whether the steering wheel is in a silent state, and the like.
Based on the steer-by-wire system shown in fig. 1a, a method provided by the embodiment of the present application is shown in fig. 1b, and the method comprises:
s11: a steering wheel quiet command for the vehicle is received.
The steering wheel silencing instruction in this step may be an instruction actively triggered by the occupant, for example, the occupant may trigger the steering wheel silencing instruction by triggering the steering wheel silencing switch, or the occupant may trigger the steering wheel silencing instruction by voice, gesture, or other forms. In addition, the steering wheel silencing instruction may also be an instruction that is automatically triggered after the vehicle meets a preset condition, for example, a duration that the vehicle is in an automatic driving state exceeds a preset automatic driving duration, a duration that the driver does not rotate the steering wheel in the automatic driving process exceeds a preset operation duration, and the like.
S12: and detecting the running state of an Advanced Driving Assistance System (ADAS) of the vehicle according to the steering wheel silencing instruction.
The advanced driving assistance system ADAS described in this step is used to control the vehicle to perform automatic driving. When the ADAS operation state is normal, indicating that the components of the vehicle related to the automated driving are operating normally, the automated driving function of the vehicle may be turned on or the vehicle is performing the automated driving.
And if the ADAS running state is detected to be abnormal, prohibiting the steering wheel from being opened in a silent mode, and keeping the linkage state of the steering wheel and the steering wheel. In addition, if the vehicle is in an automatic driving state, the automatic driving function of the vehicle is stopped, and the driver controls the steering wheel to steer through the steering wheel, so that safety accidents caused by abnormal ADAS in the automatic driving process are avoided.
S13: when the ADAS of the vehicle is in a normal running state, controlling a steering force sense simulator in a steer-by-wire system of the vehicle to be decoupled from a steering actuator, wherein the steering force sense simulator is mechanically connected with a steering wheel of the vehicle, and the steering actuator is mechanically connected with a steering wheel of the vehicle.
In some scenes, the vehicle is in an automatic driving working condition, a driver can separate hands from a steering wheel, an automatic driving system sends a turning angle instruction to an EPS (electric power steering) actuator and a steering force sense simulator, and the steering force sense simulator is linked with the EPS actuator at the moment. And the steering wheel and the tires are connected to the steering force simulator and the steering actuator, respectively, so that the steering wheel tends to rotate as the wheels rotate.
It follows that the driver need not perform the vehicle turning operation during the automatic driving of the vehicle. However, the driver may be disturbed by the steering wheel rotating at the main driving position, the hands of the driver may touch the rotating steering wheel, and the attention may be distracted by the rotating steering wheel, thereby adversely affecting the safety and comfort of the automatic driving.
In the present embodiment, if the ADAS of the vehicle is in a normal operating state, it indicates that the vehicle can correctly and safely perform the automatic driving. At the moment, a steering force sense simulator in a steer-by-wire system of the vehicle is controlled to be decoupled from a steering actuator, so that the steering wheel is in a silent state in the automatic driving process, and the influence of the rotation of the steering wheel on the driving experience is avoided.
Referring to fig. 1a, the solution provided by the present embodiment is based on a steer-by-wire system, and the steering wheel and the steered wheels are not mechanically connected through an intermediate shaft, but are linked through a command. In the step, the linkage between the steering force sense simulator and the steering actuator is released, the steering wheel can be controlled to rotate by the ADAS to realize automatic driving, meanwhile, the steering force sense simulator does not rotate along with the rotating angle of the steering wheel any more, the silencing of the steering wheel is realized, the situation that the steering wheel shakes and deflects to attract the attention of drivers and passengers in the automatic driving process is avoided, and the riding safety and comfort of the drivers and passengers are improved.
Based on the solution provided by the foregoing embodiment, optionally, as shown in fig. 2, the foregoing step S13 includes:
s21: and when the ADAS of the vehicle is in a normal running state and it is detected that the steering wheel is not held by a driver and is not deflected by external force, controlling the steering force sense simulator to be decoupled from the steering actuator.
When the ADAS normally operates, the vehicle is in an automatic driving state, and the driver can still control the steering wheel to rotate in a steering wheel rotating mode under the condition that the steering wheel and the steering wheel are not in linkage release. Specifically, when the steering wheel is held and rotated by the driver, the steering rod mechanically connected to the steering wheel is also rotated accordingly. Because the steering force sense simulator arranged on the steering rod and the steering actuator are in an interlocking state, the steering actuator and the steering force sense simulator can transmit signal commands based on communication connection. Specifically, after an instruction generated by steering of the steering wheel is transmitted to the steering actuator, the steering actuator controls the steering wheel to rotate by a corresponding angle according to the received instruction, and the driver controls the steering of the vehicle through the steering wheel.
In this step, if it is detected that the steering wheel is not held by the driver and the steering wheel is not deflected by an external force, it indicates that the driver does not control the steering of the vehicle by turning the steering wheel, that is, the steering angle of the steering wheel of the vehicle is completely controlled by ADAS, and at this time, the steering force sense simulator is controlled to be decoupled from the steering actuator, so that the situation that the driver is decoupled in the process of controlling the steering of the vehicle to cause the driver to be unable to control the steering is avoided, and a traffic accident that may be caused is avoided.
Wherein, whether the steering wheel is held by the driver or not can be detected through a pressure sensor, a temperature sensor, a camera or other sensors. For example, if a pressure sensor provided on the steering wheel detects a pressure greater than a preset value or an increase in pressure value, it indicates that the steering wheel is held by the driver. Alternatively, if a temperature sensor provided on the steering wheel detects an uneven temperature distribution on the steering wheel, it indicates that the steering wheel is held by the driver. In order to improve the detection accuracy, whether the steering wheel is held by the driver may be comprehensively determined based on data detected by a plurality of sensors.
Whether the steering wheel is deflected by an external force may be detected by a sensor provided on the steering wheel or a steering rod mechanically coupled to the steering wheel. If the steering wheel is not detected to be in the neutral position, it can be determined that the steering wheel is deflected by an external force. In practical application, part of drivers are used to hold the steering wheel by wearing gloves, or a cover or an ornament is arranged on the steering wheel, so that the temperature sensor can not accurately monitor the temperature change of the surface of the steering wheel, and the camera can not be used for accurately identifying whether the driver holds the steering wheel. According to the scheme provided by the embodiment of the application, whether the driver performs steering operation on the steering wheel can be determined by whether the steering wheel is deflected by external force, and the detection accuracy of whether the steering wheel is controlled by the driver can be improved.
Based on the solution provided by the foregoing embodiment, as shown in fig. 3, before the foregoing step S12, optionally, the method further includes:
s31: receiving an automatic driving starting instruction, wherein the automatic driving starting instruction comprises an automatic driving grade;
wherein, the step S12 includes:
s32: detecting an operating state of a function in the ADAS of the vehicle that matches an autopilot level of the autopilot turn-on command.
The automatic driving start instruction in this embodiment may be actively triggered and generated by the driver and the crew according to the requirement, for example, triggered by triggering a physical key or a virtual key, or triggered by a voice instruction. In addition, the automatic driving start command may be a command automatically generated by the vehicle according to the state of the vehicle. For example, after the driver triggers a steering wheel silence instruction for the vehicle, the vehicle may automatically generate an autopilot on instruction to the ADAS to perform autopilot.
Wherein the autopilot activation command includes an autopilot rating, which can be classified according to an automation level. For example, the automatic driving level is divided into 6 levels of L0 to L5, where the automatic driving level is L0 when driving is completely controlled by the driver and the automatic driving level is L5 when driving is completely controlled by the ADAS. In addition, the number of gradations and the gradation rule may be adjusted according to actual needs.
In the present embodiment, it is assumed that the vehicle speed is controlled by the ADAS and the vehicle speed can be intervened by the driver, and the automatic driving level in which the steering of the vehicle is controlled by the driver through the steering wheel is L2, and the automatic driving level in which the vehicle speed and steering are controlled by the ADAS and the vehicle speed and steering can be intervened by the driver is L3.
Then, in the present embodiment, if the automatic driving level included in the automatic driving start instruction is L2, the function of detecting the ADAS of the vehicle matching the automatic driving level of the automatic driving start instruction includes a function related to automatically controlling the vehicle speed. On the other hand, if the automatic driving level included in the automatic driving start instruction is L3, not only the function related to the automatic control of the vehicle speed but also the function related to the automatic control of the steering are detected.
According to the scheme provided by the embodiment of the application, the function execution detection corresponding to the automatic driving starting instruction in the ADAS can be realized, the automatic driving of the corresponding level can be safely and correctly executed, and the traffic accidents possibly caused by the ADAS dysfunction can be avoided.
Based on the solution provided by the foregoing embodiment, as shown in fig. 4, after the foregoing step S13, optionally, the method further includes:
s41: when an automatic driving closing instruction of the vehicle is received, controlling the steering force sense simulator to be in opening linkage with the steering actuator;
s42: deactivating automatic driving performed by the ADAS of the vehicle.
The automatic driving shutdown instruction may be triggered by a driver or an occupant through a virtual key, a physical key, a voice instruction, a gesture instruction or other forms, or may be an instruction automatically generated when a vehicle detects a fault or is in an environment where automatic driving cannot be performed.
When the automatic driving closing instruction is received, a steering force sense simulator in the steer-by-wire system is firstly controlled to be in opening linkage with a steering actuator. Specifically, the steering states of the steering force sense simulator and the steering actuator can be received by the main controller of the steer-by-wire system, the steering state of the steering force sense simulator is controlled to be consistent with the steering state of the steering actuator through an instruction, and the linkage of the steering force sense simulator and the steering actuator is realized through the mode that the main controller receives and sends the instruction.
After the steering force sense simulator and the steering actuator are controlled to be in open linkage, a driver can control the steering wheels of the vehicle to steer in a steering wheel rotating mode, and the steering of the vehicle is controlled. Subsequently, the automatic driving performed by the ADAS of the vehicle is released again.
Through the scheme that this embodiment provided, can turn to the vehicle earlier and give the driver control, then stop autopilot, guarantee to finish autopilot safely effectively, avoid the uncontrolled condition of steering wheel among the steering control conversion's process.
Based on the solution provided by the foregoing embodiment, optionally, as shown in fig. 5, the foregoing step S41 includes:
s51: when an automatic driving closing instruction is received, whether a steering wheel of the vehicle deflects by an external force or not is detected.
In the process of turning off the automatic driving function according to the automatic driving off instruction, the steering of the steering wheel needs to be converted from the automatic control steering to the steering of the steering wheel according to the steering wheel rotation angle. In some cases, during execution of the above control change, the vehicle may be turning, i.e., the steered wheels are in a state of being deflected at a certain angle. In the automatic driving process, the steering wheel is usually in a neutral state under the condition that the steering wheel is not deflected by external force, so that the state of the steering wheel does not correspond to the state of the steering wheel.
In this step, when the automatic driving off command is received, it is first detected whether the steering wheel of the vehicle is deflected by an external force. If there is no deflection by an external force, the steering wheel rotation angle can be controlled to correspond to the steered wheel rotation angle through the subsequent steps. If the steering wheel is deflected by external force, usually the steering is actively executed by a driver to deflect, at the moment, the steering angle of the steering wheel and the steering angle of the steering wheel can be linked, the driver can be ensured to execute control on the steering wheel, and then the steering angle difference between the steering wheel and the steering wheel is gradually adjusted in the driving process.
S52: and when the steering wheel of the vehicle is detected not to be deflected by external force, acquiring the steering angle of the steering wheel of the vehicle.
If the steering wheel of the vehicle is not deflected by an external force, the steering wheel is normally in a neutral state. The steering angle at which the steered wheels are located can be acquired by the main controller of the steer-by-wire system. And in the subsequent step, the steering wheel is controlled to rotate to a corresponding angle according to the acquired angle so as to realize the correspondence between the steering wheel angle and the steering wheel angle.
S53: and controlling the steering wheel of the vehicle to deflect to a deflection angle matched with the steering angle of the steering wheel.
In this step, the steering wheel deflection angle may be controlled by sending an instruction to the steering force simulator from the main controller of the steer-by-wire system. Specifically, the main controller generates a steering wheel steering control command according to the detected steering angle of the steering wheel, and sends the steering wheel steering control command to the steering force sense simulator. The steering force sense simulator controls the steering rod to rotate according to the received steering control command of the steering wheel, and then drives the steering wheel mechanically connected with the steering rod to rotate. Thereby realizing that the deflection angle of the steering wheel is consistent with the steering angle of the steering wheel.
S54: and controlling the steering force sense simulator to be in open linkage with the steering actuator, and releasing automatic driving executed by ADAS of the vehicle.
Through the step S53, the steering angle of the steering wheel is matched with that of the steering wheel, and then the steering force simulator and the steering actuator are controlled to be in linkage in the step, so that the linkage of the steering wheel and the steering wheel is realized, and a driver can control the steering angle of the steering wheel in a steering wheel rotating mode, so that the steering of the vehicle is realized. Subsequently, the automatic driving performed by the ADAS is released, and the vehicle running is fully controlled by the driver.
Through the scheme provided by the embodiment of the application, the steering angle of the steering wheel and the steering wheel can be controlled to correspond to each other before automatic driving is relieved, so that the steering angle felt by a driver through the rotation angle of the steering wheel is consistent with the actual steering angle of the vehicle, and the driver can conveniently take over the steering of the vehicle smoothly. The driver misoperation caused by the fact that the steering wheel rotating angle is inconsistent with the steering wheel rotating angle is avoided, the risk of traffic accidents is reduced, and the vehicle driving safety in the process of switching from automatic driving to driver driving is guaranteed.
Based on the solution provided by the foregoing embodiment, as shown in fig. 6, after the foregoing step S51, optionally, the method further includes:
s61: and when the steering wheel of the vehicle is detected to be deflected by external force, controlling the steering force sense simulator to be in open linkage with the steering actuator, and releasing automatic driving executed by ADAS of the vehicle.
If the driver already deflects the steering wheel before the steering wheel is linked with the steering wheel, the deflection angle of the steering wheel is not automatically adjusted any more, and the driver is prevented from feeling that the steering wheel is not controlled. In this step, the steering wheel and the steering wheel that have already deflected are directly linked, so that the driver can take over the steering wheel according to his own habit. In order to ensure steering wheel and steering wheel yaw consistency, the yaw angles of the steering wheel and the steering wheel may be adjusted during subsequent driving. For example, after the linkage is turned on, the steering wheel and steering wheel steering angle difference is maintained until the next ignition cycle or until the next silent turn-on. Or, the difference between the steering angles of the steering wheel and the steering wheels can be reduced slowly during the low-speed running of the vehicle until the steering angles of the steering wheel and the steering wheels are consistent.
Based on the solution provided by the foregoing embodiment, as shown in fig. 7, after the foregoing step S13, optionally, the method further includes:
s71: when a steering wheel linkage instruction of the vehicle is received, whether the steering wheel of the vehicle is held by a driver and/or whether the steering wheel deflects under an external force is detected.
The steering wheel linkage instruction of the vehicle can be triggered by a driver through a virtual key, a physical key, a voice instruction, a gesture instruction or other forms actively, and can also be an instruction automatically generated when the vehicle is in a preset steering wheel linkage state.
In this step, whether the steering wheel of the vehicle is held by the driver and/or the steering wheel is deflected by an external force may be detected by a pressure sensor, a temperature sensor, a camera, or another type of sensor.
S72: and when the steering wheel of the vehicle is held by a driver and/or the steering wheel deflects by an external force, controlling the steering force sense simulator to be in open linkage with the steering actuator, and releasing automatic driving executed by ADAS of the vehicle.
When the steering wheel of the vehicle is held by the driver and/or the steering wheel is deflected by an external force, it indicates that the driver is ready to control the steering wheel and takes over the steering control of the vehicle. At this time, the steering force sense simulator is controlled to be in open linkage with the steering actuator, and the automatic driving of the vehicle is released, so that the steering control of the vehicle is given to the driver.
S73: when the steering wheel of the vehicle is not held by a driver and the steering wheel is not deflected by external force, the steering wheel of the vehicle is deflected to a deflection angle matched with the steering angle of the steering wheel of the vehicle, and the steering force sense simulator is controlled to be in opening linkage with the steering actuator.
When the steering wheel of the vehicle is not held by the driver and the steering wheel is not deflected by an external force, it indicates that the driver is not ready to control the steering wheel. At this time, the steering angle of the steering wheel and the steering wheel can be controlled to be consistent, and linkage between the steering force sense simulator and the steering actuator is started. In addition, the driver can be reminded through voice, words, steering wheel vibration or other forms. The reminder content may include, for example, "control the direction as to be controlled by the steering wheel, please hold the steering wheel", and the like.
If the driver holds the steering wheel after the steering force simulator is linked with the steering actuator to be opened, the driver can be considered as being ready to control the steering of the vehicle, and then the automatic driving can be released, and the driving direction of the vehicle can be controlled by the driver.
If the driver still does not hold the steering wheel or rotate the steering wheel after the steering force simulator and the steering actuator are opened and linked, the linkage state of the steering wheel and the steering wheel can be continuously kept, and meanwhile, the automatic driving state is continuously kept, so that the situation that the vehicle steering is not controlled by automatic driving or the steering wheel is avoided.
To further illustrate the present solution, the method provided in the present embodiment is further described below with reference to examples and flowcharts.
In this embodiment, the driver may trigger the steering wheel mute instruction by pressing the steering wheel extend switch in the state where the steering wheel is extended. When a driver presses down a steering wheel telescopic switch button, the incidence relation between the steering force sense simulator and the EPS steering actuator is released, and the steering wheel rotates to a middle zero position. Furthermore, after the steering wheel rotates to the middle zero position, the steering wheel can be contracted based on the mechanical structure of the steering wheel, so that the space of a driving position is enlarged, and a driver can comfortably rest in the automatic driving process.
When the driver presses the steering wheel extension switch, if the vehicle does not enter an autonomous driving state, an autonomous driving instruction is automatically generated to perform autonomous driving through the ADAS. If the vehicle is already in the autonomous driving state, the autonomous driving state is continuously maintained.
In the case of highly automated driving, the driver does not need to participate in the driving operation. During left and right turning of the wheels, the steering wheel is kept silent at the intermediate position shown in fig. 1a, facilitating the driver to take a suitable rest during automatic driving.
Fig. 8 is a schematic flow chart of the solution provided in this embodiment, and shows a flow of starting the steering wheel mute function. When the driver presses the steering wheel mute switch button, the system should determine whether the vehicle is in an autonomous normal operating state and whether the driver is ready to take over directional control. The driver being ready to take over the steering control may in particular be that the driver has gripped the steering wheel.
If the vehicle is not in the state of automatic driving normal operation, the steering wheel silent function is prohibited from starting, and the vehicle running safety is ensured.
If the driver holds the steering wheel already during the automatic driving operation of the vehicle, the steering wheel silencing function is also prohibited from being started, so that the driver is prevented from feeling that the steering wheel is not controlled.
Fig. 9 is a flow chart of a scheme provided by an embodiment of the application, which shows a process that the steering wheel exits from a silent state and is completely restored to the linkage of the steering wheel and the tire.
Before a driver presses a steering wheel silent switch, a vehicle is in a completely automatic driving state, the driver presses the steering wheel silent switch at the moment, linkage of the angle of a steering wheel and the angle of an EPS steering actuator is started, then a system judges whether the steering wheel is interfered by the torque of the driver, under the condition that the torque of the driver is completely eliminated, the angle of the steering wheel slowly rotates to the angle corresponding to a tire and is linked, the steering wheel silent process is finished, but ADAS continues to keep running.
In addition, when the system judges that the driver takes over, the steering wheel quits silence, but the angle difference between the current steering wheel and the tire is kept until the next ignition cycle or the next silence starts the quitting moment, so that the steering wheel can be effectively prevented from self-steering in the driving process, and the negative influence on the driving safety is avoided.
Fig. 10 is a flowchart of a solution provided in an embodiment of the present application, which shows a whole ADAS exit flow of a steer-by-wire system with a silent steering wheel function.
The default starting state is that the ADAS is in a high automatic driving state, and at the moment, a driver sends out an ADAS quitting instruction to a steering system, a braking system, an accelerator and light through an ADAS switch.
The steer-by-wire system then needs to detect whether the steering wheel is in a quiet state, and if the steering wheel is not in a quiet state, the ADAS needs to detect the steering wheel torque and determine whether the driver has taken over. If the driver is not taken over, the ADAS remains running and if the driver has taken over, the ADAS exits.
In another case, the steering wheel is in a silent state, the drive-by-wire system needs to perform the linkage between the steering wheel and the tire according to the flow of fig. 9, and then perform the exit of the ADAS. If the driver's steering torque is detected during the silent exit of the steering wheel, the steering wheel exits the silent function, but the current steering wheel-to-tire angle difference is maintained until the next ignition cycle or until the time of the next silent on exit.
According to the scheme provided by the embodiment of the application, the silent design of the steering wheel is highly intelligent, the burden of a driver in the driving process is reduced, safe automatic driving is executed, a comfortable environment is provided for the driver, and riding experience is optimized.
The scheme provided by the embodiment of the application can be applied to automatic driving based on L3 and above, the steering wheel can be kept silent in the automatic driving process, and the ADAS system is used for completing steering of the whole vehicle and other operations required by driving.
The structural design shape in the scheme provided by the embodiment of the application is not limited, and for example, a steering wheel, a steering force sense simulator, an EPS steering actuator and the like can be made into any applicable structural shape.
The scheme provided by the embodiment of the application can be applied to various scenes, such as electrical appliance architecture optimization, intelligent driving optimization, functional safety optimization and the like.
The scheme provided by the embodiment of the application is realized based on the steer-by-wire system, can improve the Noise, Vibration and Harshness (Noise, Vibration, Harshness, NVH) of the vehicle, eliminates the Vibration of the steering wheel and optimizes the driving experience of a driver. In addition, the steering wheel is not directly connected with the steering wheel through a mechanical part, so that the space in the vehicle can be flexibly arranged, and the left rudder and the right rudder can share the steering system with multiple platforms.
In addition, the steer-by-wire system can adjust the steering transmission ratio at will, increase the driving maneuverability, greatly enrich the driving mode and the driving feeling, and provide the racing-like motion feeling and the high-grade luxurious steady feeling for the vehicle.
According to the scheme provided by the embodiment of the application, when the ADAS works, the ADAS is used as an upper computer to control the steering actuator, and at the moment, the force sense simulator can follow the rotation of the tire in real time and can also be in a silent state, so that the driving experience of a driver is effectively optimized. Furthermore, the scheme provided by the embodiment is also beneficial to the optimization of the related fields of electrical appliance architectures of the combination switch, the corner sensing, the ADAS function safety and the like of the vehicle and the optimization of the driving and riding habits.
In order to solve the problems in the prior art, an embodiment of the present application further provides a steering wheel muting control device 110 based on a steer-by-wire system, as shown in fig. 11, including:
a receiving module 111 that receives a steering wheel silencing instruction for a vehicle;
a detection module 112, configured to detect an operation state of an advanced driving assistance system ADAS of the vehicle according to the steering wheel silencing instruction;
and a control module 113 configured to control a steering force sense simulator in a steer-by-wire system of the vehicle to be decoupled from a steering actuator when an ADAS operating state of the vehicle is normal, wherein the steering force sense simulator is mechanically connected to a steering wheel of the vehicle, and the steering actuator is mechanically connected to a steering wheel of the vehicle.
The device provided by the embodiment of the application receives a steering wheel silencing instruction aiming at a vehicle; detecting the running state of an Advanced Driving Assistance System (ADAS) of the vehicle according to the steering wheel silencing instruction; when the ADAS of the vehicle is in a normal running state, controlling a steering force sense simulator in a steer-by-wire system of the vehicle to be decoupled from a steering actuator, wherein the steering force sense simulator is mechanically connected with a steering wheel of the vehicle, and the steering actuator is mechanically connected with a steering wheel of the vehicle. According to the scheme of the embodiment of the application, the ADAS running state is detected after the steering wheel silencing instruction is received, and linkage is released when the running state is normal, so that the running safety of a vehicle is effectively guaranteed. After linkage is released, the steering wheel is in a silent state in the automatic driving process and does not deflect or shake along with the steering wheel, so that the negative influence of steering wheel deflection on drivers and passengers in the automatic driving process is effectively reduced, and the riding experience of the drivers and passengers is optimized.
Preferably, an embodiment of the present application further provides an electronic device, which includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, where the computer program, when executed by the processor, implements each process of the foregoing steering wheel muting control method based on a steer-by-wire system, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
The embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the above-mentioned steering wheel muting control method based on a steer-by-wire system, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A steering wheel silencing control method based on a steer-by-wire system is characterized by comprising the following steps:
receiving a steering wheel muting command for the vehicle;
detecting the running state of an Advanced Driving Assistance System (ADAS) of the vehicle according to the steering wheel silencing instruction;
when the ADAS of the vehicle is in a normal running state, controlling a steering force sense simulator in a steer-by-wire system of the vehicle to be decoupled from a steering actuator, wherein the steering force sense simulator is mechanically connected with a steering wheel of the vehicle, and the steering actuator is mechanically connected with a steering wheel of the vehicle.
2. The method of claim 1, wherein controlling a steering force sense simulator in a steer-by-wire system of the vehicle to be decoupled from a steering actuator when an operating state of an ADAS of the vehicle is normal comprises:
and when the ADAS of the vehicle is in a normal running state and it is detected that the steering wheel is not held by a driver and is not deflected by external force, controlling the steering force sense simulator to be decoupled from the steering actuator.
3. The method of claim 1, prior to detecting an operational state of an Advanced Driving Assistance System (ADAS) of the vehicle according to the steering wheel silence instruction, further comprising:
receiving an automatic driving starting instruction, wherein the automatic driving starting instruction comprises an automatic driving grade;
wherein detecting the operating state of an Advanced Driving Assistance System (ADAS) of the vehicle according to the steering wheel silencing instruction comprises:
detecting an operating state of a function in the ADAS of the vehicle that matches an autopilot level of the autopilot turn-on command.
4. The method of claim 1, after controlling a steering force sense simulator in a steer-by-wire system of the vehicle to be decoupled from a steering actuator, further comprising:
when an automatic driving closing instruction of the vehicle is received, controlling the steering force sense simulator to be in opening linkage with the steering actuator;
deactivating automatic driving performed by the ADAS of the vehicle.
5. The method of claim 4, wherein controlling the steering force sense simulator to open-link with the steering actuator upon receiving an autopilot turn-off command for the vehicle comprises:
detecting whether a steering wheel of the vehicle is deflected by an external force when an automatic driving closing instruction is received;
when the fact that the steering wheel of the vehicle is not deflected by external force is detected, the steering angle of the steering wheel of the vehicle is obtained;
controlling the steering wheel of the vehicle to deflect to a deflection angle matched with the steering angle of the steering wheel;
and controlling the steering force sense simulator to be in open linkage with the steering actuator, and releasing automatic driving executed by ADAS of the vehicle.
6. The method of claim 5, after detecting whether the steering wheel is deflected by an external force, further comprising:
and when the steering wheel of the vehicle is detected to be deflected by external force, controlling the steering force sense simulator to be in open linkage with the steering actuator, and releasing automatic driving executed by ADAS of the vehicle.
7. The method of claim 1, after controlling a steering force sense simulator in a steer-by-wire system of the vehicle to be decoupled from a steering actuator, further comprising:
when a steering wheel linkage instruction of the vehicle is received, detecting whether the steering wheel of the vehicle is held by a driver and/or the steering wheel deflects under an external force;
when the steering wheel of the vehicle is held by a driver and/or the steering wheel deflects by external force, controlling the steering force sense simulator to be in open linkage with the steering actuator, and releasing automatic driving executed by ADAS of the vehicle;
when the steering wheel of the vehicle is not held by a driver and the steering wheel is not deflected by external force, the steering wheel of the vehicle is deflected to a deflection angle matched with the steering angle of the steering wheel of the vehicle, and the steering force sense simulator is controlled to be in opening linkage with the steering actuator.
8. A steering wheel muting control device based on a steer-by-wire system, comprising:
the receiving module receives a steering wheel silencing instruction for a vehicle;
the detection module detects the running state of an Advanced Driving Assistance System (ADAS) of the vehicle according to the steering wheel silencing instruction;
and the control module is used for controlling a steering force sense simulator in a steer-by-wire system of the vehicle to be decoupled from a steering actuator when the operation state of the ADAS of the vehicle is normal, wherein the steering force sense simulator is mechanically connected with a steering wheel of the vehicle, and the steering actuator is mechanically connected with a steering wheel of the vehicle.
9. An electronic device, comprising: memory, processor and computer program stored on the memory and executable on the processor, which computer program, when executed by the processor, carries out the steps of the method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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