CN114750823B - Method and device for determining steering power-assisted characteristic curve and storage medium - Google Patents
Method and device for determining steering power-assisted characteristic curve and storage medium Download PDFInfo
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- CN114750823B CN114750823B CN202210406593.6A CN202210406593A CN114750823B CN 114750823 B CN114750823 B CN 114750823B CN 202210406593 A CN202210406593 A CN 202210406593A CN 114750823 B CN114750823 B CN 114750823B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
Abstract
The invention discloses a method and a device for determining a steering assistance characteristic curve and a storage medium, and relates to the field of electric digital data processing. The specific scheme comprises the following steps: the method comprises the steps that an initial steering power-assisted characteristic curve of each vehicle in a plurality of vehicles and steering data corresponding to working points on the initial steering power-assisted characteristic curve of each vehicle are obtained, the speeds of the working points are the same, and the moments of steering wheels are the same; determining first optimization data according to the plurality of steering data, wherein the first optimization data is used for indicating an adjustment value of the output current of the power-assisted motor of each working condition point; processing the working condition point of the initial steering assistance characteristic curve of each vehicle according to target data to obtain a first steering assistance characteristic curve of each vehicle, wherein the target data comprises first optimization data; a corresponding first steering assistance characteristic curve is transmitted to each vehicle.
Description
Technical Field
The invention relates to the field of electric digital data processing, in particular to a method and a device for determining a steering assistance characteristic curve and a storage medium.
Background
The power-assisted steering is corresponding auxiliary power generated by a power-assisted motor according to the torque of a steering wheel and the speed of the vehicle when a driver operates the steering wheel to steer. Because the torque of the auxiliary power and the output current of the power-assisted motor basically have a linear relationship, a corresponding relationship exists among the torque of the steering wheel, the torque of the auxiliary power and the output current of the power-assisted motor. The relationship between the torque of the steering wheel and the output current of the assist motor at different vehicle speeds is generally referred to as a steering assist characteristic curve.
In the prior art, a steering power-assisted characteristic curve is calibrated and confirmed by a tester of a vehicle manufacturer and then preset in an automobile. However, for different customers, the driving scenes and driving habits are different, and the automobile adopts the solidified steering power-assisted characteristic curve, so that different drivers can have different subjective feelings, and the automobile is difficult to adapt to complicated and variable road conditions, and can not respond timely and flexibly under some complicated road condition scenes.
Disclosure of Invention
The invention provides a method, a device and a storage medium for determining a steering assistance characteristic curve, which realize the optimization of the steering assistance characteristic curve according to the actual condition of a vehicle.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a method for determining a steering assist characteristic, the method including:
the method comprises the steps that an initial steering power-assisted characteristic curve of each vehicle in a plurality of vehicles and steering data corresponding to working points on the initial steering power-assisted characteristic curve of each vehicle are obtained, the speeds of the working points are the same, and the moments of steering wheels are the same;
determining first optimization data according to the plurality of steering data, wherein the first optimization data are used for indicating the adjustment value of the output current of the power-assisted motor of each working condition point;
processing the working condition point of the initial steering assistance characteristic curve of each vehicle according to target data to obtain a first steering assistance characteristic curve of each vehicle, wherein the target data comprises first optimization data;
a corresponding first steering assistance characteristic curve is transmitted to each vehicle.
In one possible implementation, the method further includes:
determining second optimization data corresponding to each steering data;
the target data further comprises second optimized data corresponding to each steering data, and the working condition point of the initial steering assistance characteristic curve of each vehicle is processed according to the target data to obtain a first steering assistance characteristic curve of each vehicle, wherein the first steering assistance characteristic curve comprises the following steps:
processing the working condition point of the initial steering assistance characteristic curve of the vehicle corresponding to each steering data according to the second optimized data corresponding to each steering data to obtain a second steering assistance characteristic curve of each vehicle;
and processing the second steering power-assisted steering characteristic curve of each vehicle according to the first optimization data to obtain a first steering power-assisted steering characteristic curve of each vehicle.
In one possible implementation, each steering data includes at least one type of steering-related data: driving habit data, road condition data and steering component data;
determining first optimization data from the plurality of steering data, comprising:
determining an optimized array corresponding to the same type of steering related data in the plurality of steering data, wherein the optimized array comprises a plurality of third optimized data;
determining the ratio of the quantity of each third optimization data in each optimization array in the total quantity of the optimization array;
determining third optimized data with the occupation ratio larger than a preset value in the third optimized data of each optimized array as fourth optimized data;
and determining the first optimization data according to the fourth optimization data of each optimization array.
In one possible implementation manner, determining an optimized array corresponding to the same type of steering related data in the plurality of steering data includes:
determining a first average value of a difference value per unit time of each first attribute data in each driving habit data when each steering data includes driving habit data including the first attribute data;
converting the first average value corresponding to each kind of first attribute data into a first adjustment value of the output current, and taking the first adjustment value as third optimization data corresponding to each kind of first attribute data;
and obtaining an optimized array corresponding to the driving habit data according to the third optimized data corresponding to each kind of the first attribute data in each driving habit data.
In one possible implementation, the first attribute data includes at least one of: steering angle data, torque data.
In one possible implementation manner, determining an optimized array corresponding to the same type of steering related data in the plurality of steering data includes:
when each steering datum comprises the road condition data and the road condition data comprises the second attribute data, determining a second average value of each second attribute data in each road condition data;
converting the second average value corresponding to each kind of second attribute data into a second adjustment value of the output current, and taking the second adjustment value as third optimization data corresponding to each kind of second attribute data;
and obtaining an optimized array corresponding to the road condition data according to the third optimized data corresponding to each second attribute data in each road condition data.
In one possible implementation, the second attribute data includes at least one of: wheel resistance data, impedance data.
In a possible implementation manner, when the second attribute data includes wheel resistance data, all the wheel resistance data are data in the same scene, and the scene is a scene where the vehicle is located when the road condition data is obtained.
In one possible implementation, the steering component data includes at least one of the following third attribute data: motor zero position, torque ripple, moment of inertia.
The method provided by the embodiment of the invention can acquire the initial steering assistance characteristic curves of a plurality of vehicles and the steering data corresponding to the operating point on the initial steering assistance characteristic curves. And determining first optimized data according to the plurality of steering data, wherein the first optimized data is determined according to the data with universality in the plurality of steering data, and processing the operating point of the initial steering power-assisted characteristic curve of each vehicle according to target data to obtain a first steering power-assisted characteristic curve of each vehicle, and the target data comprises the first optimized data. The method provided by the embodiment of the invention can optimize the initial power-assisted steering characteristic curve, improve the problem that the solidified power-assisted steering characteristic curve cannot adapt to different drivers and different driving scenes in the prior art, collect data of a plurality of vehicles, determine the data with universality in the data, optimize the initial power-assisted steering characteristic curve of each vehicle by utilizing the data with universality, expand the source of optimized data, meet the individuation of the optimization of the initial power-assisted steering characteristic curve, and meet the universality of the optimization of the initial power-assisted steering characteristic curve in a certain client group or a certain scene.
In a second aspect, the present invention provides a steering assist characteristic curve determination device, including:
the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring an initial steering power-assisted characteristic curve of each vehicle in a plurality of vehicles and steering data corresponding to operating points on the initial steering power-assisted characteristic curve of each vehicle, the speeds of the operating points are the same, and the torques of steering wheels are the same;
the processing unit is used for determining first optimization data according to the plurality of steering data, and the first optimization data is used for indicating an adjustment value of the output current of the power-assisted motor of each working condition point; processing the working condition point of the initial steering assistance characteristic curve of each vehicle according to target data to obtain a first steering assistance characteristic curve of each vehicle, wherein the target data comprises first optimization data;
and the sending unit is used for sending the corresponding first steering assistance characteristic curve to each vehicle.
In a third aspect, the present invention provides a steering assist characteristic curve determination device including: a processor and a memory. The memory is for storing computer program code, the computer program code including computer instructions. The determination means of the steering assist characteristic curve, when the processor executes the computer instructions, performs the method of determining the steering assist characteristic curve as in the first aspect and any one of its possible implementations.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon computer instructions which, when run on a steering assist characteristic determination device, cause the steering assist characteristic determination device to execute a method of determining a steering assist characteristic as described in the first aspect or any one of the possible implementations of the first aspect.
In a fifth aspect, the present invention provides a computer program product comprising computer instructions which, when run on a steering assist characteristic determination device, cause the steering assist characteristic determination device to perform a method of determining a steering assist characteristic as described in the first aspect and any possible implementation thereof.
Reference may be made to the detailed description of the first aspect and various implementations thereof; in addition, for the beneficial effects of the second aspect to the fifth aspect and the various implementation manners thereof, reference may be made to beneficial effect analysis in the first aspect and the various implementation manners thereof, which is not described herein again.
Drawings
Fig. 1 is a schematic structural diagram of a steering assist characteristic curve determining apparatus according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for determining a steering assist characteristic curve according to an embodiment of the present invention;
fig. 3 is a second flowchart of a method for determining a steering assist characteristic curve according to an embodiment of the present invention;
fig. 4 is a third flowchart of a method for determining a steering assist characteristic curve according to an embodiment of the present invention;
fig. 5 is a fourth flowchart of a method for determining a steering assist characteristic curve according to an embodiment of the present invention;
fig. 6 is a fifth flowchart of a method for determining a steering assist characteristic curve according to an embodiment of the present invention;
fig. 7 is a schematic composition diagram of a steering assist characteristic curve determining apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
In the following, the terms "first", "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present disclosure, "a plurality" means two or more unless otherwise specified. Additionally, the use of "based on" or "according to" means open and inclusive, as a process, step, calculation, or other action that is "based on" or "according to" one or more stated conditions or values may in practice be based on additional conditions or exceeding the stated values.
In the prior art, the calibration and confirmation of the power-assisted steering characteristic curve are mainly based on subjective feeling feedback of testers, and meanwhile, a plurality of application scenes such as business deviation, movement deviation and the like can be simply divided. But since the subjective perception of driving varies from person to person, the feedback of the tester cannot cover all customers. This may result in a customer's driving experience with steering being less appreciated. Meanwhile, the solidified steering power characteristic curve is difficult to adapt to complex and variable road conditions, and can not respond timely and flexibly in some special scenes. Moreover, as mechanical and electronic components of the automobile steering system are accumulated with the lapse of time and application loss, the property parameters of some components are changed, and the cured steering power-assisted characteristic curve cannot adapt to the steering system with the changed characteristics.
With the rapid development of the internet technology and the new energy automobile technology, automobiles are not discrete individuals any longer, but are converged into a network based on the cloud. The technical development trend of automobile interconnection realizes real-time and individualized determination of the steering power-assisted characteristic curve.
The method provided by the embodiment of the invention can be used for acquiring the initial steering assistance characteristic curves of a plurality of vehicles and the steering data corresponding to the working point on the initial steering assistance characteristic curves. And determining first optimized data according to the plurality of steering data, wherein the first optimized data is determined according to the data with universality in the plurality of steering data, and processing the operating point of the initial steering power-assisted characteristic curve of each vehicle according to target data to obtain a first steering power-assisted characteristic curve of each vehicle, and the target data comprises the first optimized data. The method provided by the embodiment of the invention can optimize the initial power-assisted steering characteristic curve, improve the problem that the solidified power-assisted steering characteristic curve cannot adapt to different drivers and different driving scenes in the prior art, collect data of a plurality of vehicles, determine the data with universality in the data, optimize the initial power-assisted steering characteristic curve of each vehicle by utilizing the data with universality, expand the source of optimized data, meet the individuation of the optimization of the initial power-assisted steering characteristic curve, and meet the universality of the optimization of the initial power-assisted steering characteristic curve in a certain client group or a certain scene.
The execution subject of the method for determining a steering assist characteristic curve provided by the embodiment of the invention is a method and a device for determining a steering assist characteristic curve. The device of the method for determining the power-assisted steering characteristic curve may be a computer device, and the computer device may be an electronic device or a server, or may be a Central Processing Unit (CPU) in the electronic device or the server.
Fig. 1 is a schematic composition diagram of a steering assist characteristic curve determining apparatus according to an embodiment of the present invention. As shown in fig. 1, the steering assist characteristic curve determining device may include: at least one processor 11, a memory 12, a communication interface 13, and a communication bus 14.
The processor 11 is a control center of the steering assist characteristic curve determining device, and may be a CPU, a micro-processing unit, or one or more integrated circuits for controlling the execution of the routine sequence of the present invention.
For one embodiment, processor 11 may include one or more CPUs, such as CPU0 and CPU1 shown in FIG. 1. Also, as an example, the determining means of the steering assist characteristic may include a plurality of processors, such as the processor 11 and the processor 15 shown in fig. 1. Each of these processors may be a Single-core processor (Single-CPU) or a Multi-core processor (Multi-CPU).
The memory 12 may be, but is not limited to, a read-only memory (ROM) or other type of static storage device that may store static information and instructions, a Random Access Memory (RAM) or other type of dynamic storage device that may store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disk read-only memory (CD-ROM) or other optical disk storage, optical disk storage (including compact disk, laser disk, optical disk, digital versatile disk, blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory 12 may be self-contained and coupled to the processor 11 via a communication bus 14. The memory 12 may also be integrated with the processor 11.
In a particular implementation, the memory 12 is used for storing data in the present invention and software programs for implementing the present invention. The processor 11 may perform various functions of the steering assist characteristic determination apparatus by running or executing a software program stored in the memory 12 and calling up data stored in the memory 12.
The communication interface 13 is any device, such as a transceiver, for communicating with other devices or communication networks, such as a Radio Access Network (RAN), a Wireless Local Area Network (WLAN), and the like. The communication interface 13 may include a receiving unit implementing a receiving function and a transmitting unit implementing a transmitting function.
Communication bus 14 may include a path that transfers information between the aforementioned components.
It is noted that the configuration shown in fig. 1 does not constitute a definition of the means for determining the steering assist characteristic, which may comprise more or less components than those shown in fig. 1, or a combination of certain components, or a different arrangement of components, in addition to those shown in fig. 1.
Based on the above description of the structure of the steering assist characteristic curve determination device, an embodiment of the present invention provides a steering assist characteristic curve determination method. As shown in fig. 2, the method for determining the steering assist characteristic curve may include the following steps 201 to 204.
201. The device for determining the steering assist characteristic curve obtains an initial steering assist characteristic curve of each vehicle in the plurality of vehicles and steering data corresponding to operating points on the initial steering assist characteristic curve of each vehicle, wherein the speeds of the plurality of operating points are the same, and the torques of the steering wheels are the same.
It can be understood that any point on the steering assist characteristic curve is a working point, the working point is used for indicating the relationship between the torque of the steering wheel and the output current of the assist motor at a certain vehicle speed, and the output current of the assist motor and the torque of the auxiliary power are in a linear relationship, so the working point can be understood as the relationship between the auxiliary power output by the steering wheel torque assist motor. The steering power-assisted characteristic curves are formed by a plurality of working condition points under a plurality of vehicle speeds, and the common steering power-assisted characteristic curves comprise a linear type, a broken line type, a curve type and the like.
The determination of the power-assisted steering characteristic curve is carried out on the basis of the original initial power-assisted steering characteristic curve, and the initial power-assisted steering characteristic curve can be preset when an automobile leaves a factory and can also be determined by the implementation of the invention last time.
Optionally, each steering data includes at least one type of steering related data: driving habit data, road condition data, steering component data.
Optionally, the steering component data includes at least one of the following third attribute data: motor zero position, torque ripple, moment of inertia.
202. The determination device for the steering assist characteristic curve determines first optimization data according to the plurality of steering data, wherein the first optimization data is used for indicating an adjustment value of the assist motor output current of each operating point.
It is understood that the adjustment value of the output current of the power-assisted motor at each operating point can be a positive value or a negative value. When the adjustment value is a positive value, it indicates that the steering assistance at the operating point of the initial steering assistance characteristic curve is too small to meet the assistance requirement during steering, and the steering assistance at the operating point needs to be increased. In contrast, when the adjustment value is a negative value, the steering assist at the operating point of the initial steering assist characteristic curve is larger, and the steering assist at the operating point needs to be reduced beyond the assist demand during steering.
203. The determination device of the steering assist characteristic curve processes the working condition point of the initial steering assist characteristic curve of each vehicle according to the target data to obtain a first steering assist characteristic curve of each vehicle, and the target data comprises first optimization data.
It is to be understood that, in this embodiment, the determining device of the steering assist characteristic curve determines the first optimized data as the target data after determining the first optimized data, and adjusts the operating point on the initial steering assist characteristic curve using the target data to determine a new first steering assist characteristic curve. The first optimization data in this embodiment is data having universality in the plurality of steering data, such as steering habits of vehicle owners of different age groups, and specific vehicle condition and road conditions in different seasons, and the like.
204. The steering assistance characteristic curve determining device transmits a corresponding first steering assistance characteristic curve to each vehicle.
It is understood that the steering assist characteristic curve determining means processes the operating points of the initial steering assist characteristic curve of each vehicle based on the target data to obtain the first steering assist characteristic curve of each vehicle, and then transmits the first steering assist characteristic curve of each vehicle to each vehicle. Each vehicle replaces the initial steering assist characteristic with a new first steering assist characteristic. The device for determining the steering assistance characteristic curve can be used for presetting a cycle, periodically determining the steering assistance characteristic curve and continuously updating the steering assistance characteristic curve so as to adapt to the driving habits of the current driver and different driving scenes.
The method provided by the embodiment of the invention can be used for acquiring the initial steering assistance characteristic curves of a plurality of vehicles and the steering data corresponding to the working point on the initial steering assistance characteristic curves. And determining first optimization data according to the plurality of steering data, wherein the first optimization data is determined according to the data with universality in the plurality of steering data, and processing the operating point of the initial steering power-assisted characteristic curve of each vehicle according to target data to obtain the first steering power-assisted characteristic curve of each vehicle, and the target data comprises the first optimization data. The method provided by the embodiment of the invention can optimize the initial power-assisted steering characteristic curve, improve the problem that the solidified power-assisted steering characteristic curve cannot adapt to different drivers and different driving scenes in the prior art, collect data of a plurality of vehicles, determine the data with universality in the data, optimize the initial power-assisted steering characteristic curve of each vehicle by utilizing the data with universality, expand the source of optimized data, meet the individuation of the optimization of the initial power-assisted steering characteristic curve, and meet the universality of the optimization of the initial power-assisted steering characteristic curve in a certain client group or a certain scene.
In conjunction with fig. 2, as shown in fig. 3, the step 202 can be implemented by steps 205 to 208:
205. the determining device for the steering assisting characteristic curve determines an optimized array corresponding to the same type of steering related data in a plurality of steering data, and the optimized array comprises a plurality of third optimized data.
206. The steering assist characteristic curve determination means determines a ratio of the number of each third optimization data in each optimization array to the total number of the optimization arrays.
207. And the determining device of the steering assistance characteristic curve determines the third optimized data with the proportion larger than the preset value in the third optimized data of each optimized array as fourth optimized data.
208. The determination device for the steering assistance characteristic curve determines first optimization data according to the fourth optimization data of each optimization array.
It is understood that steps 205-208 are intended to obtain data that is common among the plurality of turn data. The steering data includes a plurality of types, and first, the same type of steering related data is determined as an optimized array, for example, optimized arrays A {1, 2,3, -1, 2}, and third optimized data is 1,2,3, and-1. And determining the proportion of the quantity of each third optimization data in each optimization array in the total quantity of the optimization array, namely the proportion of the third optimization data 1 is 60%, the proportion of the third optimization data 2 is 20%, the proportion of the third optimization data 3 is 10%, and the proportion of the third optimization data-1 is 10%. If the preset value is 50%, the proportion of the third optimization data 1 meets the preset value, and the third optimization data 1 is determined to be four optimization data.
Optionally, when each steering data includes driving habit data, and the driving habit data includes first attribute data, as shown in fig. 4 in conjunction with fig. 3, the above step 205 may be implemented by steps 209 to 211:
209. the steering assist characteristic curve determination means determines a first average value of the difference per unit time of each of the first attribute data in each of the driving habit data.
It should be noted that, in the embodiment of the present invention, the first attribute data includes at least one of the following: steering angle data, torque data.
210. The determination device of the steering assist characteristic curve converts the first average value corresponding to each kind of the first attribute data into a first adjustment value of the output current, and uses the first adjustment value as third optimization data corresponding to each kind of the first attribute data.
211. The determination device for the steering assist characteristic curve obtains an optimized array corresponding to the driving habit data according to the third optimized data corresponding to each kind of first attribute data in each driving habit data.
It will be appreciated that the steering angle data and torque data are used to indicate the actual steering of the steering wheel, and that the steering angle data and torque data are typically in a linear relationship. The average value of the difference values per unit time is used to indicate the speed of change of the actual steering condition of the steering wheel. In the steering process of the automobile, if the change rate of the steering angle or the steering torque of the steering wheel is too fast and is positive, the first average value of the difference value in unit time is larger and is a positive value, and the first average value can be understood as that the power-assisted requirement in the steering process can not be met at the corresponding working point, and the steering power-assisted needs to be enhanced. If the change rate of the steering angle or the steering torque of the steering wheel is too fast and is a negative change, the first average value of the difference value in unit time is larger and is a negative value, and it can be understood that the steering assistance needs to be reduced when the corresponding working condition point exceeds the assistance requirement in steering.
And converting the first average value corresponding to each kind of the first attribute data into a first adjustment value of the output current, taking the first adjustment value as third optimization data corresponding to each kind of the first attribute data, and continuing to execute the step 206 after obtaining the optimization array corresponding to the driving habit data.
Optionally, when each steering data includes the road condition data and the road condition data includes the second attribute data, as shown in fig. 5 with reference to fig. 3, the step 205 may be implemented by steps 212 to 214:
212. the steering assist characteristic curve determining means determines a second average value of each of the second attribute data in each of the road condition data.
It should be noted that, in the embodiment of the present invention, the second attribute data includes at least one of the following: wheel resistance data, impedance data.
It can be understood that, when the second attribute data includes wheel resistance data, all the wheel resistance data are data in the same scene, and the scene is a scene where the vehicle is located when the road condition data is acquired.
213. The determination device of the steering assist characteristic curve converts the second average value corresponding to each kind of second attribute data into a second adjustment value of the output current, and uses the second adjustment value as third optimization data corresponding to each kind of second attribute data.
214. And the determining device of the steering assisting characteristic curve obtains an optimized array corresponding to the road condition data according to the third optimized data corresponding to each second attribute data in each road condition data.
The wheel resistance data indicates the frictional force of the road surface corresponding to the wheel when the vehicle is turning. In rainy and snowy weather or icy roads, the road surface is slippery, the friction force is small, the wheel resistance data value is small, the second average value is small, and the steering assistance required at the corresponding working condition point is small. In general weather or ordinary urban roads, the road surface friction is moderate, the wheel resistance data is moderate, and then the second average value is moderate, which can be understood as that the steering assistance required at the corresponding working point is moderate. On earth, gravel roads or mountain roads, the road surface friction is large, the wheel resistance data is large, the second average value is also large, and the steering assistance required at the corresponding working condition point can be understood to be large.
The impedance data is used for indicating the jolt condition of the automobile, and when the automobile steers on a jolt road, compensation assistance needs to be provided to offset the shaking impact of the road to a steering system, so that the steering wheel is kept to be stable in hand feeling.
Alternatively, referring to fig. 6 in conjunction with fig. 2, the determining device of the steering assist characteristic curve may further include step 215 after the step 202 is executed.
215. The determining device of the steering assisting characteristic curve determines second optimized data corresponding to each steering data; the target data further includes second optimization data corresponding to each of the steering data.
It is to be understood that when each of the steering data includes the driving habit data including the first attribute data, the second optimization data is obtained through the above-described steps 209 to 211. When each of the steering data includes the traffic data including the second attribute data, the second optimization data is obtained through the above steps 212 to 214.
Optionally, with reference to fig. 2, as shown in fig. 6, after step 215 is executed, step 203 may be implemented by step 216 and step 217:
216. the determination device for the steering assist characteristic curve processes the operating point of the initial steering assist characteristic curve of the vehicle corresponding to each steering datum according to the second optimized datum corresponding to each steering datum, and obtains a second steering assist characteristic curve of each vehicle.
217. The steering assist characteristic curve determination device processes the second steering assist characteristic curve for each vehicle based on the first optimization data to obtain a first steering assist characteristic curve for each vehicle.
It is understood that the second optimization data is determined based on the steering data of the own vehicle, and the first optimization data is determined based on data having a prevalence among the steering data of the plurality of vehicles. In this embodiment, the determination device of the steering assist characteristic curve determines corresponding second optimized data according to the steering data of the vehicle, and then processes the operating point of the corresponding initial steering assist characteristic curve of the vehicle according to the second optimized data to obtain a second steering assist characteristic curve of the vehicle. Further, the second steering assist characteristic curve of the vehicle is processed based on the first optimization data, and a first steering assist characteristic curve of the vehicle is obtained. Therefore, the steering data of the vehicle can be fully utilized, the steering data of a plurality of vehicles at the cloud can also be utilized, and the combination of individuation and universality is realized.
The scheme provided by the embodiment of the invention is mainly introduced from the perspective of equipment. It will be appreciated that the apparatus, in order to carry out the above-described functions, comprises corresponding hardware structures and/or software modules for performing the respective functions. Those of skill in the art will readily appreciate that the invention can be implemented in hardware, or a combination of hardware and computer software, in connection with the exemplary algorithm steps described in connection with the embodiments disclosed herein. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
Fig. 7 is a schematic diagram showing a possible configuration of the steering assist characteristic curve determination device according to the above-described embodiment, and as shown in fig. 7, the steering assist characteristic curve determination device may include:
the acquiring unit 71 is configured to acquire an initial steering assist characteristic curve of each of the plurality of vehicles and steering data corresponding to operating points on the initial steering assist characteristic curve of each of the plurality of vehicles, where the speeds of the plurality of operating points are the same and the torques of the steering wheels are the same;
a processing unit 72, configured to determine first optimization data according to the plurality of steering data, where the first optimization data is used to indicate an adjustment value of the output current of the power assist motor at each operating point; processing the working condition point of the initial steering assistance characteristic curve of each vehicle according to target data to obtain a first steering assistance characteristic curve of each vehicle, wherein the target data comprises first optimization data;
a transmitting unit 73 for transmitting the corresponding first steering assist characteristic curve to each vehicle.
Optionally, the processing unit 72 is further configured to determine second optimization data corresponding to each steering data; the target data further comprises second optimized data corresponding to each steering data, and the working condition point of the initial steering assistance characteristic curve of each vehicle is processed according to the target data to obtain a first steering assistance characteristic curve of each vehicle, wherein the first steering assistance characteristic curve comprises the following steps: processing the working condition point of the initial steering assistance characteristic curve of the vehicle corresponding to each steering data according to the second optimized data corresponding to each steering data to obtain a second steering assistance characteristic curve of each vehicle; and processing the second steering power-assisted characteristic curve of each vehicle according to the first optimization data to obtain a first steering power-assisted characteristic curve of each vehicle.
Optionally, the processing unit 72 is specifically configured to determine an optimized array corresponding to the same type of steering related data in the multiple steering data, where the optimized array includes multiple third optimized data; determining the proportion of the quantity of each third optimization data in each optimization array in the total quantity of the optimization array; determining third optimized data with the proportion larger than a preset value in the third optimized data of each optimized array as fourth optimized data; and determining first optimization data according to the fourth optimization data of each optimization array.
Optionally, when each steering data includes driving habit data, and the driving habit data includes first attribute data, the processing unit 72 is specifically configured to determine a first average value of a difference value of each first attribute data in each driving habit data in a unit time; converting the first average value corresponding to each kind of first attribute data into a first adjustment value of the output current, and taking the first adjustment value as third optimization data corresponding to each kind of first attribute data; and obtaining an optimized array corresponding to the driving habit data according to the third optimized data corresponding to each kind of the first attribute data in each kind of the driving habit data.
Optionally, when each steering data includes the traffic data and the traffic data includes the second attribute data, the processing unit 72 is specifically configured to determine a second average value of each second attribute data in each traffic data; converting the second average value corresponding to each kind of second attribute data into a second adjustment value of the output current, and taking the second adjustment value as third optimization data corresponding to each kind of second attribute data; and obtaining an optimized array corresponding to the road condition data according to the third optimized data corresponding to each second attribute data in each road condition data.
Of course, the determining device of the steering assist characteristic curve provided by the embodiment of the present invention includes, but is not limited to, the above modules.
An embodiment of the present invention further provides a device for determining a steering assist characteristic curve, including: a processor and a memory. The memory is used to store computer program code, which includes computer instructions. When the processor executes the computer instructions, the steering assist characteristic determining device performs the steps performed by the steering assist characteristic determining device in the method flow shown in the above-described method embodiment.
Embodiments of the present invention further provide a computer-readable storage medium, on which computer instructions are stored, when the computer instructions are executed on a device for determining a steering assist characteristic curve, the device for determining a steering assist characteristic curve performs the steps performed by the device for determining a steering assist characteristic curve in the method flow shown in the above-mentioned method embodiments.
Embodiments of the present invention further provide a computer program product, where the computer program product includes computer instructions, when the computer instructions are executed on a device for determining a steering assist characteristic curve, cause the device for determining a steering assist characteristic curve to perform the steps performed by the device for determining a steering assist characteristic curve in the method flow shown in the above-mentioned method embodiments.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (12)
1. A method of determining a steering assist characteristic, comprising:
the method comprises the steps that an initial steering power-assisted characteristic curve of each vehicle in a plurality of vehicles and steering data corresponding to working points on the initial steering power-assisted characteristic curve of each vehicle are obtained, the speeds of the working points are the same, and the moments of steering wheels are the same;
determining first optimization data according to a plurality of steering data, wherein the first optimization data is used for indicating an adjustment value of the output current of the power-assisted motor of each working condition point;
processing the working condition point of the initial steering assistance characteristic curve of each vehicle according to target data to obtain a first steering assistance characteristic curve of each vehicle, wherein the target data comprise the first optimization data;
a corresponding first steering assistance characteristic curve is transmitted to each vehicle.
2. The method of determining a steering assist curve according to claim 1, further comprising:
determining second optimization data corresponding to each steering data;
the target data further includes second optimized data corresponding to each steering data, and the processing of the operating point of the initial power steering characteristic curve of each vehicle according to the target data to obtain a first power steering characteristic curve of each vehicle includes:
processing the working condition point of the initial steering assistance characteristic curve of the vehicle corresponding to each steering data according to the second optimized data corresponding to each steering data to obtain a second steering assistance characteristic curve of each vehicle;
and processing the second steering power-assisted steering characteristic curve of each vehicle according to the first optimization data to obtain a first steering power-assisted steering characteristic curve of each vehicle.
3. A method of determining a steering assist force characteristic according to claim 1 or 2, wherein each steering datum comprises at least one type of steering-related datum: driving habit data, road condition data and steering component data;
the determining first optimization data from the plurality of steering data includes:
determining an optimized array corresponding to the same type of steering related data in the plurality of steering data, wherein the optimized array comprises a plurality of third optimized data;
determining the proportion of the quantity of each third optimization data in each optimization array in the total quantity of the optimization array;
determining third optimized data with the occupation ratio larger than a preset value in the third optimized data of each optimized array as fourth optimized data;
and determining the first optimization data according to the fourth optimization data of each optimization array.
4. The method for determining a steering assist characteristic according to claim 3, wherein the determining an optimized array corresponding to the same type of steering related data in the plurality of steering data includes:
determining a first average value of a difference value per unit time of each first attribute data in each driving habit data when each steering data includes the driving habit data including first attribute data;
converting the first average value corresponding to each kind of first attribute data into a first adjustment value of the output current, and taking the first adjustment value as third optimization data corresponding to each kind of first attribute data;
and obtaining an optimized array corresponding to the driving habit data according to the third optimized data corresponding to each kind of first attribute data in each kind of driving habit data.
5. The method of determining a steering assist force characteristic according to claim 4, wherein the first attribute data includes at least one of: steering angle data, torque data.
6. The method for determining a steering assist characteristic according to claim 3, wherein the determining an optimized array corresponding to the same type of steering related data in the plurality of steering data includes:
when each steering datum comprises the road condition data and the road condition data comprises second attribute data, determining a second average value of each second attribute data in each road condition data;
converting the second average value corresponding to each kind of second attribute data into a second adjustment value of the output current, and taking the second adjustment value as third optimization data corresponding to each kind of second attribute data;
and obtaining an optimized array corresponding to the road condition data according to the third optimized data corresponding to each second attribute data in each road condition data.
7. The method of determining a steering assist force characteristic according to claim 6, wherein the second attribute data includes at least one of: wheel resistance data, impedance data.
8. The method of claim 7, wherein when the second attribute data includes the wheel resistance data, all the wheel resistance data are data in the same scene, and the scene is a scene where a vehicle is located when the road condition data is acquired.
9. A method for determining a steering assist force characteristic according to claim 3, wherein the steering component data includes at least one of the following third attribute data: motor zero position, torque ripple, moment of inertia.
10. A steering assist characteristic curve determining apparatus, comprising:
the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring an initial steering power-assisted characteristic curve of each vehicle in a plurality of vehicles and steering data corresponding to working points on the initial steering power-assisted characteristic curve of each vehicle, the speeds of the working points are the same, and the moments of steering wheels are the same;
the processing unit is used for determining first optimization data according to the plurality of steering data, and the first optimization data is used for indicating an adjustment value of the output current of the power-assisted motor of each working condition point; processing the working condition point of the initial steering assistance characteristic curve of each vehicle according to target data to obtain a first steering assistance characteristic curve of each vehicle, wherein the target data comprises the first optimization data;
and the sending unit is used for sending the corresponding first steering assisting power characteristic curve to each vehicle.
11. A steering assist characteristic determination apparatus comprising a processor and a memory, the memory storing computer program code, the computer program code comprising computer instructions which, when executed by the processor, cause the apparatus to perform a method of determining a steering assist characteristic according to any one of claims 1 to 9.
12. A computer-readable storage medium, comprising computer instructions which, when run on a steering assist characteristic determining device, cause the steering assist characteristic determining device to carry out a method of determining a steering assist characteristic according to any one of claims 1 to 9.
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