CN114906215B - Steering wheel resistance control method and device, electronic equipment and storage medium - Google Patents
Steering wheel resistance control method and device, electronic equipment and storage medium Download PDFInfo
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- CN114906215B CN114906215B CN202210603337.6A CN202210603337A CN114906215B CN 114906215 B CN114906215 B CN 114906215B CN 202210603337 A CN202210603337 A CN 202210603337A CN 114906215 B CN114906215 B CN 114906215B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
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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
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
- B62D5/005—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback
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- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The embodiment of the application provides a steering wheel resistance control method, a steering wheel resistance control device, a steering wheel resistance control structure, electronic equipment and a storage medium, wherein the steering wheel resistance control method comprises the following steps: acquiring road condition information; determining the resistance torque of the steering wheel to be applied according to the road condition information; determining the friction resistance of the friction structure according to the resistance torque of the steering wheel; the friction structure is arranged between the electromagnetic coil and the resistance disc, and the friction structure, the electromagnetic coil and the resistance disc are arranged by taking a steering shaft of the steering wheel as an axis; the friction resistance is generated based on the magnetic attraction between the electrified electromagnetic coil and the resistance disc to squeeze the friction structure; determining the current intensity of the current of the electromagnetic coil according to the friction resistance; the solenoid is energized based on the amperage to apply a steering wheel drag torque to the steering wheel. By the steering wheel resistance control method provided by the embodiment of the application, road feel feedback simulation can be performed aiming at the steering system without mechanical connection, so that the driving experience of a driver is ensured.
Description
Technical Field
The present invention relates to the field of manufacturing technologies, and in particular, to a steering wheel resistance control method, device, structure, electronic apparatus, and storage medium.
Background
With the continuous development of automobile electronic and control technologies, intelligent steering has become the development direction of future electronic control steering systems, and the calculation and control demands based on intelligent steering are generated. Taking steer-by-wire as an example, the mechanical connection between the steering wheel and the steering wheel in the traditional steering system is canceled, and the steering angle transmission ratio can be freely designed, so that the steering performance and the comfort of the automobile are greatly improved. Steering-by-wire steering systems are different from conventional steering systems. The common steering system is mechanically connected, and when the vehicle turns, the resistance moment of the steering wheel of the vehicle can be directly transmitted to the steering wheel operated by the driver, so that the driver can feel the road surface information in a considerable way. In the steer-by-wire system, the road feel information cannot be directly transmitted to the driver due to the fact that no mechanical connection exists, so that the driving operation of the driver is affected.
Disclosure of Invention
Aiming at the defects existing in the prior art, the embodiment of the disclosure provides a steering wheel resistance control method, a steering wheel resistance control device, a steering wheel resistance control structure, electronic equipment and a storage medium, and simulation of road feel feedback is performed on a steering system without mechanical connection, so that driving experience of a driver is guaranteed.
The embodiment of the application provides a steering wheel resistance control method, which comprises the following steps: acquiring road condition information; determining the resistance torque of the steering wheel to be applied according to the road condition information; determining the friction resistance of the friction structure according to the resistance torque of the steering wheel; the friction structure is arranged between the electromagnetic coil and the resistance disc, and the friction structure, the electromagnetic coil and the resistance disc are arranged by taking a steering shaft of the steering wheel as an axis; the friction resistance is generated based on the magnetic attraction between the electrified electromagnetic coil and the resistance disc to squeeze the friction structure; determining the current intensity of the current of the electromagnetic coil according to the friction resistance; the solenoid is energized based on the amperage to apply a steering wheel drag torque to the steering wheel.
Specifically, the friction structure includes first friction structure and second friction structure, and first friction structure is fixed to be set up, and the second friction structure follows the steering spindle and rotates, according to steering wheel resistance moment of torsion, determines the friction resistance of friction structure, includes: and determining the friction resistance of the friction structure according to the steering wheel resistance torque, the information of the first friction structure and the information of the second friction structure.
Specifically, determining the current intensity of the current of the electromagnetic coil according to the frictional resistance includes: determining the forward pressure of the friction structure according to the friction resistance; determining the magnetic field intensity of the electromagnetic coil according to the forward pressure; the current strength of the current of the electromagnetic coil is determined based on the magnetic field strength.
Specifically, determining the forward pressure of the friction structure based on the frictional resistance includes: the positive pressure of the friction structure is determined based on the friction resistance and the friction coefficient of the friction structure.
Specifically, determining the magnetic field strength of the electromagnetic coil from the forward pressure includes: determining the magnetic field intensity of the electromagnetic coil according to the forward pressure and the magnetic attraction coefficient; wherein the magnetic attraction coefficient is determined based on the material, size, shape of the resistance disc and the distance between the resistance disc and the electromagnetic coil.
Specifically, determining the current strength of the current of the electromagnetic coil from the magnetic field strength includes: the current strength of the current of the electromagnetic coil is determined based on the magnetic field strength, the number of turns of the electromagnetic coil, and the effective magnetic path length.
Specifically, determining the steering wheel resistance torque to be applied according to the road condition information includes: determining a resistance coefficient according to the road surface roughness parameter; and determining the steering wheel resistance torque to be applied according to the resistance coefficient and the resistance torque reference value.
Correspondingly, the embodiment of the application also provides a steering wheel resistance control device, which comprises: the acquisition module is used for acquiring road condition information; the first determining module is used for determining the resistance torque of the steering wheel to be applied according to the road condition information; the second determining module is used for determining the friction resistance of the friction structure according to the resistance torque of the steering wheel; the friction structure is arranged between the electromagnetic coil and the resistance disc, and the friction structure, the electromagnetic coil and the resistance disc are arranged by taking a steering shaft of the steering wheel as an axis; the friction resistance is generated based on the magnetic attraction between the electrified electromagnetic coil and the resistance disc to squeeze the friction structure; a third determining module for determining the current intensity of the current of the electromagnetic coil according to the friction resistance; and the energizing module is used for controlling the electromagnetic coil to energize based on the current intensity so as to apply steering wheel resistance torque to the steering wheel.
Specifically, the second determining module is configured to: and determining the friction resistance of the friction structure according to the steering wheel resistance torque, the information of the first friction structure and the information of the second friction structure.
Specifically, the third determining module is configured to: determining the forward pressure of the friction structure according to the friction resistance; determining the magnetic field intensity of the electromagnetic coil according to the forward pressure; the current strength of the current of the electromagnetic coil is determined based on the magnetic field strength.
Specifically, determining the forward pressure of the friction structure based on the frictional resistance includes: the positive pressure of the friction structure is determined based on the friction resistance and the friction coefficient of the friction structure.
Specifically, determining the magnetic field strength of the electromagnetic coil from the forward pressure includes: determining the magnetic field intensity of the electromagnetic coil according to the forward pressure and the magnetic attraction coefficient; wherein the magnetic attraction coefficient is determined based on the material, size, shape of the resistance disc and the distance between the resistance disc and the electromagnetic coil.
Specifically, determining the current strength of the current of the electromagnetic coil from the magnetic field strength includes: the current strength of the current of the electromagnetic coil is determined based on the magnetic field strength, the number of turns of the electromagnetic coil, and the effective magnetic path length.
Specifically, the first determining module is configured to: determining a resistance coefficient according to the road surface roughness parameter; and determining the steering wheel resistance torque to be applied according to the resistance coefficient and the resistance torque reference value.
Correspondingly, the embodiment of the application also provides a steering wheel resistance control structure, which comprises a friction structure, an electromagnetic coil and a resistance disc, wherein the friction structure is arranged between the electromagnetic coil and the resistance disc; the friction structure comprises a first friction structure and a second friction structure, wherein the first friction structure is fixedly arranged by taking a steering shaft of a steering wheel as an axis, and the second friction structure is arranged by taking the steering shaft as an axis and rotates along with the steering shaft; the electromagnetic coil is fixedly arranged by taking the steering shaft as an axis, and generates magnetic attraction between the electromagnetic coil and the resistance disc under the condition of electrifying, so that the electromagnetic coil and the resistance disc jointly extrude the friction structure; the resistance disc is arranged by taking the steering shaft as an axis and rotates along with the steering shaft.
Accordingly, an embodiment of the present disclosure provides an electronic device, including a processor and a memory, where the memory stores at least one instruction, at least one program, a code set, or an instruction set, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the steering wheel resistance control method described above.
Accordingly, embodiments of the present disclosure provide a computer readable storage medium having at least one instruction, at least one program, a code set, or an instruction set stored therein, the at least one instruction, the at least one program, the code set, or the instruction set being loaded and executed by a processor to implement the steering wheel resistance control method described above.
The embodiment of the application has the following beneficial effects:
(1) The friction structure is arranged between the electromagnetic coil and the resistance disc, so that the conversion from electromagnetic force to friction force can be realized with lower cost, and the amplitude of the conversion of friction resistance can be flexibly adjusted by changing the shape, the material and other parameters of the first friction structure and the second friction structure;
(2) By accurately determining the steering wheel resistance torque and simulating road feel feedback aiming at the steering system without mechanical connection, the driving experience of a driver is ensured, and the driver is assisted to make reasonable driving judgment.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions and advantages of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an application scenario of a steering wheel resistance control method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a first flow chart of a steering wheel resistance control method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a second flow chart of a steering wheel resistance control method according to an embodiment of the present application;
FIG. 4 is a schematic view of a third flow chart of a steering wheel resistance control method according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a steering wheel resistance control device according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a steering wheel resistance control structure provided by an embodiment of the present application;
FIG. 7 is a block diagram of a hardware architecture of a server for a steering wheel resistance control method according to an embodiment of the present application;
1-steering shaft, 2-first retainer ring, 3-first bearing, 4-positioning tube, 5-second bearing, 6-second retainer ring, 7-electromagnetic coil, 8-first friction structure, 9-second friction structure, 10-resistance disc, 11-spacer, 12-screw, 13-pin.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, embodiments of the present application will be described in further detail with reference to the accompanying drawings. It will be apparent that the described embodiments are merely one embodiment of the application, and not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the application. In the description of the embodiments of the present application, it should be understood that the terms "upper," "lower," "left," "right," "top," "bottom," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present application and to simplify the description, and are not intended to indicate or imply that the devices/systems or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application. The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may include one or more of the feature, either explicitly or implicitly. Moreover, the terms "first," "second," and the like, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," "including," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system/apparatus, article, or device that comprises a list of steps or units/modules is not necessarily limited to those steps or units/modules that are expressly listed or inherent to such process, method, article, or device, but may include other steps or units/modules that are not expressly listed.
The following describes a specific embodiment of a steering wheel resistance control method provided by the present application. Referring to fig. 1, fig. 1 is a schematic diagram of an application scenario of steering wheel resistance control according to an embodiment of the present application. As shown in fig. 1, the vehicle 101 and one or more sensors 1011 and one or more controllers 1012 included in the vehicle 101 are included.
Specifically, the vehicle 101 may include a sensor 1011 for sensing the surrounding environment. The sensor 1011 may include one or more of the following sensors: ultrasonic sensors, millimeter wave radar, laser radar (LiDAR), vision cameras, and infrared cameras. Wherein the camera may be mounted in front of, behind or other locations of the vehicle. The vision camera can capture the conditions inside and outside the vehicle in real time. In addition, by analyzing the captured images of the visual camera, information such as traffic light indication, intersection situation, other vehicle running state, etc. can be acquired. The infrared camera can capture objects under night vision. In one particular embodiment, the camera may acquire a picture of the road surface so that the controller 1012 may analyze the acquired picture to derive road surface parameters to assist in the determination of steering wheel drag torque.
Specifically, the vehicle 101 may include a controller 1012. The controller 1012 may include a processor, such as a Central Processing Unit (CPU) or a Graphics Processing Unit (GPU), or other special purpose processor, etc., in communication with various types of computer readable storage or media. A computer-readable storage or medium may include any non-transitory storage device that may be non-transitory and that may enable data storage, and may include, but is not limited to, a magnetic disk drive, an optical storage device, a solid state memory, a floppy disk, a flexible disk, a hard disk, a magnetic tape, or any other magnetic medium, an optical disk or any other optical medium, a read-only memory (ROM), a random-access memory (RAM), a cache memory, and/or any other memory chip or cartridge, and/or any other medium from which a computer may read data, instructions, and/or code. Some of the data in the computer readable storage device or medium represents executable instructions used by the controller 1012 to control the vehicle. The controller 1012 may include an autopilot system for automatically controlling various actuators in the vehicle. In a specific embodiment, the controller 1012 may perform data processing based on the sensed data of the sensor 1011. Specifically, the controller 1012 may: acquiring road condition information; determining the resistance torque of the steering wheel to be applied according to the road condition information; determining the friction resistance of the friction structure according to the resistance torque of the steering wheel; determining the current intensity of the current of the electromagnetic coil according to the friction resistance; the solenoid is energized based on the amperage to apply a steering wheel drag torque to the steering wheel.
In addition, it should be noted that, fig. 1 is only one application environment of the steering wheel resistance control method provided by the present disclosure, and in practical application, other application environments may also be included, and the present embodiment is not limited thereto, and the vehicle of the present disclosure may include one or more of the structures or functions of the vehicle 101 shown in fig. 1. For example, in one specific embodiment, the vehicle 101 may obtain road surface information from other vehicles or road test devices via a communication module and the process flow of determining the amperage of the energized coil is performed by the controller 1012.
An exemplary flow of a steering wheel resistance control method provided by the present application is described below. FIG. 2 is a first flow chart of a method for steering wheel resistance control according to an embodiment of the present application, which provides the method or flow chart steps of operation as shown in the examples or flow charts, but may include more or fewer steps of operation based on conventional or non-inventive labor. The sequence of steps recited in the embodiments is only one way of a plurality of execution sequences, and does not represent a unique execution sequence, and when actually executed, may be executed in parallel or in accordance with the method or flow sequence shown in the embodiments or the drawings (e.g., a parallel processor or a multi-threaded processing environment). As shown in fig. 2, the method includes:
s201: and obtaining road condition information.
Specifically, the road condition information may include road surface weather information, road surface type information, road surface roughness information, and the like.
S202: and determining the resistance torque of the steering wheel to be applied according to the road condition information.
Specifically, the torque transmitted to the steering wheel by the ordinary steering system when steering under the same road condition information can be determined as the resistance torque to be applied to the steering wheel of the steer-by-wire system by analyzing the road condition information.
Fig. 4 is a schematic view of a third flow chart of a steering wheel resistance control method according to an embodiment of the application. Step S202 is further described below based on fig. 4. As specifically illustrated in fig. 4, an exemplary flow includes:
S401: and determining the resistance coefficient according to the road surface roughness parameter.
In a specific embodiment, a road surface image may be acquired and a drag coefficient determined based on an analysis of the road surface image. Specifically, the image information may be input into a trained resistance coefficient determination model to obtain a resistance coefficient.
Specifically, a road surface image may be perceived by a camera, road surface type information is determined by an algorithm from the road surface image, and a road surface friction coefficient of the road surface type information is determined as a resistance coefficient. The road surface friction coefficient may refer to a road surface roughness parameter.
Specifically, the road surface weather information such as heavy rain, light rain, heavy snow, light snow and the like can be determined through an algorithm according to the road surface image; the road surface roughness parameter and the weather coefficient may be determined based on the determined road surface weather information and the determined road surface type information, respectively, and the product of the road surface roughness parameter and the weather coefficient multiplied may be determined as the resistance coefficient.
In a specific embodiment, the road surface may have a resistance coefficient of 1 at normal temperature, dry, and without impurities, and the resistance coefficient is lowered according to deterioration of the anti-skid property of the road surface. In particular, in the case of surface icing, the drag coefficient may be 0.2. It should be noted that the specific values of the drag coefficient are not limited herein, and in some alternative embodiments, the drag coefficient may be other alternative values that decrease as the anti-skid property decreases.
S402: and determining the steering wheel resistance torque to be applied according to the resistance coefficient and the resistance torque reference value.
Specifically, the resistance torque reference value may be a resistance torque corresponding to the road surface at normal temperature, dry, and without impurities. The steering wheel resistance torque may be a product of a resistance coefficient and a resistance torque reference value, and in particular, in the case where the resistance coefficient is 1, the steering wheel resistance torque may be the resistance torque reference value.
The following describes a steering wheel resistance control method according to the present application based on fig. 2:
s203: and determining the friction resistance of the friction structure according to the resistance torque of the steering wheel.
Specifically, the friction structure is arranged between the electromagnetic coil and the resistance disc, and the friction structure, the electromagnetic coil and the resistance disc are arranged by taking a steering shaft of the steering wheel as an axis; frictional resistance is generated based on the magnetic attraction between the energized electromagnetic coil and the resistive disk pressing against the friction structure. The applied steering wheel drag torque can be varied by varying the current intensity of the current energized to the solenoid to vary the frictional resistance of the friction structure.
In a specific embodiment, the friction structure may include a first friction structure and a second friction structure, the first friction structure is fixedly disposed, the second friction structure rotates along with the steering shaft, and the exemplary process of step S203 may include: and determining the friction resistance of the friction structure according to the steering wheel resistance torque, the information of the first friction structure and the information of the second friction structure. Specifically, the frictional resistance between the first friction structure and the second friction structure can be calculated as the frictional resistance of the friction structure according to the material information and the size information of the two structures.
Specifically, in an embodiment in which the first friction structure and the second friction structure are ring structures of the same shape, the formula for determining the friction resistance may be:
Wherein F Resistance resistor is frictional resistance, T Resistance resistor is steering wheel resistance torque, R Inner part is an inner radius of the first and second annular structures, and R Outer part is an outer radius of the first and second annular structures.
In the embodiment of the application, the friction structure is arranged between the electromagnetic coil and the resistance disc, so that the conversion from electromagnetic force to friction force can be realized with lower cost, and the amplitude of the friction resistance conversion can be flexibly adjusted by changing the shape, the material and other parameters of the first friction structure and the second friction structure.
S204: the current intensity of the current of the electromagnetic coil is determined according to the friction resistance.
Specifically, since the current intensity of the current that the electromagnetic coil is energized is proportional to the frictional resistance of the friction structure, the current intensity of the current of the electromagnetic coil can be determined from the frictional resistance.
Fig. 3 is a schematic diagram of a second flow chart of a steering wheel resistance control method according to an embodiment of the application. An exemplary flow of step S204 is further elucidated on the basis of fig. 3. As illustrated in particular in fig. 3, comprising:
S301: the forward pressure of the friction structure is determined based on the frictional resistance.
In a specific embodiment, the exemplary flow of step S301 may include: the positive pressure of the friction structure is determined based on the friction resistance and the friction coefficient of the friction structure.
Specifically, the formula for determining the forward pressure of the friction structure may be:
wherein F N is the forward pressure of the friction structure, F Resistance resistor is the friction resistance of the friction structure, and μ is the friction coefficient of the friction structure.
In particular, in embodiments in which the friction structure comprises a first friction structure and a second friction structure, the coefficient of friction may be a coefficient of friction between the first friction structure and the second friction structure. The friction coefficient of the friction structure can be determined based on the material of the friction structure, the roughness of the surface, and the lubrication state of the surface.
S302: from the forward pressure, the magnetic field strength of the electromagnetic coil is determined.
In a specific embodiment, the exemplary flow of step S302 may include: and determining the magnetic field intensity of the electromagnetic coil according to the forward pressure and the magnetic attraction coefficient.
Specifically, the formula for determining the magnetic field strength may be:
Wherein H is the magnetic field intensity of the electromagnetic coil, F N is the forward resistance of the friction structure, and k is the magnetic attraction coefficient.
In particular, the magnetic attraction coefficient may be determined based on the material, size, shape of the resistive disc, and the distance of the resistive disc and the electromagnetic coil.
S303: the current strength of the current of the electromagnetic coil is determined based on the magnetic field strength.
In a specific embodiment, the exemplary flow of step S303 may include: the current strength of the current of the electromagnetic coil is determined based on the magnetic field strength, the number of turns of the electromagnetic coil, and the effective magnetic path length.
Specifically, the formula for determining the current intensity may be:
Wherein I is the current intensity of the energizing coil, le is the effective magnetic path length of the energizing coil, H is the magnetic field intensity of the electromagnetic coil, and N is the number of turns of the electromagnetic coil.
The following description proceeds based on fig. 2:
S205: the solenoid is energized based on the amperage to apply a steering wheel drag torque to the steering wheel.
In one embodiment, the current level of the solenoid may be proportional to the steering wheel drag torque, and controlling the change in the current level of the solenoid may change the steering wheel drag torque. The solenoid may be controlled to energize based on the current intensity to apply a resistance torque to the steering shaft of the steering wheel, thereby applying a steering wheel resistance torque to the steering wheel. Specifically, the steering wheel steering shaft resistance torque and the steering wheel resistance torque may be equal.
Specifically, in the event that steering of the vehicle is detected, energization of the solenoid may be controlled based on the current intensity to apply steering wheel resistance torque to the steering wheel.
According to the steering wheel resistance control method provided by the embodiment of the application, the steering wheel resistance torque can be accurately determined, and the road feel feedback simulation is carried out on the steering system without mechanical connection, so that the driving experience of a driver is ensured, and the driver is assisted to make reasonable driving judgment.
Correspondingly, the embodiment of the application also provides a steering wheel resistance control device. Fig. 5 is a schematic structural diagram of a steering wheel resistance control device according to an embodiment of the present application. As illustrated in fig. 5, the steering wheel resistance control device 500 may include:
The obtaining module 501 is configured to obtain road condition information.
The first determining module 502 is configured to determine a steering wheel resistance torque to be applied according to road condition information;
A second determining module 503, configured to determine a friction resistance of the friction structure according to the steering wheel resistance torque; the friction structure is arranged between the electromagnetic coil and the resistance disc, and the friction structure, the electromagnetic coil and the resistance disc are arranged by taking a steering shaft of the steering wheel as an axis; the friction resistance is generated based on the magnetic attraction between the electrified electromagnetic coil and the resistance disc to squeeze the friction structure;
a third determining module 504 for determining a current intensity of the current of the electromagnetic coil according to the frictional resistance;
the energization module 505 is configured to control energization of the solenoid based on the current intensity to apply steering wheel resistance torque to the steering wheel.
Specifically, the second determining module 502 is configured to: and determining the friction resistance of the friction structure according to the steering wheel resistance torque, the information of the first friction structure and the information of the second friction structure.
Specifically, the third determining module 503 is configured to: determining the forward pressure of the friction structure according to the friction resistance; determining the magnetic field intensity of the electromagnetic coil according to the forward pressure; the current strength of the current of the electromagnetic coil is determined based on the magnetic field strength.
Specifically, determining the forward pressure of the friction structure based on the frictional resistance includes: the positive pressure of the friction structure is determined based on the friction resistance and the friction coefficient of the friction structure.
Specifically, determining the magnetic field strength of the electromagnetic coil from the forward pressure includes: determining the magnetic field intensity of the electromagnetic coil according to the forward pressure and the magnetic attraction coefficient; wherein the magnetic attraction coefficient is determined based on the material, size, shape of the resistance disc and the distance between the resistance disc and the electromagnetic coil.
Specifically, determining the current strength of the current of the electromagnetic coil from the magnetic field strength includes: the current strength of the current of the electromagnetic coil is determined based on the magnetic field strength, the number of turns of the electromagnetic coil, and the effective magnetic path length.
Specifically, the first determining module 501 is configured to: determining a resistance coefficient according to the road surface roughness parameter; and determining the steering wheel resistance torque to be applied according to the resistance coefficient and the resistance torque reference value.
Apparatus embodiments and method embodiments of the present application may be based on the same concept.
Correspondingly, the embodiment of the application also provides a steering wheel resistance control structure.
In a specific embodiment, the structure may include a friction structure, an electromagnetic coil, and a resistance disc. In particular, the friction structure may be between the electromagnetic coil and the resistance disc. The friction structure may include a first friction structure that may be fixedly disposed with a steering shaft of the steering wheel as an axis, and a second friction structure that may be disposed with the steering shaft as an axis and rotate following the steering shaft. Specifically, when the steering wheel rotates, if there is a forward pressure between the first friction structure and the second friction structure, a friction force may be generated between the first friction structure and the second friction structure. The electromagnetic coil can be fixedly arranged by taking the steering shaft as an axis, and can generate magnetic attraction force with the resistance disc under the condition of electrifying, so that the electromagnetic coil and the resistance disc jointly extrude the friction structure. The resistance disc may be disposed with the steering shaft as an axis and rotates following the steering shaft.
A specific embodiment of a steering wheel resistance control structure provided by the present application is described below based on fig. 6. Fig. 6 is a schematic diagram of a steering wheel resistance control structure according to an embodiment of the present application. As illustrated in fig. 6, the steering wheel resistance control device 600 may include: steering shaft 1, first retaining ring 2, first bearing 3, locating tube 4, second bearing 5, second retaining ring 6, solenoid 7, first friction structure 8, second friction structure 9, resistance disc 10, gasket 11, screw 12, pin 13.
Specifically, the steering shaft 1 may be assembled with the positioning tube 4 through the first bearing 3 and the second bearing 5, and the positioning tube 4 is fixed to the vehicle frame by screws. Based on this, the axial and radial degrees of freedom of the steering shaft 1 are limited, and only the rotational degrees of freedom remain. The left end of the steering shaft 1 may be connected to the steering wheel, that is, the steering shaft 1 and the steering wheel rotate synchronously. Specifically, the first bearing 3 and the second bearing 5 may be pressed into the positioning tube 4 in an interference manner, and the first retainer ring 2 and the second retainer ring 6 may be respectively installed between the first bearing 3, the second bearing 5 and the positioning tube 4, for fixing the bearings.
In particular, the electromagnetic coil 7 may be fixed inside the positioning tube 4, and the electromagnetic coil 7 may be fixed between the first friction structure 8. The second friction structure 9 may be in a clearance fit with the pin 13. The pin 13 for positioning may be included in plurality. Since the pin 13 and the resistance disc 10 can be connected by a screw, the second friction structure 9 and the resistance disc 10 can be fixed by the fixing action of the pin 13. In case of a change in pressure between the second friction structure 9 and the first friction structure 8, a change in sliding friction resistance between the second friction structure 9 and the first friction structure 8 may be caused. Specifically, there may be an initial gap between the second friction structure 9 and the first friction structure 8, that is, if the forward pressure between the second friction structure 9 and the first friction structure 8 is zero, the sliding friction force is also zero.
Specifically, the resistance disc 10 is coupled with the screw 12 in a fitting manner, and the resistance disc 10 may be disposed at the right end of the steering shaft 1 by spline fitting so that torque can be transmitted between the resistance disc 10 and the steering shaft 1.
The method embodiments of the present application can be implemented based on the structural embodiments described above.
Accordingly, the embodiment of the disclosure further provides an electronic device, which includes a processor and a memory, where at least one instruction, at least one section of program, a code set, or an instruction set is stored in the memory, and the at least one instruction, the at least one section of program, the code set, or the instruction set is loaded and executed by the processor to implement the steering wheel resistance control method described above.
The method embodiments provided by the embodiments of the present application may be executed in a computer terminal, a server, or similar computing device. Taking the operation on the server as an example, fig. 7 is a hardware block diagram of the server of the steering wheel resistance control method according to the embodiment of the present application. As shown in fig. 7, the server 700 may vary considerably in configuration or performance and may include one or more central processing units (Central Processing Units, CPU) 710 (the central processing unit 710 may include, but is not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA), memory 730 for storing data, one or more storage mediums 720 (e.g., one or more mass storage devices) for storing applications 723 or data 722. Wherein memory 730 and storage medium 720 may be transitory or persistent. The program stored in the storage medium 720 may include one or more modules, each of which may include a series of instruction operations on the server. Still further, the central processor 710 may be configured to communicate with the storage medium 720 and execute a series of instruction operations in the storage medium 720 on the server 700. The server 700 may also include one or more power supplies 750, one or more wired or wireless network interfaces 750, one or more input/output interfaces 740, and/or one or more operating systems 721, such as Windows Server, mac OS XTM, unixTM, linuxTM, freeBSDTM, and the like.
Input-output interface 740 may be used to receive or transmit data via a network. The specific example of the network described above may include a wireless network provided by a communication provider of the server 700. In one example, the input/output interface 740 includes a network adapter (Network Interface Controller, NIC) that can connect to other network devices through a base station to communicate with the Internet. In one example, the input/output interface 740 may be a Radio Frequency (RF) module for communicating with the internet wirelessly.
It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 7 is merely illustrative and is not intended to limit the configuration of the electronic device described above. For example, server 700 may also include more or fewer components than shown in fig. 7, or have a different configuration than shown in fig. 7.
The present application provides a storage medium, which may be disposed in a server to store at least one instruction, at least one program, a code set, or an instruction set related to a steering wheel resistance control method for implementing a method embodiment, where the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the steering wheel resistance control method described above.
In particular, in the present embodiment, the storage medium may be located in at least one network server among a plurality of network servers of the computer network. Alternatively, in the present embodiment, the storage medium may include, but is not limited to, including: a U-disk, a Read-only Memory (ROM), a removable hard disk, a magnetic disk, or an optical disk, or the like, which can store program codes.
In the present invention, unless explicitly specified and limited otherwise, the terms "connected," "connected," and the like are to be construed broadly, and may be fixedly connected, detachably connected, or integrally formed, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be connected between two elements or the interaction relationship between the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
It should be noted that: the order in which the embodiments of the application are presented is intended to be illustrative only and is not intended to limit the application to the particular embodiments disclosed, and other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order in a different embodiment and can achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or the sequential order shown, to achieve desirable results, and in some embodiments, multitasking parallel processing may be possible or advantageous.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for embodiments of the apparatus/system, the description is relatively simple, as it is based on embodiments similar to the method, with reference to the description of portions of the method embodiments being relevant.
The foregoing is a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention and are intended to be comprehended within the scope of the present invention.
Claims (11)
1. A steering wheel resistance control method, the method comprising:
acquiring road condition information; the road condition information comprises road surface weather information, road surface type information and road surface roughness information;
Determining the resistance torque of the steering wheel to be applied according to the road condition information; the determining the steering wheel resistance torque to be applied according to the road condition information comprises the following steps: determining a resistance coefficient according to the road condition information, and determining the resistance torque of the steering wheel to be applied according to the resistance coefficient and a resistance torque reference value;
Determining the friction resistance of the friction structure according to the resistance torque of the steering wheel; the friction structure is arranged between the electromagnetic coil and the resistance disc, and the friction structure, the electromagnetic coil and the resistance disc are arranged by taking a steering shaft of the steering wheel as an axis; the friction resistance is generated by pressing the friction structure based on magnetic attraction between the electromagnetic coil and the resistance disc when the electromagnetic coil is electrified;
Determining the current intensity of the current of the electromagnetic coil according to the friction resistance;
controlling the solenoid to energize based on the amperage to apply the steering wheel drag torque to the steering wheel.
2. The steering wheel resistance control method according to claim 1, wherein the friction structure includes a first friction structure and a second friction structure, the first friction structure is fixedly provided, the second friction structure rotates following the steering shaft, and determining the friction resistance of the friction structure based on the steering wheel resistance torque includes:
and determining the friction resistance of the friction structure according to the steering wheel resistance torque, the information of the first friction structure and the information of the second friction structure.
3. The steering wheel resistance control method according to claim 1, wherein determining the current intensity of the current of the electromagnetic coil based on the frictional resistance comprises:
determining a forward pressure of the friction structure according to the friction resistance;
Determining the magnetic field strength of the electromagnetic coil according to the forward pressure;
And determining the current intensity of the current of the electromagnetic coil according to the magnetic field intensity.
4. A steering wheel resistance control method according to claim 3, wherein determining the forward pressure of the friction structure based on the frictional resistance comprises:
And determining the forward pressure of the friction structure according to the friction resistance and the friction coefficient of the friction structure.
5. A steering wheel resistance control method according to claim 3, wherein determining the magnetic field strength of the electromagnetic coil from the forward pressure comprises:
determining the magnetic field intensity of the electromagnetic coil according to the forward pressure and the magnetic attraction coefficient;
Wherein the magnetic attraction coefficient is determined based on the material, size, shape of the resistance disc and the distance between the resistance disc and the electromagnetic coil.
6. A steering wheel resistance control method according to claim 3, wherein determining the current intensity of the current of the electromagnetic coil based on the magnetic field intensity comprises:
and determining the current intensity of the current of the electromagnetic coil according to the magnetic field intensity, the turns number of the electromagnetic coil and the effective magnetic path length.
7. The steering wheel resistance control method according to claim 1, wherein determining the steering wheel resistance torque to be applied based on the road condition information, comprises:
Determining a resistance coefficient according to the road surface roughness parameter;
And determining the steering wheel resistance torque to be applied according to the resistance coefficient and the resistance torque reference value.
8. A steering wheel resistance control device, comprising:
The acquisition module is used for acquiring road condition information; the road condition information comprises road surface weather information, road surface type information and road surface roughness information;
The first determining module is used for determining the resistance torque of the steering wheel to be applied according to the road condition information; the determining the steering wheel resistance torque to be applied according to the road condition information comprises the following steps: determining a resistance coefficient according to the road condition information, and determining the resistance torque of the steering wheel to be applied according to the resistance coefficient and a resistance torque reference value;
The second determining module is used for determining the friction resistance of the friction structure according to the resistance torque of the steering wheel; the friction structure is arranged between the electromagnetic coil and the resistance disc, and the friction structure, the electromagnetic coil and the resistance disc are arranged by taking a steering shaft of the steering wheel as an axis; the friction resistance is generated by pressing the friction structure based on magnetic attraction between the electromagnetic coil and the resistance disc when the electromagnetic coil is electrified;
a third determining module for determining a current intensity of the current of the electromagnetic coil according to the frictional resistance;
And the energizing module is used for controlling the electromagnetic coil to energize based on the current intensity so as to apply the steering wheel resistance torque to the steering wheel.
9. A steering wheel resistance control structure, characterized in that the structure is applied to the steering wheel resistance control method according to any one of claims 1to 7, comprising a friction structure, an electromagnetic coil and a resistance disc,
The friction structure is arranged between the electromagnetic coil and the resistance disc; the friction structure comprises a first friction structure and a second friction structure, wherein the first friction structure is fixedly arranged by taking a steering shaft of a steering wheel as an axis, and the second friction structure is arranged by taking the steering shaft as an axis and rotates along with the steering shaft;
the electromagnetic coil is fixedly arranged by taking the steering shaft as an axis, and generates magnetic attraction force with the resistance disc under the condition of electrifying so as to enable the electromagnetic coil and the resistance disc to jointly extrude the friction structure;
the resistance disc is arranged with the steering shaft as an axis and rotates along with the steering shaft.
10. An electronic device comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a set of codes, or a set of instructions, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by the processor to implement the steering wheel resistance control method of any one of claims 1-7.
11. A computer readable storage medium having stored therein at least one instruction, at least one program, code set, or instruction set, the at least one instruction, the at least one program, the code set, or instruction set being loaded and executed by a processor to implement the steering wheel resistance control method of any of claims 1-7.
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