CN116198595A

CN116198595A - Parameter adjustment method, device, medium and equipment for steering wheel

Info

Publication number: CN116198595A
Application number: CN202310212416.9A
Authority: CN
Inventors: 赵翔
Original assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Zeekr Intelligent Technology Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Zeekr Intelligent Technology Co Ltd
Priority date: 2023-02-27
Filing date: 2023-02-27
Publication date: 2023-06-02

Abstract

The specification provides a method, a device, a medium and equipment for adjusting parameters of a steering wheel, wherein the method comprises the following steps: acquiring moment parameters set by a user for at least one type of boosting moment; determining a plurality of moment parameters on a three-dimensional coordinate system according to the moment parameters aiming at each type of the assisting moment, and generating a moment change curve containing the moment parameters; determining a target moment parameter in the moment change curve based on an input signal currently acting on the steering wheel and the current running speed of the target carrier; and applying a power-assisted moment to the steering wheel according to the target moment parameter. By the aid of the method, customized steering wheel operation experience is provided for a user.

Description

Parameter adjustment method, device, medium and equipment for steering wheel

Technical Field

The present disclosure relates to the field of data processing technologies, and in particular, to a method, an apparatus, a medium, and a device for adjusting parameters of a steering wheel.

Background

When the user uses the parameters of the steering wheel to adjust the steering of the carrier, the user can apply a forward moment to the steering wheel and can feel the reverse moment of the steering wheel to the user. When the reverse moment felt by the user is large, the user needs to apply a large moment to twist the steering wheel; when the reverse moment felt by the user is small, the user can twist the steering wheel by applying a small moment, which brings different handfeel to the user and generates different driving experiences.

However, whether real vehicles in the real world (e.g., ships, airplanes, automobiles, toy vehicles) or virtual vehicles in the virtual world, the feel of the steering wheel is often not adjustable, and does not provide a customized steering wheel operating experience to the user.

Disclosure of Invention

In order to overcome the problems in the related art, the present specification provides a method, an apparatus, a medium and a device for adjusting parameters of a steering wheel.

According to a first aspect of embodiments of the present application, there is provided a method for adjusting parameters of a steering wheel, the method including:

acquiring moment parameters set by a user for at least one type of boosting moment; the power assisting moment is used for applying moment opposite to the direction of an input signal acted on the steering wheel;

determining a plurality of moment parameters on a three-dimensional coordinate system according to the moment parameters aiming at each type of the assisting moment, and generating a moment change curve containing the moment parameters; three coordinate axes of the three-dimensional coordinate system are set based on input signals acting on the steering wheel, the power-assisted moment and the running speed of a target carrier;

determining a target moment parameter in the moment change curve based on an input signal currently acting on the steering wheel and the current running speed of the target carrier;

And applying a power-assisted moment to the steering wheel according to the target moment parameter.

According to a second aspect of embodiments of the present application, there is provided a parameter adjustment device for a steering wheel, the device including:

the acquisition module is used for acquiring moment parameters set by a user for at least one type of boosting moment; the power assisting moment is used for applying moment opposite to the direction of an input signal acted on the steering wheel;

the generating module is used for determining a plurality of moment parameters on a three-dimensional coordinate system according to the moment parameters aiming at each type of the power-assisted moment and generating a moment change curve containing the moment parameters; three coordinate axes of the three-dimensional coordinate system are set based on input signals acting on the steering wheel, the power-assisted moment and the running speed of a target carrier;

the determining module is used for determining a target moment parameter in the moment change curve based on an input signal currently acted on the steering wheel and the current running speed of the target carrier;

and the execution module is used for applying a power-assisted moment to the steering wheel according to the target moment parameter.

According to a third aspect of embodiments of the present application, there is provided a computer readable storage medium having stored thereon a computer program which when executed by a processor implements the steps of the method for adjusting a parameter of a steering wheel according to any of the embodiments provided in the first aspect.

According to a fourth aspect of embodiments of the present application, there is provided a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor; wherein the processor is configured to perform the steps of the method for parameter adjustment of a steering wheel as in any of the embodiments provided in the first aspect.

The technical scheme provided by the embodiment of the specification can comprise the following beneficial effects:

in this embodiment of the present application, since the direction of the assist torque is opposite to the direction of the input signal applied to the steering wheel by the user, the user may feel the assist torque opposite to the direction of applying the force to the steering wheel when applying the forward torque to the steering wheel. By acquiring the moment parameters set by the user, the moment change curves of the plurality of modified moment parameters can be automatically generated according to at least one set moment parameter, different moment parameters do not need to be set one by the user according to different conditions, and the operation of the user is saved.

By the method, the moment parameters of at least one type of power-assisted moment can be modified according to the moment change curve, so that the hand feeling of the steering wheel can be modified to be any value expected by a user, and the steering wheel operation experience of the user can be improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the specification and together with the description, serve to explain the principles of the specification.

Fig. 1 shows a flowchart of a method for adjusting parameters of a steering wheel according to an embodiment of the present application.

Fig. 2 is a schematic structural diagram of a parameter adjustment device for a steering wheel according to an embodiment of the present application.

Fig. 3 is a hardware configuration diagram of a computer device where a parameter adjustment device for a steering wheel is shown in accordance with an exemplary embodiment of the present disclosure.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present specification. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present description as detailed in the accompanying claims.

The terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the description. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in this specification to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, the first information may also be referred to as second information, and similarly, the second information may also be referred to as first information, without departing from the scope of the present description. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.

In the course of running a vehicle, a driving operation for changing the running direction such as turning around or turning around is required, and therefore a steering wheel for controlling the steering system in the vehicle to change the direction is generally provided in the vehicle. For example: steering wheel in car, steamship, yacht.

The following description will be made taking a steering wheel in an automobile as an example:

the traditional steering system in the automobile is mechanical steering, and the working principle of the mechanical steering is as follows: the steering wheel transmits steering intention to the wheels through a mechanical structure by means of a steering gear and a tie rod, thereby realizing steering movement. That is, the rotation of the steering wheel drives the wheels to turn through the connection of the mechanical structure. Therefore, when the wheel steering is adjusted by the parameter of the steering wheel, the feedback force of the road surface to the wheel generated between the ground and the wheel due to the wheel steering can be perceived.

For example, when there is a ground bump on the right side of the wheel, the wheel will collide with the ground bump when turning to the right, so that the ground bump prevents the wheel from continuing turning, and the feedback force transmitted to the wheel by this ground bump will be further transmitted to the steering wheel through the mechanical structure to which the wheel is connected. Thus, the user can feel the reverse moment opposite to the moment applied by the user from the steering wheel, and the steering wheel is prevented from continuing to rotate according to the intention of the user.

In addition, in the conventional mechanical steering structure, when steering a large vehicle with a heavy weight, a user often needs to apply a large moment to complete the steering. In order to enable a driver to complete steering with less force, in the prior art, a power-assisted moment which is the same as the direction of input moment applied by the user is generally provided for the user to overcome the action of opposite moment applied by a mechanical structure to a steering wheel, so that easier steering of the vehicle is realized.

However, it is difficult to realize active control required for automatic driving under the angular transfer characteristic of the steering system (steering characteristic of the automobile) due to the mechanical structure of the steering system. In order to solve the problem that automatic driving cannot be achieved due to a mechanical structure, a linear steering system capable of replacing a mechanical steering system gradually appears.

In the linear steering system, the mechanical connecting part between the steering wheel and the steering wheel is eliminated, and the limitation of mechanical firmware is thoroughly eliminated, so that the steering system can be controlled to steer by detecting the electric signal (such as the input moment detected by a moment sensor and the steering wheel angle detected by an angle sensor) on the steering wheel (generated by the operation action of a driver), and further by analyzing the electric signal, the steering system is not limited by a mechanical structure.

In this case, since the steering wheel and the steering wheel are not connected by the mechanical connection part in the automobile, when the user operates the steering wheel and applies a forward input torque to the steering wheel, the user cannot feel a reverse torque from the steering wheel, which results in too easy operation of the steering wheel, and thus, the user turns too much and even causes traffic accidents.

In order to solve the problem that the steering wheel in the linear steering system is too easy to operate, a fixed moment parameter is usually set for the steering wheel in the prior art, and a moment opposite to the direction of an input signal which is input by a user and acts on the steering wheel is applied to the steering wheel according to the moment parameter, so that the user feels a certain reaction force. The hand feeling of the steering wheel is improved, and meanwhile, the situation that the turning angle is not controlled due to too easy steering wheel operation in the driving process of a user is guaranteed.

However, the problem that the hand feeling of the steering wheel is not adjustable still exists in the prior art, so that customized steering wheel operation experience cannot be brought to a user.

Based on the above problems, embodiments of the present application provide a method, an apparatus, a medium, and a device for adjusting parameters of a steering wheel. Next, embodiments of the present application will be described in detail.

Fig. 1 shows a flowchart of a method for adjusting parameters of a steering wheel according to an embodiment of the present application, as shown in fig. 1, the method includes the following steps:

step 101, acquiring moment parameters set by a user for at least one type of assistance moment; the power assisting moment is used for applying moment opposite to the direction of an input signal acted on the steering wheel.

When the user operates the steering wheel, an input signal acting on the steering wheel can be generated. Input signals include, but are not limited to: the input torque applied by the user to the steering wheel, and the angle of rotation produced on the steering wheel due to the input torque input by the user.

Types of assist torque include, but are not limited to, at least one of:

a friction moment for characterizing the magnitude of a feedback force to the vehicle when the vehicle is turned, and a ground surface.

Damping moment for stopping the steering wheel.

And a restoring moment for controlling the steering wheel to return to an initial position.

The moment parameters set by the user may be referred to as examples below:

example 1, regarding the friction torque, the input torque corresponding to the input signal applied to the steering wheel at the user side is: 2Nm, and the current driving speed is 0kph (kilometers per hour km/h), the corresponding torque parameter is 0.1152Nm (this value is exemplary, which can be set at will by the user).

102, determining a plurality of moment parameters on a three-dimensional coordinate system according to the moment parameters for each type of the assisting moment, and generating a moment change curve containing the moment parameters; the three coordinate axes of the three-dimensional coordinate system are set based on input signals acting on the steering wheel, the power assisting moment and the running speed of the target carrier.

Each type of assistance moment corresponds to a standard moment change curve (preset), and aiming at the assistance moment of which the moment parameters are not modified by a user, the assistance moment is still applied to the steering wheel by adopting the moment parameters in the standard moment change curve.

The number of torque parameters that the user modifies for each type of assist torque is at least one. For at least one type of power-assisted moment of which the moment parameters are modified by a user, a plurality of moment parameters are determined based on at least one moment parameter modified by the user, so that a new moment change curve is generated, and the new moment change curve is different from a standard moment change curve before the moment parameters are modified by the user. The user can set the parameter value of the moment parameter at will, so that the user can customize the moment parameter.

The moment change curve is a three-dimensional curve on a three-dimensional coordinate system formed by three-dimensional coordinate axes.

The first coordinate axis of the three-dimensional coordinate axis is set based on an input signal applied to the steering wheel, and can represent the magnitude of an input signal value of the input signal; the second coordinate axis of the three-dimensional coordinate axis is set based on the running speed of the target carrier and is used for representing the current running speed value of the target carrier; the third coordinate axis of the three-dimensional coordinate axis is set based on the assist torque, and is used for representing the magnitude of the torque parameter of the assist torque. The target carrier and the steering wheel are operatively bound, and may be a virtual carrier (e.g., racing car in a game, ship), or a real carrier (e.g., a game car (bound to the steering wheel in the game car), an automobile, etc.

At least part of the curves of the moment change curves in a first coordinate system formed by the first coordinate axis and the second coordinate axis are used for representing the relation between the input signals and the running speed of the target carrier; at least part of the curves of the moment change curves in a second coordinate system formed by the first coordinate axis and the third coordinate axis are used for representing the relation between the input signals and moment parameters of the power assisting moment; at least part of the torque change curve in a third coordinate system formed by the second coordinate axis and the third coordinate axis is used for representing the relation between the running speed of the target carrier and the torque parameter of the power assisting torque.

Example 2, when the user sets according to the parameters of example 1, since the user only sets: the input moment is: 2Nm, and the corresponding torque parameter is 0.1152Nm when the current running speed is 0kph (kilometers per hour km/h).

Therefore, according to the relation among the input torque, the running speed and the torque parameters set by the user, a plurality of torque parameters can be determined, and the following torque parameters are correspondingly generated:

0.2109Nm, 0.3233Nm, 0.1455Nm, etc.

And setting the input moment and the running speed corresponding to the moment parameters.

Moment parameters: 0.2109Nm, the corresponding input torque is: 4Nm, and a running speed of 0kph.

Moment parameters: 0.3233Nm, the corresponding input torque is: 6Nm, and a running speed of 0kph.

Moment parameters: 0.1455Nm, the corresponding input torque is: 2Nm, and a running speed of 5kph, and correspondingly generating a moment change curve comprising the plurality of moment parameters. After the moment change curve is generated, the moment parameter is successfully modified.

And step 103, determining a target moment parameter in the moment change curve based on the input signal currently acted on the steering wheel and the current running speed of the target carrier.

When a user operates the steering wheel, based on a sensor, a detection device and the like in the steering wheel, the input signal value (such as the magnitude of input torque and steering wheel angle) of an input signal applied to the steering wheel by the user and the running speed of a target carrier acted by the steering wheel can be determined, so that the target torque parameter can be uniquely determined in a torque change curve under the condition that the input signal and the running speed are known.

It should be noted that the torque parameters of each type of assist torque are independently modified, and the corresponding torque curves are also independent. The moment parameters set by the user for one type of assisting moment cannot influence the moment parameters of other types of assisting moment and related moment change curves.

And 104, applying a power-assisted moment to the steering wheel according to the target moment parameter.

After determining the target torque parameter according to step 103, because the current target torque parameter is determined from the torque variation curve generated by the torque parameter modified by the user, the target torque parameter is a torque parameter matched with the user-defined torque parameter, so that when the power-assisted torque is applied to the steering wheel according to the target torque parameter, the ideal operation hand feeling of the user to the steering wheel can be satisfied.

In one possible embodiment, the method further comprises:

for a coordinate system formed by any two coordinate axes of the three coordinate axes, the function corresponding to the moment change curve on the coordinate system is a derivative function.

When the corresponding function in any two-dimensional coordinate system (first, second, third) is a derivative function, the moment change curve is therefore relatively smooth, rounded at each point of its definition domain, not including any sharp points and break points. Therefore, even if an input signal (or running speed) applied to the steering wheel changes in the process of operating the steering wheel by a user, the hand feeling of the steering wheel is not changed suddenly, and the operation experience of the user on the steering wheel is improved.

In one possible embodiment, the method is applied to a vehicle in which the steering wheel is provided, and a display device for displaying a virtual vehicle.

The steering wheel is a real vehicle (such as an automobile, a train, a bus, a ship, etc., and the embodiment of the application uses the vehicle as an automobile for illustration), and the display device may be a display screen in the automobile.

The interface displayed in the display screen comprises a virtual carrier, and the interface can be a virtual driving interface (such as a racing game, a vehicle simulated driving experience and the like), or can be an interface for debugging vehicle parameters (such as steering wheel handfeel and the like) through a virtual running demonstration picture of the virtual carrier, or can be a test interface for debugging a steering wheel or other parameter information of the carrier through the virtual carrier.

Before executing step 101 to obtain moment parameters set by a user for at least one type of assistance moment, the method further includes:

step 110, determining the virtual carrier as the target carrier; setting steering operation of the virtual vehicle to be bound with operation of the steering wheel so as to control the virtual vehicle to steer based on an electric signal detected by the steering wheel.

The virtual vehicle displayed in the display device is determined as the target vehicle, and then the running speed of the target vehicle is the running speed of the virtual vehicle in the virtual scene. Through binding the steering operation of the virtual carrier with the operation of the steering wheel, the steering operation of the virtual carrier such as turning, turning around and the like can be controlled by operating the steering wheel and the electric signals (input torque and rotation angle) detected from the steering wheel, and more real operation experience can be brought to a user through the physical operation of the steering wheel.

In a possible embodiment, a steering system for controlling steering of the vehicle is also provided in the vehicle, the vehicle controlling the steering system based on the electrical signal detected to the steering wheel.

In the embodiment of the application, the steering system carried in the carrier is used for realizing steering based on a linear steering technology. That is, the vehicle is steered based on electrical signals (e.g., input torque, steering wheel angle) detected by the steering wheel, steering systems that control the vehicle, rather than being controlled based on mechanical structure.

and step 111, responding to a virtual driving starting instruction aiming at the virtual vehicle, and controlling the steering system to be separated from the steering wheel so as to enable the electric signal detected aiming at the steering wheel to fail the steering system.

The virtual driving starting instruction is sent by a user and used for starting driving operation of the virtual carrier. At this time, the operation of controlling the steering system to disengage from the steering wheel specifically includes:

when the vehicle is determined to be executing driving operation, starting an automatic driving function; and after the automatic driving function is determined to be started successfully, controlling the steering system to be separated from the steering wheel.

When the user starts the virtual driving start instruction, it indicates that the user wants to operate the virtual vehicle by using the steering wheel instead of operating the real vehicle carried by the steering wheel, and at this time, the operation of the steering wheel needs to be unbinding with the operation of the steering system, so that the steering system is separated from the operation of the steering wheel.

Thus, the steering wheel operation on the virtual vehicle will not affect the change in direction of the real vehicle, whether or not the vehicle is driving.

Further, when the real vehicle with the steering wheel is performing driving operations (such as straight running, decelerating, turning, etc.), since the user wants to adjust the torque parameter of the assistance torque of the steering wheel, in order to avoid influencing the driving of the vehicle in the process of adjusting the parameter, the automatic driving function of the vehicle needs to be started before the steering system is controlled to break away from the steering wheel, and after the automatic driving function is determined to be started successfully, the steering system is controlled to break away from the steering wheel, so that the driving safety of the user in the vehicle is guaranteed during the subsequent process of modifying the torque parameter of the steering wheel and adjusting the hand feeling of the steering wheel.

Step 112, when it is determined that the steering system has successfully disengaged from the steering wheel operation, actuating a torque modifying function.

After determining that the steering system has successfully been disengaged from the steering wheel, the user can set the corresponding torque parameter by activating the torque modification function, and then steps 101-104 are performed.

By the method, the user is ensured not to influence the steering system of the vehicle during the process of modifying the parameters and adjusting the virtual vehicle by using the parameters of the steering wheel.

It should be noted that after the moment modification function is started, the interface for modifying the moment parameters by the user can also introduce the user how to modify the moment parameters, so that the user can conveniently and quickly set the desired moment parameters.

In one possible embodiment, when the assisting torque includes at least a friction torque, step 103 is performed: based on the input signal currently acting on the steering wheel and the current running speed of the target carrier, determining the target moment parameter in the moment change curve comprises the following steps:

determining an input torque generated by the input signal acting on the steering wheel; and determining a friction torque value in the torque change curve based on the input torque and the current running speed of the target carrier, and determining the friction torque value as the target torque parameter.

When the type of the power assisting moment is friction moment, an input signal of a user corresponding to the friction moment is input moment, at the moment, the input moment can be generated on the steering wheel through the input signal which is input by the user and acts on the steering wheel, and the magnitude of the input moment is detected according to a moment sensor arranged on the steering wheel.

The friction torque value (namely, the torque parameter) corresponding to the power assisting torque, namely, the current friction torque, can be uniquely determined through the determined input torque and the current running speed of the target carrier, and the determined friction torque value is determined as the target torque parameter.

For example, when the assist torque is a friction torque, the relevant parameters in the generated torque variation curve are shown in table 1 (the vehicle speed in the following table refers to the running speed of the target vehicle):

TABLE 1

When the damping torque includes at least the friction torque, step 103 is performed: based on the input signal currently acting on the steering wheel and the current running speed of the target carrier, determining the target moment parameter in the moment change curve comprises the following steps:

determining a rotational speed at which the input signal acts on the steering wheel; and determining a damping moment value in the moment change curve based on the rotating speed and the current running speed of the target carrier, and determining the damping moment value as the target moment parameter.

The damping moment is a moment capable of enabling the steering wheel to stop at a certain position, and when a user applies a fixed input moment (for example, 3 Nm) to the steering wheel, the steering wheel is driven by the input moment to generate an angle change. However, when the damping torque setting is large, the steering wheel may stop without reaching the desired stop position (e.g., 5 °) (e.g., due to the damping torque stopping after only 2 ° of rotation under an input torque of 3 Nm); when the damping torque setting is small, the steering wheel may not have stopped after reaching the intended stop position (e.g. 5 °) (e.g. after rotating 10 ° under the influence of an input torque of 3 Nm). It can be seen that the operation feel of the steering wheel is affected no matter whether the damping moment is too large or too small.

The rotation speed of the steering wheel is generated by an input torque generated by an input signal applied to the steering wheel by a user, and the steering wheel generates a rotation angle under the action of the input torque, and the rotation speed of the steering wheel (which may be an average rotation speed in a period of time) can be determined based on the rotation angle and the rotation time. In this case, the rotational speed and the running speed of the steering wheel can uniquely determine a damping torque value (i.e., a torque parameter) corresponding to a booster torque such as a damping torque in the torque change curve, and the determined damping torque value can be determined as the target torque parameter.

Illustratively, when the assist torque is a damping torque, the relevant parameters in the generated torque variation curve are shown in table 2:

TABLE 2

When the damping torque includes at least the aligning torque, step 103 is performed: based on the input signal currently acting on the steering wheel and the current running speed of the target carrier, determining the target moment parameter in the moment change curve comprises the following steps:

determining a rotation angle generated by the input signal acting on the steering wheel; and determining a correction moment value in the moment change curve based on the rotation angle and the current running speed of the target carrier, and determining the correction moment value as the target moment parameter.

When the moment is corrected and the fact that the steering wheel is not operated by a user is detected, the moment that the steering wheel automatically returns to the initial position is controlled. When the aligning torque is too large, the steering wheel may stop after passing the initial position in the aligning process, and when the aligning torque is too small, the steering wheel may stop before reaching the initial position in the aligning process. The steering wheel cannot accurately return to the initial position no matter the aligning moment is too large or too small. Thus, the handle of the steering wheel is affected.

Illustratively, when the assist torque is the aligning torque, the relevant parameters in the generated torque variation curve are shown in table 3:

TABLE 3 Table 3

In a possible embodiment, the setting conditions of the moment parameters include at least one of the following:

the input moment generated by the current input signal acting on the steering wheel is smaller than or equal to a first threshold value; the torque parameter set for at least one type of assist torque is less than or equal to a second threshold.

The first threshold and the second threshold are set according to requirements.

For the first threshold, it is assumed that the first threshold is 0.5Nm, so that when the input torque on the steering wheel is less than or equal to 0.5Nm, it is considered that the user does not operate the steering wheel currently, and the torque parameter of the assist torque can be modified; when the input torque on the steering wheel is greater than 0.5Nm, the user is considered to be currently operating the steering wheel, and the modification of the parameters at this time affects the operation of the user if the steering wheel is immediately validated, so that the setting condition is not satisfied at this time, and the torque parameters cannot be set.

For the second threshold, the second threshold is a limit parameter value (can be a large value or a small value) preset for each type of power assisting moment respectively, and when the moment parameter set by the user exceeds the limit parameter value, the moment parameter set by the user is considered dangerous, the driving operation of the user is easily influenced, and the setting condition is not met.

By the method, the set moment parameters can be ensured to meet the set conditions, and the driving operation safety is improved.

In one possible embodiment, determining a plurality of moment parameters on a three-dimensional coordinate system according to the moment parameters in step 102, and generating a moment variation curve including the plurality of moment parameters includes:

step 1021, for each moment parameter set by the user, determining a target input signal value and a target running speed corresponding to the moment parameter.

Wherein the target input signal value is the value of the input signal set by the user for the moment parameter; the target travel speed is the travel speed of the target vehicle set by the user for this moment parameter.

As shown in example 1, then the target input signal value is: 2Nm; the target running speed is 0kph.

Step 1022, generating a first change function for representing a relationship between the first number of running speeds and the first number of input signal values in a first coordinate system formed by a first coordinate axis corresponding to the input signal and a second coordinate axis corresponding to the running speed; wherein the first variation function is a derivative function.

In the first coordinate system, a first change function can be generated by introducing a formula and an algorithm model to express the relation between the first number of running speeds and the first number of input signal values. Wherein the first number of values of the first number of running speeds and the value of each running speed are determined according to an algorithm function, a model (or a manual preset) and the like.

Step 1023, determining moment parameters corresponding to each of the first number of input signal values one by one based on the moment parameters corresponding to the target input signal values set for at least one type of assistance moment in a second coordinate system formed by the first coordinate axis and a third coordinate axis corresponding to the assistance moment, and generating a second variation function for representing a relation between the first number of input signal values and the first number of moment parameters; wherein the second variation function is a derivative function.

Step 1024, in a third coordinate system formed by the second coordinate axis and the third coordinate axis, determining moment parameters corresponding to each of the first number of running speeds one by one based on the moment parameters corresponding to the target running speeds set for at least one type of assist moment, and generating a third variation function for representing a relationship between the first number of running speeds and the first number of moment parameters; wherein the third variation function is a derivative function.

The second change function and the third change function are generated in a similar manner to the first change function, and are not described herein.

Step 1025, determining a target curve in a three-dimensional coordinate system formed by the first coordinate axis, the second coordinate axis and the third coordinate axis based on the first change function, the second change function and the third change function; the target curve is determined as the moment change curve when the target curve is continuous in three-dimensional space and passes through an origin of the three-dimensional coordinate system.

Since each change function corresponds to one two-dimensional coordinate system, in order to obtain moment change curves in three-dimensional coordinate systems, the curves of the three change functions in the three coordinate systems are taken as the target curves.

A target curve is considered to be an effective moment-change curve when it is determined that the target curve can be continuous in three-dimensional space and can pass through the origin of the three-dimensional coordinate system. Otherwise, step 102 is re-executed to re-generate a plurality of new moment parameters according to the moment parameters set by the user, so as to obtain a moment change curve that can be continuous in three-dimensional space and passes through the origin of the three-dimensional coordinate system.

Fig. 2 shows a schematic structural diagram of a parameter adjustment device for a steering wheel according to an embodiment of the present application, as shown in fig. 2, where the device includes:

an obtaining module 201, configured to obtain moment parameters set by a user for at least one type of assistance moment; the power assisting moment is used for applying moment opposite to the direction of an input signal acted on the steering wheel.

A generating module 202, configured to determine a plurality of moment parameters on a three-dimensional coordinate system according to the moment parameters for each type of the assisting moment, and generate a moment variation curve including the plurality of moment parameters; the three coordinate axes of the three-dimensional coordinate system are set based on input signals acting on the steering wheel, the power assisting moment and the running speed of the target carrier.

The determining module 203 is configured to determine a target torque parameter in the torque variation curve based on an input signal currently applied to the steering wheel and a current running speed of the target vehicle.

And the execution module 204 is used for applying a power-assisted moment to the steering wheel according to the target moment parameter.

In one possible embodiment, the apparatus further comprises: for a coordinate system formed by any two coordinate axes of the three coordinate axes, the function corresponding to the moment change curve on the coordinate system is a derivative function.

In one possible embodiment, the apparatus is applied to a vehicle in which the steering wheel is disposed, and a display device for displaying a virtual vehicle.

The apparatus further comprises:

and the carrier determining module is used for determining the virtual carrier as the target carrier before the moment parameters set by the user for at least one type of assistance moment are acquired.

And the binding module is used for setting the steering operation of the virtual carrier to be bound with the operation of the steering wheel so as to control the virtual carrier to steer based on the electric signal detected by the steering wheel.

The apparatus further comprises:

and the disengaging module is used for responding to a virtual driving starting instruction aiming at the virtual vehicle before the moment parameters set by a user aiming at least one type of power-assisted moment are obtained, so that the steering system is controlled to be disengaged from the steering wheel, and the electric signal detected by the steering wheel is disabled for the steering system.

And the starting module is used for starting a torque modifying function after the steering system is determined to be successfully separated from the operation of the steering wheel.

In one possible embodiment, the disengagement module, when used to control the operation of the steering system to disengage the steering wheel, comprises:

when it is determined that the vehicle is performing a driving operation, an automatic driving function is started.

And after the automatic driving function is determined to be started successfully, controlling the steering system to be separated from the steering wheel.

In a possible embodiment, the at least one assistance torque includes at least:

friction torque; the friction moment is used for representing the magnitude of feedback force facing the vehicle when the vehicle turns.

The determining module is used for determining a target moment parameter in the moment change curve based on an input signal currently acted on the steering wheel and the current running speed of the target carrier, and is used for:

Determining an input torque generated by the input signal acting on the steering wheel.

And determining a friction torque value in the torque change curve based on the input torque and the current running speed of the target carrier, and determining the friction torque value as the target torque parameter.

In a possible embodiment, the at least one assistance torque includes at least:

damping moment; wherein the damping moment is used to stop the steering wheel.

determining a rotational speed at which the input signal acts on the steering wheel.

And determining a damping moment value in the moment change curve based on the rotating speed and the current running speed of the target carrier, and determining the damping moment value as the target moment parameter.

In a possible embodiment, the at least one assistance torque includes at least:

aligning moment; the aligning moment is used for controlling the steering wheel to return to an initial position.

and determining the rotation angle generated by the input signal acting on the steering wheel.

And determining a correction moment value in the moment change curve based on the rotation angle and the current running speed of the target carrier, and determining the correction moment value as the target moment parameter.

the input torque generated by the input signal acting on the steering wheel is smaller than or equal to a first threshold value. The torque parameter set for at least one type of assist torque is less than or equal to a second threshold.

In a possible embodiment, the generating module is configured to, when determining a plurality of moment parameters on a three-dimensional coordinate system according to the moment parameters, and generating a moment variation curve including the plurality of moment parameters:

and determining a target input signal value and a target running speed corresponding to the moment parameters aiming at each moment parameter set by a user.

Generating a first change function for representing the relation between a first number of running speeds and a first number of input signal values in a first coordinate system formed by a first coordinate axis corresponding to the input signals and a second coordinate axis corresponding to the running speeds; wherein the first variation function is a derivative function.

In a second coordinate system formed by the first coordinate axis and a third coordinate axis corresponding to the power assisting moment, determining moment parameters corresponding to each input signal value in the first number of input signal values one by one based on the moment parameters corresponding to the target input signal values set for at least one type of power assisting moment, and generating a second change function for representing the relation between the first number of input signal values and the first number of moment parameters; wherein the second variation function is a derivative function.

In a third coordinate system formed by the second coordinate axis and the third coordinate axis, determining moment parameters corresponding to each of the first number of running speeds one by one based on the moment parameters corresponding to the target running speeds set for at least one type of assistance moment, and generating a third change function for representing the relation between the first number of running speeds and the first number of moment parameters; wherein the third variation function is a derivative function.

And determining a target curve in a three-dimensional coordinate system formed by the first coordinate axis, the second coordinate axis and the third coordinate axis based on the first change function, the second change function and the third change function.

The target curve is determined as the moment change curve when the target curve is continuous in three-dimensional space and passes through an origin of the three-dimensional coordinate system.

The implementation process of the functions and roles of each module in the above device is specifically shown in the implementation process of the corresponding steps in the above method, and will not be described herein again.

For the device embodiments, reference is made to the description of the method embodiments for the relevant points, since they essentially correspond to the method embodiments. The apparatus embodiments described above are merely illustrative, wherein the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purposes of the present description. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

Fig. 3 is a hardware configuration diagram of a computer device where a parameter adjustment device for a steering wheel is shown in an exemplary embodiment of the present disclosure, and as shown in fig. 3, the device may include: a processor 301, a memory 302, an input/output interface 303, a communication interface 304 and a bus 305. Wherein the processor 301, the memory 302, the input/output interface 303 and the communication interface 304 are communicatively coupled to each other within the device via a bus 305.

The processor 301 may be implemented by a general-purpose CPU (Central Processing Unit ), a microprocessor, an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, etc. for executing relevant programs to implement the method for adjusting parameters of a steering wheel according to the embodiments of the present application.

The Memory 302 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory ), static storage device, dynamic storage device, or the like. Memory 302 may store an operating system and other application programs, and when the technical solutions provided in the embodiments of the present application are implemented in software or firmware, relevant program codes are stored in memory 302 and invoked for execution by processor 301.

The input/output interface 303 is used to connect with an input/output module to realize information input and output. The input/output module may be configured as a component in a device (not shown) or may be external to the device to provide corresponding functionality. Wherein the input devices may include a keyboard, mouse, touch screen, microphone, various types of sensors, etc., and the output devices may include a display, speaker, vibrator, indicator lights, etc.

The communication interface 304 is used to connect a communication module (not shown in the figure) to enable the present device to interact with other devices. The communication module may implement communication through a wired manner (such as USB, network cable, etc.), or may implement communication through a wireless manner (such as mobile network, WIFI, bluetooth, etc.).

Bus 305 includes a path to transfer information between the various components of the device (e.g., processor 301, memory 302, input/output interface 303, and communication interface 304).

It should be noted that, although the above device only shows the processor 301, the memory 302, the input/output interface 303, the communication interface 304, and the bus 305, in the implementation, the device may further include other components necessary for achieving normal operation. Furthermore, it will be understood by those skilled in the art that the above-described apparatus may include only the components necessary to implement the embodiments of the present application, and not all the components shown in the drawings.

The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of any of the steering wheel parameter adjustment methods provided in the embodiments of the present application.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims

1. A method for adjusting parameters of a steering wheel, comprising:

2. The method according to claim 1, wherein the method further comprises:

3. The method according to claim 1, characterized in that it is applied to a vehicle in which the steering wheel is arranged, and a display device for displaying a virtual vehicle;

before the moment parameters set by the user for at least one type of assistance moment are obtained, the method further comprises:

determining the virtual carrier as the target carrier;

setting steering operation of the virtual vehicle to be bound with operation of the steering wheel so as to control the virtual vehicle to steer based on an electric signal detected by the steering wheel.

4. A method according to claim 3, wherein a steering system is also provided in the vehicle for controlling steering of the vehicle, the vehicle controlling the steering system based on an electrical signal detected to the steering wheel;

controlling the steering system to disengage from the steering wheel in response to a virtual drive initiation command for the virtual vehicle to disable the steering system from the electrical signal detected for the steering wheel;

when it is determined that the steering system has successfully disengaged from operation of the steering wheel, a torque modification function is initiated.

5. The method of claim 4, wherein the controlling the steering system from operating off of the steering wheel comprises:

when the vehicle is determined to be executing driving operation, starting an automatic driving function;

6. The method of claim 1, wherein the at least one type of assist torque comprises at least:

friction torque; the friction moment is used for representing the magnitude of feedback force of the ground to the carrier when the carrier turns;

the determining a target moment parameter in the moment change curve based on the input signal currently acting on the steering wheel and the current running speed of the target carrier comprises:

determining an input torque generated by the input signal acting on the steering wheel;

7. The method of claim 1, wherein the at least one type of assist torque comprises at least:

Damping moment; wherein the damping moment is used for stopping the steering wheel;

determining a rotational speed at which the input signal acts on the steering wheel;

8. The method of claim 1, wherein the at least one type of assist torque comprises at least:

aligning moment; the aligning moment is used for controlling the steering wheel to return to an initial position;

determining a rotation angle generated by the input signal acting on the steering wheel;

9. The method of claim 1, wherein the torque parameter setting conditions include at least one of:

the input moment generated by the current input signal acting on the steering wheel is smaller than or equal to a first threshold value;

the torque parameter set for at least one type of assist torque is less than or equal to a second threshold.

10. The method of claim 1, wherein determining a plurality of moment parameters on a three-dimensional coordinate system based on the moment parameters, and generating a moment variation curve including the plurality of moment parameters, comprises:

for each moment parameter set by a user, determining a target input signal value and a target running speed corresponding to the moment parameter;

generating a first change function for representing the relation between a first number of running speeds and a first number of input signal values in a first coordinate system formed by a first coordinate axis corresponding to the input signals and a second coordinate axis corresponding to the running speeds; wherein the first variation function is a derivative function;

in a second coordinate system formed by the first coordinate axis and a third coordinate axis corresponding to the power assisting moment, determining moment parameters corresponding to each input signal value in the first number of input signal values one by one based on the moment parameters corresponding to the target input signal values set for at least one type of power assisting moment, and generating a second change function for representing the relation between the first number of input signal values and the first number of moment parameters; wherein the second variation function is a derivative function;

In a third coordinate system formed by the second coordinate axis and the third coordinate axis, determining moment parameters corresponding to each of the first number of running speeds one by one based on the moment parameters corresponding to the target running speeds set for at least one type of assistance moment, and generating a third change function for representing the relation between the first number of running speeds and the first number of moment parameters; wherein the third variation function is a derivative function;

determining a target curve in a three-dimensional coordinate system formed by the first coordinate axis, the second coordinate axis and the third coordinate axis based on the first change function, the second change function and the third change function;

11. A parameter adjustment device for a steering wheel, the device comprising:

12. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the method of any of claims 1-10.

13. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method of any of claims 1-10 when the computer program is executed by the processor.