CN117382724A - Vehicle steering control method and device, vehicle and storage medium - Google Patents

Abstract

The application relates to the technical field of vehicle steering, in particular to a vehicle steering control method, a vehicle steering control device, a vehicle and a storage medium, wherein the method comprises the following steps: acquiring a target corner input by an intelligent driving auxiliary system; determining basic steering torque of the steering system according to the target steering angle, and determining a compensation value of the basic steering torque according to a target travel corresponding to the target steering angle; and determining the target steering torque of the steering system according to the basic steering torque and the compensation value, and controlling the steering system to execute steering action based on the target steering torque. Therefore, the problems that once the output torque of the steering system is influenced by other factors, the expected rotation angle cannot be achieved during steering, the steering control accuracy is reduced and the like in the related art are solved.

Description

Vehicle steering control method and device, vehicle and storage medium

Technical Field

The present disclosure relates to the field of vehicle steering technologies, and in particular, to a vehicle steering control method and apparatus, a vehicle, and a storage medium.

Background

The intelligent driving technology of the automobile is an innovative technology, and the longitudinal and transverse control of the automobile is realized by simulating the decision and the operation behaviors of a human driver by utilizing advanced sensor and computer technologies. The intelligent driving lateral control is one of key technologies, and the vehicle can run more accurately and stably by comprehensively controlling the lateral position error and the yaw rate error of the vehicle. Such control techniques require a high degree of accuracy and reliability to ensure safety and comfort for the driver.

Currently, the lateral control mode of an ADAS (Advanced Driver Assistance System, advanced driving assistance system) generally adopts steering torque control due to the influence of the cost of the whole vehicle and the accuracy of a sensor, namely, the adjustment of the lateral position of the vehicle is realized mainly by controlling the torque output of the steering system. However, once the torque of the steering system is affected by other factors, such as when the friction in the system exceeds a design threshold, it is easy to cause the steering to fail to reach the expected steering angle, and the accuracy of steering control is reduced.

Disclosure of Invention

The application provides a vehicle steering control method, a vehicle steering control device, a vehicle and a storage medium, which are used for solving the problems that once the output torque of a steering system is influenced by other factors, the expected steering angle cannot be achieved easily during steering, the steering control accuracy is reduced and the like in the related art.

An embodiment of a first aspect of the present application provides a vehicle steering control method, including the steps of: acquiring a target corner input by an intelligent driving auxiliary system; determining basic steering torque of a steering system according to the target turning angle, and determining a compensation value of the basic steering torque according to a target travel corresponding to the target turning angle; and determining a target steering torque of the steering system according to the basic steering torque and the compensation value, and controlling the steering system to execute steering action based on the target steering torque.

Optionally, the determining the compensation value of the basic steering torque according to the target travel corresponding to the target rotation angle includes: determining a compensation trigger threshold according to the target travel and the steering direction; and if the basic steering torque is smaller than the compensation trigger threshold, taking the basic steering torque as the target steering torque, otherwise, determining a compensation value of the basic steering torque according to a travel section where the target travel is located.

Optionally, the determining the compensation value of the basic steering torque according to the travel interval where the target travel is located includes: acquiring a steering torque threshold value corresponding to a travel range where the target travel is located; and calculating a compensation coefficient according to the basic steering torque, the steering torque threshold and the compensation trigger threshold, and calculating the compensation value according to the compensation coefficient and the basic steering torque.

Optionally, the determining a compensation trigger threshold according to the target travel and steering direction includes: determining a corresponding average steering torque according to the target travel; and determining a compensation trigger threshold according to the average steering torque and the steering direction.

Optionally, before determining the corresponding average steering torque according to the target stroke, the method further comprises: testing the average torque of the steering system at different strokes and different steering directions; and if the average torque is smaller than the steering torque lower limit threshold value or the average torque is larger than the steering torque upper limit threshold value, generating a prompt that the internal friction of the steering system exceeds the design threshold value, otherwise, completing the test.

Optionally, the determining the basic steering torque of the steering system according to the target steering angle includes: detecting an actual speed of the vehicle; determining the basic steering torque curve according to the actual vehicle speed; the base steering torque is determined based on the target steering angle and the base steering torque curve.

Optionally, the determining the basic steering torque curve according to the actual vehicle speed includes: identifying a vehicle speed section in which the actual vehicle speed is located; and determining the basic steering torque curve according to the vehicle speed intervals, wherein the basic steering torque curves corresponding to different vehicle speed intervals are different.

An embodiment of a second aspect of the present application provides a vehicle steering control apparatus including: the acquisition module is used for acquiring a target rotation angle input by the intelligent driving auxiliary system; the determining module is used for determining basic steering torque of the steering system according to the target turning angle and determining a compensation value of the basic steering torque according to a target travel corresponding to the target turning angle; and the control module is used for determining the target steering torque of the steering system according to the basic steering torque and the compensation value and controlling the steering system to execute steering action based on the target steering torque.

An embodiment of a third aspect of the present application provides a vehicle, including: the vehicle steering control system includes a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the vehicle steering control method as described in the above embodiments.

An embodiment of the fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program that is executed by a processor for implementing the vehicle steering control method as described in the above embodiment.

Therefore, the application has at least the following beneficial effects:

according to the method and the device for controlling the steering system, the output torque of the steering system can be compensated according to the expected target steering angle travel, the influence of other factors on steering control is eliminated through a torque compensation mode, for example, the influence of internal friction of the system on steering control can be eliminated, the steering angle during steering can reach the expected target steering angle, accurate steering control can be achieved, optimal steering driving experience and accurate control planning paths can be achieved, and intelligent driving experience and intelligence are improved. Therefore, the technical problems that once the output torque of the steering system is influenced by other factors, the expected rotation angle cannot be achieved during steering, the steering control accuracy is reduced and the like in the related art are solved.

Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a flow chart of a vehicle steering control method provided according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a vehicle steering control method provided according to an embodiment of the present application;

FIG. 3 is a schematic illustration of base steering torque provided in accordance with an embodiment of the present application;

fig. 4 is a block diagram of a vehicle steering control method provided according to an embodiment of the present application;

FIG. 5 is a flow chart of a vehicle steering control method provided in accordance with one embodiment of the present application;

fig. 6 is an example diagram of a vehicle steering control apparatus according to an embodiment of the present application;

fig. 7 is a schematic structural view of a vehicle according to an embodiment of the present application.

Reference numerals illustrate: 1-a steering wheel assembly; 2-steering column assembly; 3-EPS electronic control unit; 4-PEPS pinion power steering gear assembly.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.

Intelligent driving technology of automobiles utilizes advanced sensor and computer technology to simulate the decision and operation behavior of human drivers. The intelligent driving technology of the automobile is based on longitudinal and transverse control of the automobile, and the effective control technology can provide a more relaxed driving mode for a driver. The intelligent driving lateral control is comprehensive control on the vehicle lateral position error and the yaw rate error, and if the intelligent driving advanced function cannot realize accurate control on the lateral control steering component, the user driving experience and even the vehicle safety can be influenced.

Currently, the cost of the whole vehicle and the precision influence of a sensor are limited, the ADAS transverse control mode is mainly steering torque control, and if the internal friction of a system exceeds a design threshold value, the torque executed by EPS is influenced by the internal friction of the system, so that the expected rotation angle cannot be achieved.

The following describes a vehicle steering control method, device, vehicle, and storage medium of the embodiments of the present application with reference to the accompanying drawings. Aiming at the problem that the intelligent driving advanced function mentioned in the background art cannot realize accurate control on the transverse control steering component, so that the user driving experience and even the vehicle safety are influenced, the application provides a vehicle steering control method. Therefore, the problems that once the output torque of the steering system is influenced by other factors, the expected rotation angle cannot be achieved during steering, the steering control accuracy is reduced and the like in the related art are solved.

Specifically, fig. 1 is a schematic flow chart of a vehicle steering control method according to an embodiment of the present application.

As shown in fig. 1, the vehicle steering control method includes the steps of:

in step S101, a target rotation angle input by the intelligent driving assistance system is acquired.

It can be appreciated that the embodiments of the present application may obtain the target rotation angle through sensors such as radar, lidar, camera, etc., and the target rotation angle may provide angle information required for steering the vehicle.

In step S102, a base steering torque of the steering system is determined according to the target steering angle, and a compensation value of the base steering torque is determined according to a target course corresponding to the target steering angle.

Wherein, the calculation formula of the target stroke is L _m ＝θ*L/θ _max Wherein L is the maximum travel of the steering gear, theta is the target rotation angle, and theta _max Is the maximum steering angle of the steering wheel.

It can be understood that the embodiment of the application can determine the basic steering torque through the target steering angle and determine the compensation value of the basic steering torque according to the target travel corresponding to the target steering angle, wherein the basic steering torque can be the minimum torque required by the vehicle in steering, namely the torque required by the vehicle for starting steering, and the basic steering torque and the compensation value thereof are determined through the target steering angle and the target travel, so that the steering requirements of the vehicle in different running states can be better met, and the running safety and the running comfort of the vehicle are improved.

Specifically, when the vehicle needs to be steered, the system calculates a target steering angle according to the current running state and the target position, and then calculates a required basic steering torque according to the target steering angle and the target travel. Meanwhile, the system can compensate the basic steering torque to a certain extent according to the length of the target travel, so that the vehicle can obtain good steering performance and steering stability under different running states.

In the embodiment of the present application, determining a compensation value of a basic steering torque according to a target travel corresponding to a target steering angle includes: determining a compensation trigger threshold according to the target travel and the steering direction; and if the basic steering torque is smaller than the compensation trigger threshold, taking the basic steering torque as the target steering torque, otherwise, determining a compensation value of the basic steering torque according to a travel range in which the target travel is located.

The compensation trigger threshold may be a condition that needs to be reached to trigger the compensation mechanism, depending on the actual situation.

It can be understood that, according to the embodiment of the application, the compensation trigger threshold can be determined according to the target travel and the steering direction, when the basic steering torque is smaller than the compensation trigger threshold, the basic steering torque is directly used as the target steering torque, otherwise, the compensation value of the basic steering torque is determined according to the travel interval where the target travel is located, and the embodiment of the application can be used for judging whether the compensation mechanism needs to be started to adjust the basic steering torque, so that the running stability and the operability of the vehicle are improved.

In the embodiment of the application, determining the compensation value of the basic steering torque according to the travel section where the target travel is located includes: acquiring a steering torque threshold corresponding to a travel range of a target travel; and calculating a compensation coefficient according to the basic steering torque, the steering torque threshold and the compensation trigger threshold, and calculating a compensation value according to the compensation coefficient and the basic steering torque.

Wherein, the stroke interval of the target stroke can be 0%L-80% L or 80-100% L.

It can be understood that the embodiment of the application can calculate the compensation coefficient according to the basic steering torque, the steering torque threshold and the compensation trigger threshold, and calculate the compensation value according to the compensation coefficient and the basic steering torque, wherein the compensation value is the correction of the basic steering torque, so that the steering system can execute the target steering torque more accurately, and the steering stability and the steering precision are improved.

Specifically, when the target stroke L corresponding to the target rotation angle θ _m When 0%L-80% L, a logic interpretation submodule in the EPS transverse control balance compensation module is used for adjusting a standard average torque threshold value M in 0%L-80% L of the whole vehicle calibration _b Average torque threshold tolerance setting M _b ±0.1(N.m)：

a. when-M _{1 right} Either I or I M _{1 left} M being set _b Within + -0.1 (N.m), the system does not perform torque compensation.

b. when-M _{1 right} │≥M _b When +0.1 (N.m), the EPS lateral control balance compensation module is controlled by K= [ (-M) _{1 right}

│-(M _b +0.1)]/[M _1MAX -(M _b +0.1)]，M _k ＝k*M _θ And performing right control moment compensation. K is a median compensation coefficient, M _k Compensating torque for neutral.

The neutral compensation torque may be an additional torque value calculated when the steering system is in a neutral state, i.e., a state in which the steering angle is zero, to compensate for disturbance factors inside and outside the steering system, thereby ensuring steering accuracy and reliability. At this time, the steering system is not subjected to steering torque in any direction, and the vehicle is kept traveling straight.

c. when-M _{1 right} │≤M _b At-0.1 (N.m), the EPS transversal control balance compensation module is controlled to be at k= [ ((M) _b -0.1)-│M _{1 right}

│]/[(M _b -0.1)-M _1MIN ]，M _k ＝-k*M _θ And performing right control moment compensation.

d. when-M _{1 left} │≥M _b When +0.1 (N.m), the EPS transverse control balance compensation module is as follows

K＝[(│M _{1 left} │-(M _b +0.1)]/[M _1MAX -(M _b +0.1)]，M _k ＝k*M _θ And performing left control moment compensation.

e. when-M _{1 left} │≤M _b At-0.1 (N.m), the EPS transversal control balance compensation module is controlled to be at k= [ ((M) _b -0.1)-│M _{1 left}

│]/[(M _b -0.1)-M _1MIN ]，M _k ＝-k*M _θ And performing left control moment compensation.

When the target rotation angle theta corresponds to the target stroke L _m When the standard average torque threshold value M is within 80-100% L of the whole vehicle calibration, the logic interpretation submodule in the EPS transverse control balance compensation module is used for adjusting the standard average torque threshold value M within 80-100% L of the whole vehicle calibration _A Average torque threshold tolerance setting M _A ±0.3(N.m)：

a. when-M _{2 right side} Either I or I M _{2 left} M being set _A Within + -0.3 (N.m), the system does not perform torque compensation.

b. when-M _{2 right side} │≥M _A +0.3 (N.m), the EPS lateral control balance compensation module is controlled by W= [ (-M) _{2 right side}

│-(M _A +0.3)]/[M _2MAX -(M _A +0.3)]，M _W ＝W*M _θ And performing right control moment compensation. W is the terminal compensation coefficient, M _W Compensating torque for the tip.

It should be noted that, the end compensation torque may be an additional torque value calculated when the steering system is in the state of maximum rotation angle or maximum steering torque, so as to compensate the internal and external disturbance factors of the steering system, thereby ensuring the steering accuracy and reliability.

c. when-M _{2 right side} │≤M _A At-0.3 (N.m), the EPS transversal control balance compensation module is controlled to be at k= [ ((M) _A -0.3)-│M _{2 right side}

│]/[(M _A -0.3)-M _2MIN ]，M _k ＝-W*M _θ And performing right control moment compensation.

d. when-M _{2 left} │≥M _A +0.3 (N.m), the EPS lateral control balance compensation module is controlled by K= [ (-M) _{2 left}

│-(M _A +0.3)]/[M _2MAX -(M _A +0.3)]，M _W ＝W*M _θ And performing left control moment compensation.

e. when-M _{2 left} │≤M _A At-0.3 (N.m), the EPS transversal control balance compensation module is controlled to be at k= [ ((M) _A -0.3)-│M _{2 left}

│]/[(M _A -0.3)-M _2MIN ]，M _W ＝-W*M _θ And performing left control moment compensation.

In an embodiment of the present application, determining a compensation trigger threshold according to a target trip and a steering direction includes: determining a corresponding average steering torque according to the target travel; a compensation trigger threshold is determined based on the average steering torque and the steering direction.

It can be understood that the embodiment of the application can determine the average steering torque according to the target travel, and determine the compensation trigger threshold according to the average steering torque and the steering direction, wherein the average steering torque reflects the average torque value required to be output by the steering system under the target travel, the load condition of the steering system under different travel can be known by acquiring the average steering torque, the basis is provided for calculating the compensation trigger threshold, and the situation of false triggering or missed triggering can be avoided by determining the compensation trigger threshold.

In this embodiment, before determining the corresponding average steering torque according to the target stroke, the method further includes: testing the average torque of the steering system under different strokes and different steering directions; if the average torque is smaller than the steering torque lower limit threshold value or the average torque is larger than the steering torque upper limit threshold value, generating a prompt that the friction in the steering system exceeds the design threshold value, otherwise, completing the test.

It can be understood that the embodiment of the application can test the average torque of the steering system under different strokes and different steering directions, when the average torque is smaller than the lower limit threshold value of the steering torque and the average torque is larger than the upper limit threshold value of the steering torque, an alarm prompt is generated, otherwise, the embodiment of the application can know the internal friction condition of the steering system and give an alarm prompt in time by testing the average torque under different strokes and steering directions.

For example, as shown in fig. 2, the lateral control balance compensation module in the EPS system electronic control unit records steering torque parameters in segments, and inputs the steering gear travel as L (mm). Setting the average torque of 0%L-80% L of the right turn test as M _{1 right} (N.m) the average torque of 80% L to 100% L for right turn is M _{2 right side} (N.m). Test left turn 0%L-80% L average torque M _{1 left} (N.m) the average torque of 80% L to 100% L for left turn is M _{2 left} (N.m)。

when-M _{1 right} Either I or I M _{1 left} │＞M _1MAX When the friction exceeds the limit threshold value in the EPS alarm prompt compensation intelligent driving transverse control balance compensation system. Wherein M is _1MAX An upper limit threshold of 0%L-80% L average torque is set for the system.

when-M _{1 right} Either I or I M _{1 left} │＜M _1MIN When the friction exceeds the limit threshold value in the EPS alarm prompt compensation intelligent driving transverse control balance compensation system. Wherein M is _1MIN A lower limit threshold of 0%L-80% l average torque is set for the system.

when-M _{2 right side} Either I or I M _{2 left} │＞M _2MAX When the friction exceeds the limit threshold value in the EPS alarm prompt compensation intelligent driving transverse control balance compensation system. Wherein M is _2MAX An upper limit threshold of 80% L to 100% L average torque is set for the system.

when-M _{2 right side} Either I or I M _{2 left} M under I _2MIN When the friction exceeds the limit threshold value in the EPS alarm prompt compensation intelligent driving transverse control balance compensation system. Wherein M is _2MIN A lower limit threshold of 80% l to 100% l average torque is set for the system.

In an embodiment of the present application, determining a base steering torque of a steering system according to a target steering angle includes: detecting an actual speed of the vehicle; determining a basic steering torque curve according to the actual vehicle speed; a base steering torque is determined based on the target steering angle and the base steering torque curve.

The actual vehicle speed may be determined according to the actual situation, such as 100 km/h.

It can be understood that the embodiment of the application can determine the basic steering torque curve according to the actual vehicle speed and determine the basic steering torque with the target turning angle, wherein the basic steering torque curve reflects the basic torque value required to be output by the steering system under different vehicle speeds, and the accuracy and the stability of the basic steering torque are ensured through the influence of the vehicle speed on the steering system and the interaction between the steering system and the dynamics of the vehicle.

In an embodiment of the present application, determining a base steering torque curve according to an actual vehicle speed includes: identifying a vehicle speed section where an actual vehicle speed is located; and determining a basic steering torque curve according to the vehicle speed intervals, wherein the basic steering torque curves corresponding to different vehicle speed intervals are different.

The vehicle speed section may be [0, 10km/h ], [10km/h,100km/h ], or the like.

Specifically, the embodiment of the application can identify the vehicle speed interval in which the actual vehicle speed is located, determine the basic steering torque curve, and the basic steering torque curves corresponding to different vehicle speed intervals are different, as shown in fig. 3, the vehicle speed interval can be divided into v being greater than or equal to 100km/h,100km/h being greater than or equal to 10km/h and 10km/h being greater than or equal to 0km/h, the ordinate is the basic steering torque, and the abscissa is the steering gear stroke (converted by steering wheel rotation angle). The method comprises the following steps:

a. the straight line sections b and c are basic control torque compensation sections with the steering gear stroke of 80-100 percent L, and the straight line sections (1), (2) and (3) are basic control torque compensation sections with the steering gear stroke of 0-80 percent L. (1) The section of the c-fold line is a basic control torque compensation curve in a speed interval with the speed v being more than or equal to 100 km/h. (2) The b-fold line segment is a basic control torque compensation curve in a speed interval with the speed of 100km/h more than v more than or equal to 10 km/h. (3) The a-fold line section is a basic control torque compensation curve in a speed interval with the speed of 10km/h more than v more than or equal to 0 km/h. The speed classification of the folding line segments can increase the compensation precision, and the basic compensation folding line is 3. (4) The values of (5) and (6) are fold line angles, the value range of (4) is 120-135 degrees, the value range of (5) is 135-150 degrees, and the value range of (6) is 150-180 degrees.

In step S103, a target steering torque of the steering system is determined based on the base steering torque and the compensation value, and the steering system is controlled to perform a steering action based on the target steering torque.

It can be understood that the embodiment of the application can determine the target steering torque according to the basic steering torque and the compensation value, control the steering system to execute the steering action, adapt to different driving environments and driver requirements by adjusting the basic steering torque and the compensation value, enable the vehicle to keep stable and safe driving experience under various driving conditions, control the steering system to execute the steering action according to the target steering torque, enable the vehicle to realize autonomous steering according to a preset path or navigation information, and improve the safety and stability of automatic driving.

It should be noted that, in the embodiment of the present application, the steering system may also be monitored and feedback controlled in real time, so as to ensure stability and reliability of the steering system.

According to the vehicle steering control method provided by the embodiment of the application, the output torque of the steering system can be compensated according to the expected target steering angle travel, the influence of other factors on steering control can be eliminated through a torque compensation mode, for example, the influence of internal friction of the system on steering control can be eliminated, the steering angle during steering can reach the expected target steering angle, and therefore the accurate control of steering can be realized, the optimal steering driving experience and the accurate control planning path can be achieved, and the intelligent driving experience and intelligence can be improved. Therefore, the problems that once the output torque of the steering system is influenced by other factors, the expected rotation angle cannot be achieved during steering, the steering control accuracy is reduced and the like in the related art are solved.

The vehicle steering control method of the embodiment of the present application, which is constituted by a steering wheel assembly 1, a steering column assembly 2, an EPS electronic control unit 3, a PEPS pinion power steering assembly 4 (a steering angle torque sensor, a motor, a worm gear reduction mechanism), an ADAS system, and the like, as shown in fig. 4, is described below by way of one specific embodiment, and includes the following as shown in fig. 5:

s1, an ADAS system outputs a transverse control target rotation angle theta, and a transverse control balance compensation module in an EPS system electronic control unit converts the target rotation angle theta into a basic control torque M _θ 。

S2, when the target rotation angle theta corresponds to the target travel L _m When 0%L-80% L, a logic interpretation submodule in the EPS transverse control balance compensation module is used for adjusting a standard average torque threshold value M in 0%L-80% L of the whole vehicle calibration _b Average torque threshold tolerance setting M _b And (5) carrying out intermediate-value power assisting compensation by +/-0.1 (N.m).

S3, when the target rotation angle theta corresponds to the target travel L _m When the standard average torque threshold value M is within 80-100% L of the whole vehicle calibration, the logic interpretation submodule in the EPS transverse control balance compensation module is used for adjusting the standard average torque threshold value M within 80-100% L of the whole vehicle calibration _A Average torque threshold tolerance setting M _A And + -0.3 (N.m), and performing end boost compensation.

And S4, achieving the target rotation angle through intermediate value power-assisted compensation, terminal power-assisted compensation or standard value compensation.

In summary, the embodiment of the application performs basic torque output in a threshold range based on factors affecting the torque control lateral performance of the ADAS input EPS system, performs torque compensation beyond the threshold range, and simultaneously performs symmetric compensation on asymmetric influencing factors, eliminates the friction influence of the system, parameterizes influencing factors affecting the torque control lateral performance of the ADAS input EPS system, and achieves the aims of optimal steering driving experience and accurate control planning path by accurately controlling output torque.

Next, a vehicle steering control device according to an embodiment of the present application will be described with reference to the accompanying drawings.

Fig. 6 is a block schematic diagram of a vehicle steering control apparatus of an embodiment of the present application.

As shown in fig. 6, the vehicle steering control apparatus 10 includes: an acquisition module 100, a determination module 200 and a control module 300.

The acquiring module 100 is configured to acquire a target rotation angle input by the intelligent driving assistance system; the determining module 200 is configured to determine a basic steering torque of the steering system according to the target steering angle, and determine a compensation value of the basic steering torque according to a target travel corresponding to the target steering angle; the control module 300 is configured to determine a target steering torque of the steering system according to the base steering torque and the compensation value, and control the steering system to perform a steering action based on the target steering torque.

It should be noted that the foregoing explanation of the embodiment of the vehicle steering control method is also applicable to the vehicle steering control device of this embodiment, and will not be repeated here.

According to the vehicle steering control device provided by the embodiment of the application, the output torque of the steering system can be compensated according to the expected target steering angle travel, the influence of other factors on steering control can be eliminated through a torque compensation mode, for example, the influence of internal friction of the system on steering control can be eliminated, the steering angle during steering can reach the expected target steering angle, thereby realizing accurate steering control, achieving optimal steering driving experience and accurate control planning paths, and improving intelligent driving experience and intelligence. Therefore, the problems that once the output torque of the steering system is influenced by other factors, the expected rotation angle cannot be achieved during steering, the steering control accuracy is reduced and the like in the related art are solved.

Fig. 7 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:

memory 701, processor 702, and computer programs stored on memory 701 and executable on processor 702.

The processor 702 implements the vehicle steering control method provided in the above-described embodiment when executing a program.

Further, the vehicle further includes:

a communication interface 703 for communication between the memory 701 and the processor 702.

Memory 701 for storing a computer program executable on processor 702.

The memory 701 may include high-speed RAM (Random Access Memory ) memory, and may also include non-volatile memory, such as at least one disk memory.

If the memory 701, the processor 702, and the communication interface 703 are implemented independently, the communication interface 703, the memory 701, and the processor 702 may be connected to each other through a bus and perform communication with each other. The bus may be an ISA (Industry Standard Architecture ) bus, a PCI (Peripheral Component, external device interconnect) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 7, but not only one bus or one type of bus.

Alternatively, in a specific implementation, if the memory 701, the processor 702, and the communication interface 703 are integrated on a chip, the memory 701, the processor 702, and the communication interface 703 may communicate with each other through internal interfaces.

The processor 702 may be a CPU (Central Processing Unit ) or ASIC (Application Specific Integrated Circuit, application specific integrated circuit) or one or more integrated circuits configured to implement embodiments of the present application.

The embodiment of the application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle steering control method as above.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless explicitly defined otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.

It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable gate arrays, field programmable gate arrays, and the like.

Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.

Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims (10)

1. A vehicle steering control method characterized by comprising the steps of:

acquiring a target corner input by an intelligent driving auxiliary system;

determining basic steering torque of a steering system according to the target turning angle, and determining a compensation value of the basic steering torque according to a target travel corresponding to the target turning angle;

and determining a target steering torque of the steering system according to the basic steering torque and the compensation value, and controlling the steering system to execute steering action based on the target steering torque.

2. The vehicle steering control method according to claim 1, characterized in that the determining of the compensation value of the base steering torque according to the target stroke corresponding to the target steering angle includes:

determining a compensation trigger threshold according to the target travel and the steering direction;

and if the basic steering torque is smaller than the compensation trigger threshold, taking the basic steering torque as the target steering torque, otherwise, determining a compensation value of the basic steering torque according to a travel section where the target travel is located.

3. The vehicle steering control method according to claim 2, characterized in that the determining of the compensation value of the base steering torque according to the stroke section in which the target stroke is located includes:

acquiring a steering torque threshold value corresponding to a travel range where the target travel is located;

and calculating a compensation coefficient according to the basic steering torque, the steering torque threshold and the compensation trigger threshold, and calculating the compensation value according to the compensation coefficient and the basic steering torque.

4. The vehicle steering control method according to claim 2, characterized in that the determining a compensation trigger threshold according to the target course and steering direction includes:

determining a corresponding average steering torque according to the target travel;

and determining a compensation trigger threshold according to the average steering torque and the steering direction.

5. The vehicle steering control method according to claim 4, characterized by further comprising, before determining the corresponding average steering torque according to the target stroke:

testing the average torque of the steering system at different strokes and different steering directions;

and if the average torque is smaller than the steering torque lower limit threshold value or the average torque is larger than the steering torque upper limit threshold value, generating a prompt that the internal friction of the steering system exceeds the design threshold value, otherwise, completing the test.

6. The vehicle steering control method according to claim 1, characterized in that the determining the base steering torque of the steering system according to the target steering angle includes:

detecting an actual speed of the vehicle;

determining the basic steering torque curve according to the actual vehicle speed;

the base steering torque is determined based on the target steering angle and the base steering torque curve.

7. The vehicle steering control method according to claim 6, characterized in that the determining the base steering torque curve according to the actual vehicle speed includes:

identifying a vehicle speed section in which the actual vehicle speed is located;

and determining the basic steering torque curve according to the vehicle speed intervals, wherein the basic steering torque curves corresponding to different vehicle speed intervals are different.

8. A vehicle steering control apparatus, characterized by comprising:

the acquisition module is used for acquiring a target rotation angle input by the intelligent driving auxiliary system;

the determining module is used for determining basic steering torque of the steering system according to the target turning angle and determining a compensation value of the basic steering torque according to a target travel corresponding to the target turning angle;

and the control module is used for determining the target steering torque of the steering system according to the basic steering torque and the compensation value and controlling the steering system to execute steering action based on the target steering torque.

9. A vehicle, characterized by comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the vehicle steering control method according to any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor for realizing the vehicle steering control method according to any one of claims 1 to 7.