WO2022135408A1

WO2022135408A1 - Rotation angle control method and apparatus for steering wheel of vehicle, and vehicle

Info

Publication number: WO2022135408A1
Application number: PCT/CN2021/140148
Authority: WO
Inventors: 安博; 殷绍熙; 郭宇杰; 杜金枝; 周俊杰
Original assignee: 奇瑞汽车股份有限公司; 雄狮汽车科技(南京)有限公司; 芜湖雄狮汽车科技有限公司
Priority date: 2020-12-25
Filing date: 2021-12-21
Publication date: 2022-06-30
Also published as: CN113184048A

Abstract

A rotation angle control method for a steering wheel of a vehicle, comprising: obtaining a target angle of a steering wheel, and detecting the current angle of the steering angle; when it is detected that a change value between the target angle and the current angle is greater than a preset threshold, decomposing the target angle to generate multiple sub-target angles; and controlling, according to the multiple sub-target angles, the steering wheel to sequentially perform corresponding steering actions. Thus, the stability of rotation angle control of the steering wheel is improved, and the use experience of a user is improved. Also disclosed are a rotation angle control apparatus and a vehicle comprising same, and a computer-readable storage medium.

Description

Method, device and vehicle for steering angle control of vehicle steering wheel

This disclosure requires a Chinese patent application with an application number of 202011566520.0, filed on December 25, 2020, and an invention titled "Method and Device for Controlling a Steering Wheel of a Vehicle, and a Vehicle Having the Same", and a Chinese patent application filed on June 18, 2021 The priority of the Chinese patent application with the application number of 202110678095.2 and the invention title of "Method and Device for Controlling the Rotation Angle of a Steering Wheel of a Vehicle, and a Vehicle Equipped with the Same", the entire contents of which are incorporated in the present disclosure by reference.

technical field

The present disclosure relates to the technical field of vehicles, and in particular, to a steering angle control method, device and vehicle of a vehicle steering wheel.

Background technique

Unmanned vehicles can realize active lane change, emergency obstacle avoidance, automatic parking and other functions on the road, mainly relying on the lateral control in motion control, and the actuator of lateral control is the steering wheel and the corresponding transmission mechanism. The angle of the steering wheel can realize the corresponding action and control the driving direction of the vehicle. Therefore, the accuracy of steering wheel angle control largely determines the control effect of vehicle lateral motion.

SUMMARY OF THE INVENTION

The present disclosure provides a steering angle control method, device and vehicle for a vehicle steering wheel, so as to solve the problem that unnecessary vibration and delay may be generated when the steering wheel controller performs a larger angle steering request in the related art, resulting in poor path tracking effect. In addition, the passenger experience is also poor, which greatly improves the stability of the steering wheel angle control and improves the user experience.

An embodiment of a first aspect of the present disclosure provides a method for controlling a steering angle of a steering wheel of a vehicle, including the following steps:

Obtain the target angle of the steering wheel, and detect the current angle of the steering wheel;

When detecting that the change value between the target angle and the current angle is greater than a preset threshold, decompose the target angle to generate a plurality of sub-target angles; and

The steering wheel is controlled to execute corresponding steering actions in sequence according to the multiple sub-target angles.

Optionally, decomposing the target angle to generate multiple sub-target angles, including:

The target angles are decomposed using a preset interpolation function to obtain the multiple sub-target angles.

Optionally, before acquiring the target angle of the steering wheel, the method further includes:

Detect whether a corner request is received;

If the rotation angle request is received, the target rotation angle of the steering wheel is acquired according to the rotation angle request.

Optionally, the above-mentioned steering angle control method of a vehicle steering wheel further includes:

Determine whether the execution of the corner request is completed;

If the execution is not completed, the received new corner request is imported into the execution queue, so that after the execution is completed, the ongoing corner requests are sequentially executed from the execution queue.

Optionally, the multiple sub-target angles are in a stepped relationship.

A second aspect of the present disclosure provides a steering angle control device for a steering wheel of a vehicle, including:

a detection module for acquiring the target angle of the steering wheel and detecting the current angle of the steering wheel;

a generating module, configured to decompose the target angle to generate a plurality of sub-target angles when it is detected that the change value between the target angle and the current angle is greater than a preset threshold; and

The control module is configured to control the steering wheel to execute corresponding steering actions in sequence according to the multiple sub-target angles.

Optionally, the generation module includes:

A decomposition unit, configured to decompose the target angle by using a preset interpolation function to obtain the multiple sub-target angles.

Optionally, before acquiring the target angle of the steering wheel, the detection module further includes:

a detection unit for detecting whether a corner request is received;

an obtaining unit, configured to obtain the target turning angle of the steering wheel according to the turning angle request when the turning angle request is received.

Optionally, the above-mentioned steering angle control device of a vehicle steering wheel further includes:

a judging unit for judging whether the execution of the corner request is completed;

The execution unit is configured to import the received new corner request into the execution queue when the execution is not completed, so as to sequentially execute the ongoing corner requests from the execution queue after the execution is completed.

A third aspect of the present disclosure provides a method for controlling a steering angle of a steering wheel of a vehicle, including:

Obtain the target angle of the steering wheel and the initial angle of the steering wheel;

In response to the difference between the target angle and the initial angle being greater than a threshold value, generating a plurality of sub-target angles according to the target angle, the plurality of sub-target angles being arranged at intervals between the initial angle and the target angle;

The steering wheel is controlled to perform steering actions in sequence according to the plurality of sub-target angles.

Optionally, generating a plurality of sub-target angles according to the target angle includes:

The plurality of sub-target angles are generated by interpolating between the initial angle and the target angle using an interpolation function.

Optionally, the absolute value of the difference between any pair of sub-target angles among the plurality of sub-target angles does not exceed 10 degrees, and a pair of the sub-target angles includes two adjacent sub-target angles.

Optionally, the difference between any two pairs of sub-target angles among the plurality of sub-target angles is equal, and a pair of the sub-target angles includes two adjacent sub-target angles.

Detect whether a corner request is received;

In response to receiving the rotation angle request, a target rotation angle of the steering wheel is obtained according to the rotation angle request.

Optionally, also include:

determining whether the execution of the corner request is completed;

In response to the corner request not being executed and a new corner request being received, importing the new corner request into the execution queue;

After the execution of the corner request is completed, the corner requests in the execution queue are sequentially executed.

A fourth aspect of the present disclosure provides a steering angle control device for a steering wheel of a vehicle, including:

an acquisition module for acquiring the target angle of the steering wheel and the initial angle of the steering wheel;

A generating module, configured to generate a plurality of sub-target angles according to the target angle in response to the difference between the target angle and the initial angle being greater than a threshold, the plurality of sub-target angles are arranged at intervals between the initial angle and the initial angle between target angles;

The control module is configured to control the steering wheel to perform steering actions in sequence according to the multiple sub-target angles.

Optionally, the generating module is configured to use an interpolation function to interpolate between the initial angle and the target angle to generate the plurality of sub-target angles.

Optionally, the difference between any two pairs of sub-target angles in the plurality of sub-target angles is equal, and a pair of the sub-target angles includes two adjacent sub-target angles.

Optionally, the acquisition module includes:

a detection unit, configured to detect whether a rotation angle request is received before acquiring the target angle of the steering wheel;

An obtaining unit, configured to obtain the target turning angle of the steering wheel according to the turning angle request in response to receiving the turning angle request.

Optionally, the acquisition module further includes:

a determining unit, configured to determine whether the execution of the corner request is completed;

An execution unit, configured to import the new corner request into an execution queue in response to the corner request not being executed and a new corner request being received; after the execution of the corner request is completed, sequentially execute the corner requests in the execution queue .

Embodiments of a fifth aspect of the present disclosure provide a vehicle, which includes the above-mentioned device for controlling a steering angle of a steering wheel of the vehicle.

Embodiments of the sixth aspect of the present disclosure provide a steering angle control device for a steering wheel of a vehicle, including:

A processor and a memory, the memory storing at least one piece of program code, the program code being loaded and executed by the processor to implement the method of any preceding item.

Embodiments of the seventh aspect of the present disclosure provide a computer-readable storage medium, wherein the computer-readable storage medium stores at least one piece of program code, and the program code is loaded and executed by a processor to implement any of the preceding items the method described.

Description of drawings

1 is a flowchart of a method for controlling a steering angle of a steering wheel of a vehicle according to an embodiment of the present disclosure;

2 is a flowchart of an interpolation function algorithm according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of an angle request raw data according to an embodiment of the present disclosure;

4 is a schematic diagram of data processed by an interpolation function algorithm according to an embodiment of the present disclosure;

5 is a flowchart of a method for judging illegal input according to an embodiment of the present disclosure;

6 is a flowchart of a method for monitoring whether a target angle changes according to an embodiment of the present disclosure;

7 is a schematic block diagram of a steering angle control device for a steering wheel of a vehicle according to an embodiment of the present disclosure;

8 is a schematic block diagram of a vehicle according to an embodiment of the present disclosure;

FIG. 9 is a schematic structural diagram of a steering angle control device for a steering wheel of a vehicle according to an embodiment of the present disclosure.

Detailed ways

Embodiments of the present disclosure 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 with reference to the accompanying drawings are exemplary, and are intended to explain the present disclosure and should not be construed as a limitation of the present disclosure.

The steering wheel controller in the related art may generate unnecessary vibration and delay when executing a steering request with a large angle, which leads to poor path tracking effect and poor passenger experience, which needs to be solved urgently.

Among them, when the steering wheel controller executes a larger angle steering request, the steering wheel controller controls the motor to rotate faster, which is likely to cause an overshoot phenomenon, that is, the actual adjustment angle is greater than the angle that needs to be adjusted, and further callbacks are required at this time. operation, causing vibration during the adjustment process.

Before introducing the steering angle control method of the vehicle steering wheel according to the embodiment of the present disclosure, several control methods in the related art are briefly introduced.

The research on vehicle motion control has been started since the middle of the last century. The steering angle control methods of the vehicle steering wheel in the related art mainly include the following:

(1) Establish a lateral motion controller using classical control methods such as Proportion Integral Differential (PID) algorithm and series correction network;

(2) Starting from the goal of establishing a "driver-car" closed-loop control system simulation, the driver lateral control system model is studied.

However, for the above method (1), the experimental results show that the tracking error of the system is relatively large, and there is a problem of poor adaptability; for the method (2), there is still room for improvement.

In the field of autonomous driving, the first technical difficulty that needs to be solved is the linear/non-linear motion control of the vehicle. The motion control of unmanned vehicles is divided into longitudinal control and lateral control. Longitudinal control refers to the precise follow-up of the desired vehicle speed through the coordination of the accelerator and braking. Lateral control enables path tracking of driverless cars. Its purpose is to not only make the vehicle accurately track the desired road, but also make the vehicle have good power and ride comfort under the premise of ensuring the vehicle's handling stability. During the driving process of the driverless car, there is a coupling relationship between the lateral motion and the longitudinal motion of the vehicle. Usually, the longitudinal and lateral movements are disassembled, and two independent and complementary controllers are designed to control the longitudinal and lateral movements respectively.

Thus, the present disclosure provides a steering angle control method of a vehicle steering wheel, which can acquire the target angle of the steering wheel, detect the current angle of the steering wheel, and when the detected change value between the target angle and the current angle is greater than a preset threshold, Decompose the target angle, generate multiple sub-target angles, and control the steering wheel to perform corresponding steering actions in turn according to the multiple sub-target angles, so that each time the control angle is small, the motor rotation speed is slow, and the angle control accuracy is high each time. The phenomenon of overshoot avoids the shock and delay caused by the callback, and solves the unnecessary shock and delay caused by the steering wheel controller in the related technology when executing a large-angle steering request, resulting in poor path tracking effect, and The passenger experience is also poor, which greatly improves the stability of the steering wheel angle control and improves the user experience.

The method, device, and vehicle for controlling a steering angle of a steering wheel of a vehicle according to embodiments of the present disclosure are described below with reference to the accompanying drawings.

FIG. 1 is a schematic flowchart of a method for controlling a steering angle of a steering wheel of a vehicle according to an embodiment of the present disclosure.

As shown in Figure 1, the steering angle control method of the vehicle steering wheel includes the following steps:

In step S101, the target angle of the steering wheel and the initial angle of the steering wheel are obtained.

Exemplarily, the target angle of the steering wheel is acquired, the current angle of the steering wheel is detected, and the detected current angle is used as the initial angle.

It can be understood that the target angle of the steering wheel can be the detected angle input by the user, or the target angle determined according to the road conditions such as the video obtained by the camera and the sensor signal, and the current angle of the steering wheel can be obtained through the steering wheel angle sensor. , wherein the steering wheel angle sensor can be set in the motion control module.

Optionally, in some embodiments, before acquiring the target angle of the steering wheel, the method further includes: detecting whether a rotation angle request is received; if a rotation angle request is received, acquiring the target rotation angle of the steering wheel according to the rotation angle request.

The initial angle referred to in the embodiments of the present disclosure refers to the initial steering wheel angle in the process of executing a turning angle request of a turning angle.

In this embodiment of the present disclosure, road conditions can be acquired through a camera, and relevant data signals can be acquired through sensors to determine whether a corner is required. When a corner is required, a corner request is sent. After the vehicle receives the corner request, it can obtain the target corner of the steering wheel according to the corner request. , to determine the target angle of the steering wheel.

It should be noted that the method for calculating the target angle of the steering wheel and determining the target angle of the steering wheel may adopt the method in the related art, which is not limited herein.

In step S102, in response to the difference between the target angle and the initial angle being greater than the threshold, a plurality of sub-target angles are generated according to the target angle, and the plurality of sub-target angles are arranged at intervals between the initial angle and the target angle.

That is, when it is detected that the change value between the target angle and the current angle is greater than the preset threshold, the target angle is decomposed to generate a plurality of sub-target angles.

Optionally, in some embodiments, decomposing the target angle to generate multiple sub-target angles includes: using a preset interpolation function to decompose the target angle to obtain multiple sub-target angles. That is, the plurality of sub-target angles are generated by interpolating between the initial angle and the target angle using an interpolation function. Here, the range between the initial angle and the target angle includes the target angle and does not include the initial angle.

Wherein, in some embodiments, the multiple sub-target angles are in a stepped relationship.

The preset threshold may be a threshold preset by a user, a threshold obtained through a limited number of experiments, or a threshold obtained through a limited number of computer simulations. For example, the preset threshold may be 100, which is not limited here. .

It can be understood that, when the detected change value is greater than the preset threshold, the embodiment of the present disclosure may use a preset interpolation function to decompose the target angle to obtain multiple sub-target angles.

Exemplarily, the absolute value of the difference between any pair of sub-target angles among the plurality of sub-target angles does not exceed 10 degrees, and a pair of the sub-target angles includes two adjacent sub-target angles.

Among them, the interpolation function can choose various methods such as equal-step interpolation and variable-step interpolation.

Taking equal-step interpolation as an example, the difference between any two pairs of sub-target angles among the obtained multiple sub-target angles is equal, and a pair of the sub-target angles includes two adjacent sub-target angles. For example, the initial angle is 0 degrees and the target angle is 100 degrees. Then the multiple sub-target angles can be 10 degrees, 20 degrees, 30 degrees, ... 100 degrees.

Taking variable-step interpolation as an example, sort the angles of multiple sub-targets from small to large, and then determine the difference between adjacent sub-target angles in turn to obtain a difference array, using each difference (ordinate) in the difference array and Its serial number (abscissa) is drawn as a curve, and the curve is a parabola. It means that the difference value increases first and then decreases. The process of increasing can save the time for steering wheel control, and the process of decreasing can make the control precision of the target angle finally reach and avoid oscillation.

It should be noted that the angle of the steering wheel is positive and negative, the angle is positive when turning clockwise, and the angle when turning counterclockwise is negative.

As shown in Figure 2, Figure 2 is a flowchart of the interpolation function algorithm, including the following steps:

Step 01, enter u and last_u.

Step 02, determine whether it is the first time to enter, if yes, go to Step 03, otherwise, go to Step 04.

Step 03, initialize the flag bits, flag1, flag2, flag3, flag4, and flag_x are 0.

Step 04, judge whether flag1=0&&flag2=0&&flag3=0&&flag4=0, if yes, go to step 05, otherwise go to step 09.

Step 05, check whether there is an illegal input for the first time, if yes, go to Step 06, otherwise, go to Step 07.

Step 06, set flag1=1, init_angeL1=u, and jump to step 08.

Step 07, Y=u, Return Y.

Step 08, end.

Step 09, judge whether flag1=1||flag_x=1 is satisfied, if yes, go to step 10, otherwise, go to step 25.

Step 10, judge whether flag_x=1&&flag1=0 is satisfied, if yes, go to step 11, otherwise, go to step 15.

Step 11, judge whether the legal input after the first illegal input is completed, if yes, go to step 12, otherwise, go to step 13.

Step 12, set flag_x to 0, and jump to step 14.

Step 13: Execute the legal input after the first illegal input, that is, the previously stored value.

Step 14, end.

Step 15, check whether there is a second illegal input, if yes, go to Step 16, otherwise, go to Step 17.

Step 16, set flag2 to 1, init_angeL2=u, and jump to step 21.

Step 17, judge whether flag_x=1 is satisfied, if yes, go to step 18, otherwise, go to step 19.

Step 18, store, and jump to step 21.

Step 19, judge whether there is a valid input and (u-last_u!=0), if yes, go to step 20, otherwise, go to step 21.

Step 20, set flag_x to 1, and execute step 21.

Step 21, determine whether the execution of the 1-jump is completed, if so, go to step 22, otherwise, go to step 23.

Step 22, set flag1 to 0, and execute step 24.

Step 23, execute 1 leap forward, Y=init_angeL1+deta, init_angeL1=Y, Return Y.

Step 24, end.

Step 25, determine whether flag2=1||flag_x=2 is satisfied, if yes, go to step 26, otherwise, go to step 41.

Step 26, judge whether the satisfaction of flag2=0&&flag_x=2, if yes, go to step 27, otherwise, go to step 31.

Step 27, judge whether the legal input after the second illegal input is completed, if so, go to step 28, otherwise, go to step 29.

Step 28, set flag_x to 0, and jump to step 30.

Step 29: Execute the legal input after the second illegal input, that is, the previously stored value.

Step 30, end.

Step 31, check whether there is a third illegal input, if yes, go to Step 32, otherwise, go to Step 33.

Step 32, set flag3 to 1, Init_angeL3=u, and jump to step 37.

Step 33, judge whether flag_x=2 is satisfied, if yes, go to step 34, otherwise, go to step 35.

Step 34, store, and jump to step 37.

Step 35, determine whether there is a valid input, and (u-last_u!=0), if yes, go to step 36, otherwise, go to step 37.

Step 36, set flag_x to 2.

In step 37, it is judged whether the execution of the 2-jump is completed. If so, step 38 is executed; otherwise, step 39 is executed.

Step 38, set flag2 to 0, and jump to step 40.

Step 39, execute 2 leap forward, Y=init_angeL2+deta, init_angeL2=Y, Return Y.

Step 40, end.

Step 41, judge whether flag3=1 is satisfied, if yes, go to step 42.

In step 42, it is judged whether the execution of the 3-jump is completed. If so, step 43 is executed; otherwise, step 44 is executed.

Step 43, set flag3 to 0, and jump to step 45.

Step 44, execute 3 leap forward, Y=init_angeL3+deta, init_angeL3=Y, Return Y.

Step 45, end.

In the embodiment of the present disclosure, equal-step interpolation can be used. Assuming that the change value between the target angle detected in this step and the current angle is shown in FIG. 3 , the embodiment of the present disclosure can set a linear interpolation function, and each cycle increases For the angle request of deta degrees, deta can be set by itself. It is recommended to set it to no more than 10 degrees, and disassemble 100 degrees into 10, 20, 30...100, so as to obtain the data shown in Figure 4.

Exemplarily, the deta is set to 3-5°, so as to ensure the adjustment accuracy and solve the problems of oscillation and delay.

It should be noted that the legal input shown in FIG. 2 means that the change value between the detected target angle and the current angle is not greater than the preset threshold d. If it is greater than the preset threshold d, it is an illegal input, and the preset value needs to be used. The interpolation function decomposes the target angle to obtain multiple sub-target angles, that is, the interpolation function is used to "insert" some values between the change value between the target angle and the current angle, so as to decompose it into a step-like request, which is convenient for the steering wheel controller to execute, The interpolation function can be set at the application layer, and the result can be sent to the actuator through can communication or other means, or it can be directly integrated in the steering wheel controller.

The following describes the method steps when it is necessary to judge whether the input is illegal or not with reference to FIG. 5 . Referring to FIG. 5, after the process starts, input u and last_u, where u is the current target angle, and last_u is the last target angle (usually the current angle). Judge whether there is illegal input according to u and last_u. During the execution process, it is also necessary to monitor whether the target angle changes.

Since the interpolation algorithm will take most of the time during the execution process, it is necessary to monitor the angle request input during the execution process. If the request value changes during the execution process, the AbnormalInput structure should be used to store the illegal input, and the NormalInput structure should be used. The body stores legal input. The following describes whether the monitoring target angle changes with reference to FIG. 6 . Referring to Figure 6, determine whether the target angle has changed during the execution process, if not, then return to the main program flow in Figure 5, if there is a change, then determine whether the changed target angle is an illegal input, if it is an illegal input, The AbnormalInput structure array is used for recording, and if it is not illegal input, the NormalInput structure array is used for recording.

The AbnormalInput structure assigns the input u and last_u to the member variables TargetAngle and InitAngel respectively, and is the current illegal input number (EdgeNum). The corresponding TargetAngle and InitAngel will be used to obtain the angle execution value by interpolation algorithm in the order of the number. The NormalInput structure records the input u in sequence into the member array data as the subsequent angle execution value.

The following describes the data storage structure in the embodiment of the present disclosure:

a) AbnormalInput (struct)

The variable is a structure array, that is, each element of the array is a structure, and the structure members are as follows:

InitAngle is the currently recorded angle value before the edge transition;

TargetAngle is the angle value after the currently recorded edge transition;

Edgenum is the number of the currently recorded edge, the first edge number is 1, and so on;

GetUsed is whether the currently recorded edge has been executed, GetUsed is 0 means it has not been executed, GetUsed is 1 means it has been executed.

b)NormalInput(struct)

NormalInput{

Uint8 FrontEdgenum;

Uint16 data[100];

Uint8 GetUsed;

}

FrontEdgenum indicates the number of the illegal edge preceding this legal input.

The Data array stores all the data legally input this time.

GetUsed indicates whether the execution of this legal input is completed.

In step S103, the steering wheel is controlled to execute the steering action sequentially according to the plurality of sub-target angles. That is, the steering action corresponding to each sub-target angle is performed.

When multiple sub-target angles are obtained by decomposing, for example, 100° is divided into 10°, 20°, 30°, .

Optionally, in some embodiments, the above-mentioned method for controlling the steering angle of a steering wheel of a vehicle further includes: determining whether the execution of the turning angle request is completed; After that, execute the corner requests in sequence from the execution queue.

It can be understood that when the target angle is decomposed by the preset interpolation function to obtain multiple sub-target angles, it will take part of the time. Therefore, the embodiment of the present disclosure needs to monitor the input during the execution process. When the request value changes again, the data is stored, and the changed request is executed after the first process is executed.

According to the method for controlling the steering wheel angle of the vehicle steering wheel proposed in the embodiment of the present disclosure, the target angle of the steering wheel can be obtained, the current angle of the steering wheel can be detected, and when the detected change value between the target angle and the current angle is greater than the preset threshold, the target angle can be adjusted to the target angle. The angle is decomposed, multiple sub-target angles are generated, and the steering wheel is controlled to execute corresponding steering actions in turn according to the multiple sub-target angles, which solves the problem that the steering wheel controller in the related art will generate unnecessary vibration and delay when executing a larger angle steering request , resulting in poor path tracking effect and poor passenger experience, thereby greatly improving the stability of steering wheel angle control and improving user experience.

Next, a steering angle control device for a steering wheel of a vehicle proposed according to an embodiment of the present disclosure will be described with reference to the accompanying drawings.

FIG. 7 is a schematic block diagram of a steering angle control device for a steering wheel of a vehicle according to an embodiment of the present disclosure.

As shown in FIG. 7 , the steering angle control device 10 of the vehicle steering wheel includes: an acquisition module 100 , a generation module 200 and a control module 300 .

The obtaining module 100 is configured to obtain the target angle of the steering wheel and the initial angle of the steering wheel. Exemplarily, acquiring the target angle of the steering wheel, and detecting the current angle of the steering wheel;

The generating module 200 is configured to generate a plurality of sub-target angles according to the target angle in response to the difference between the target angle and the initial angle being greater than a threshold, and the plurality of sub-target angles are arranged at intervals between the initial angle and the initial angle. between target angles. That is, when it is detected that the change value between the target angle and the current angle is greater than the preset threshold, the target angle is decomposed to generate a plurality of sub-target angles.

The control module 300 is configured to control the steering wheel to execute the steering action sequentially according to the multiple sub-target angles.

Optionally, the generating module 200 includes:

The decomposition unit is used to decompose the target angle by using a preset interpolation function to obtain a plurality of sub-target angles. That is, the plurality of sub-target angles are generated by interpolating between the initial angle and the target angle using an interpolation function.

Exemplarily, the difference between any two pairs of sub-target angles among the plurality of sub-target angles is equal, and a pair of the sub-target angles includes two adjacent sub-target angles.

Optionally, the obtaining module 100 includes:

The obtaining unit is configured to obtain the target turning angle of the steering wheel according to the turning angle request when the turning angle request is received.

Optionally, the obtaining module 100 further includes:

A determination unit, used to determine whether the execution of the corner request is completed;

The execution unit is used for importing the received new corner request into the execution queue when the execution is not completed, so as to sequentially execute the ongoing corner requests from the execution queue after the execution is completed.

It should be noted that, the foregoing explanations of the embodiment of the method for controlling the angle of rotation of the steering wheel of a vehicle are also applicable to the device for controlling the angle of rotation of the steering wheel of a vehicle of this embodiment, which will not be repeated here.

According to the steering angle control device of the vehicle steering wheel proposed in the embodiment of the present disclosure, the target angle of the steering wheel can be obtained, the current angle of the steering wheel can be detected, and when the detected change value between the target angle and the current angle is greater than the preset threshold, the target angle can be detected. The angle is decomposed, multiple sub-target angles are generated, and the steering wheel is controlled to execute corresponding steering actions in turn according to the multiple sub-target angles, which solves the problem that the steering wheel controller in the related art will generate unnecessary vibration and delay when executing a larger angle steering request , resulting in poor path tracking effect and poor passenger experience, thereby greatly improving the stability of steering wheel angle control and improving user experience.

also. As shown in FIG. 8 , an embodiment of the present disclosure further provides a vehicle 20 , and the vehicle 20 includes the above-mentioned steering angle control device 10 for a vehicle steering wheel.

According to the vehicle proposed by the embodiments of the present disclosure, the above-mentioned steering wheel angle control device for a vehicle solves the problem that unnecessary vibration and delay may be generated by the steering wheel controller in the related art when executing a larger angle steering request, resulting in the effect of path tracking. It becomes worse and the passenger experience is also poor, which greatly improves the stability of the steering wheel angle control and improves the user experience.

Embodiments of the present disclosure also provide a steering angle control device for a steering wheel of a vehicle. The steering angle control device for a vehicle steering wheel may include a processor and a memory, the memory storing at least one piece of program code, the program code being loaded and executed by the processor to implement the aforementioned method.

FIG. 9 is a schematic structural diagram of a steering angle control device for a vehicle steering wheel provided by an embodiment of the present disclosure. Referring to FIG. 9 , a steering angle control device 700 of a vehicle steering wheel includes a central processing unit (Central Processing Unit, CPU) 701 , a random access memory (Random Access Memory, RAM) 702 and a read-only memory (Read-Only Memory, ROM) 703 system memory 704, and a system bus 705 connecting the system memory 704 and the central processing unit 701. The steering angle control device 700 of the vehicle steering wheel also includes a basic input/output system (Input/Output, I/O system) 706 that facilitates the transmission of information between various devices in the computer, and is used to store the operating system 713, application programs 714 and other Mass storage device 707 for program modules 715 .

Basic input/output system 706 includes a display 708 for displaying information and input devices 709 such as control keys for user input of information. Both the display 708 and the input device 709 are connected to the central processing unit 701 through an input output controller 710 connected to the system bus 705 .

Mass storage device 707 is connected to central processing unit 701 through a mass storage controller (not shown) connected to system bus 705 . The mass storage device 707 and its associated computer readable medium provide non-volatile storage for the steering angle control 700 of the vehicle steering wheel. That is, mass storage device 707 may include a computer-readable medium (not shown) such as a hard disk or a CD-ROM drive.

Without loss of generality, computer-readable media can include computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media include RAM, ROM, Erasable Programmable Read Only Memory (EPROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other solid-state storage Its technology, Compact Disc Read-Only Memory (CD-ROM), Digital Video Disc (DVD) or other optical storage, cassette, magnetic tape, magnetic disk storage or other magnetic storage devices. Of course, those skilled in the art know that the computer storage medium is not limited to the above-mentioned types. The system memory 704 and the mass storage device 707 described above may be collectively referred to as memory.

According to various embodiments of the present disclosure, the steering angle control apparatus 700 of the vehicle steering wheel may also be operated by connecting to a remote computer on the network through a network such as the Internet. That is, the steering angle control device 700 of the vehicle steering wheel can be connected to the network 712 through the network interface unit 711 connected to the system bus 705, or the network interface unit 711 can also be used to connect to other types of networks or remote computer systems (not shown). Shows).

The above-mentioned memory also includes one or more programs, and the one or more programs are stored in the memory and configured to be executed by the CPU. The CPU 701 implements the aforementioned steering angle control method of the vehicle by executing the one or more programs.

Those skilled in the art can understand that the structure shown in FIG. 9 does not constitute a limitation on the steering angle control device 700 of the vehicle steering wheel, and may include more or less components than the one shown, or combine certain components, or adopt different component layout.

Embodiments of the present disclosure also provide a computer-readable storage medium, where at least one piece of program code is stored in the computer-readable storage medium, and the program code is loaded and executed by the processor to implement the above method. For example, the computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.

Embodiments of the present disclosure also provide a computer program product, where at least one piece of program code is stored in the computer program product, and the program code is loaded and executed by the processor to implement the above method.

In the description of this specification, reference to a description of the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc. means features described in connection with the embodiment or example, A structure, material, or feature is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described features, structures, materials or characteristics may be combined in any suitable manner in any one or N of the embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present disclosure, "N" means at least two, such as two, three, etc., unless expressly defined otherwise.

Any process or method description in the flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or N more executable instructions for implementing custom logical functions or steps of the process , and the scope of the preferred embodiments of the present disclosure includes alternative implementations in which the functions may be performed out of the order shown or discussed, including performing the functions substantially concurrently or in the reverse order depending upon the functions involved, which should It is understood by those skilled in the art to which the embodiments of the present disclosure pertain.

Logic and/or steps represented in flowcharts or otherwise described herein, for example, may be considered an ordered listing of executable instructions for implementing the logical functions, may be implemented in any computer-readable medium to For use with an instruction execution system, apparatus or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from and execute instructions from an instruction execution system, apparatus or apparatus) or in conjunction with such instruction execution system, apparatus or apparatus equipment used. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport the program for use by or in conjunction with an instruction execution system, apparatus, or apparatus. Examples (non-exhaustive list) of computer readable media include the following: electrical connections with one or N wires (electronic devices), portable computer disk cartridges (magnetic devices), random access memory (RAM), read only memory (ROM), Erasable Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and Portable Compact Disc Read Only Memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program may be printed, as the paper or other medium may be optically scanned, for example, followed by editing, interpretation, or other suitable medium as necessary process to obtain the program electronically and then store it in computer memory.

It should be understood that portions of the present disclosure 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 memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one of the following techniques known in the art, or a combination thereof: discrete with logic gates for implementing logic functions on data signals Logic circuits, application specific integrated circuits with suitable combinational logic gates, Programmable Gate Arrays (PGA), Field Programmable Gate Arrays (FPGA), etc.

Those skilled in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, and the program can be stored in a computer-readable storage medium. When executed, one or a combination of the steps of the method embodiment is included.

In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing module, or each unit may exist physically alone, or two or more units may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware, and can also be implemented in the form of software function modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.

The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, and the like. Although the embodiments of the present disclosure have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and should not be construed as limiting the present disclosure. Embodiments are subject to variations, modifications, substitutions and variations.

Claims

A steering angle control method of a vehicle steering wheel, comprising:

Obtain the target angle of the steering wheel and the initial angle of the steering wheel;

In response to the difference between the target angle and the initial angle being greater than a threshold, generating a plurality of sub-target angles according to the target angle, the plurality of sub-target angles being arranged at intervals between the initial angle and the target angle;

The steering wheel is controlled to perform steering actions in sequence according to the plurality of sub-target angles.
The method according to claim 1, wherein generating a plurality of sub-target angles according to the target angle, comprising:

The plurality of sub-target angles are generated by interpolating between the initial angle and the target angle using an interpolation function.
The method according to claim 1 or 2, wherein the absolute value of the difference between any pair of sub-target angles in the plurality of sub-target angles does not exceed 10 degrees, and a pair of the sub-target angles includes two adjacent sub-target angles. angle.
According to the method of claim 1 or 2, the difference between any two pairs of sub-target angles among the plurality of sub-target angles is equal, and a pair of the sub-target angles includes two adjacent sub-target angles.
The method according to any one of claims 1 to 4, before acquiring the target angle of the steering wheel, the method further comprises:

Detect whether a corner request is received;

In response to receiving the rotation angle request, a target rotation angle of the steering wheel is obtained according to the rotation angle request.
The method of claim 5, further comprising:

determining whether the execution of the corner request is completed;

In response to the corner request not being executed and a new corner request being received, importing the new corner request into the execution queue;

After the execution of the corner request is completed, the corner requests in the execution queue are sequentially executed.
A steering angle control device for a steering wheel of a vehicle, comprising:

an acquisition module for acquiring the target angle of the steering wheel and the initial angle of the steering wheel;

A generating module, configured to generate a plurality of sub-target angles according to the target angle in response to the difference between the target angle and the initial angle being greater than a threshold, the plurality of sub-target angles are arranged at intervals between the initial angle and the initial angle between target angles;

The control module is configured to control the steering wheel to perform steering actions in sequence according to the multiple sub-target angles.
The apparatus according to claim 7, wherein the generating module is configured to use an interpolation function to interpolate between the initial angle and the target angle to generate the plurality of sub-target angles.
The device according to claim 7 or 8, wherein the absolute value of the difference between any pair of sub-target angles in the plurality of sub-target angles does not exceed 10 degrees, and a pair of the sub-target angles includes two adjacent sub-target angles. angle.
The apparatus according to claim 7 or 8, wherein the difference between any two pairs of sub-target angles among the plurality of sub-target angles is equal, and a pair of the sub-target angles includes two adjacent sub-target angles.
The device according to any one of claims 7 to 10, the acquisition module, comprising:

a detection unit, configured to detect whether a rotation angle request is received before acquiring the target angle of the steering wheel;

An obtaining unit, configured to obtain the target turning angle of the steering wheel according to the turning angle request in response to receiving the turning angle request.
The apparatus according to claim 11, the acquisition module, further comprising:

a determining unit, configured to determine whether the execution of the corner request is completed;

an execution unit, configured to import the new corner request into an execution queue in response to the corner request not being executed and a new corner request being received; after the execution of the corner request is completed, sequentially execute the corner requests in the execution queue .
A vehicle, comprising: a steering angle control device for a steering wheel of a vehicle as claimed in any one of claims 7 to 12.
A steering angle control device for a steering wheel of a vehicle, comprising:

A processor and a memory, the memory storing at least one piece of program code, the program code being loaded and executed by the processor to implement the method of any one of claims 1 to 6.
A computer-readable storage medium, characterized in that the computer-readable storage medium stores at least one piece of program code, the program code is loaded and executed by a processor to implement the method according to any one of claims 1 to 6 method.