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CN-121973849-A - Steering cooperative control method and device, electronic equipment and storage medium

CN121973849ACN 121973849 ACN121973849 ACN 121973849ACN-121973849-A

Abstract

The invention provides a steering cooperative control method, a steering cooperative control device, electronic equipment and a storage medium, and relates to the technical field of vehicles. The steering cooperative control method comprises the steps of constructing a feature vector according to driver operation information and vehicle speed, wherein the driver operation information comprises at least one of steering wheel rotation angle, steering wheel angular speed and steering torque applied to a steering wheel by a driver, classifying and identifying the feature vector through a preset driver intention identification model to obtain a driver intention state at the current moment, and determining a target transmission ratio and a road feel intensity coefficient according to the driver intention state and the vehicle speed to adjust the steering transmission ratio and the steering wheel feedback torque of the vehicle. The invention can more accurately match the operation requirement of a driver, realize the cooperative adjustment of the steering sensitivity of the vehicle and the hand feeling of the steering wheel, and improve the vehicle control performance and the cooperative driving experience of people and vehicles.

Inventors

  • ZHU BOCHENG

Assignees

  • 浙江吉利控股集团有限公司
  • 吉利汽车研究院（宁波）有限公司

Dates

Publication Date
20260505
Application Date
20260319

Claims (10)

  1. 1. The steering cooperative control method is characterized by comprising the following steps of: Constructing a feature vector from driver operation information and a vehicle speed, the driver operation information including at least one of a steering wheel angle, a steering wheel angular speed, and a steering torque applied to the steering wheel by a driver; classifying and identifying the feature vector through a preset driver intention identification model to obtain the driver intention state at the current moment; And determining a target transmission ratio and a road feel intensity coefficient according to the driver intention state and the vehicle speed so as to adjust the steering transmission ratio and the steering wheel feedback moment of the vehicle.
  2. 2. The steering cooperative control method according to claim 1, wherein the constructing the feature vector according to the driver operation information and the vehicle speed includes: determining a steering torque change rate according to the steering torque; The steering wheel angle, the steering wheel angular velocity, the steering torque change rate, and the vehicle speed are taken as eigenvalues of the eigenvector to construct the eigenvector.
  3. 3. The steering cooperative control method according to claim 2, wherein the classifying and identifying the feature vector by a preset driver intention identification model, and obtaining the driver intention state at the current time includes: classifying and calculating the feature vector through the driver intention recognition model and outputting a classification result; and determining the intention state of the driver at the current moment according to the classification result.
  4. 4. The steering cooperative control method according to claim 3, wherein the determining the driver intention state at the current time based on the classification result includes: When the vehicle speed is lower than a preset parking threshold, determining the intention state of the driver at the current moment as low-speed parking intention; When the vehicle speed is not lower than the preset parking threshold, judging whether the steering wheel angular speed is higher than a preset emergency threshold and whether the steering torque change rate is higher than a corresponding emergency threshold, and when the vehicle speed and the steering torque change rate are simultaneously met, determining the intention state of the driver at the current moment as an emergency obstacle avoidance intention; When the judging condition of the emergency obstacle avoidance intention is not met, judging whether the steering wheel angle is higher than a preset lane change threshold value and whether the steering wheel angular speed is in a preset middle range, and when the judging condition is met, determining the intention state of a driver at the current moment as a conventional lane change intention, wherein the maximum value of the preset middle range is smaller than the preset emergency threshold value; when none of the above conditions is satisfied, the driver intention state at the present time is determined as the cruise control intention.
  5. 5. The steering cooperative control method according to claim 1, wherein the determining a target gear ratio and a road feel intensity coefficient according to the driver intention state and the vehicle speed to adjust a vehicle steering gear ratio and a steering wheel feedback torque includes: determining a corresponding vehicle speed section according to the vehicle speed; Searching a corresponding target transmission ratio and road feel intensity coefficient in a pre-established cooperative control mapping table according to the vehicle speed interval and the intention state of the driver; and determining target parameters for adjusting the steering gear ratio of the vehicle and controlling the feedback torque of the steering wheel according to the target gear ratio and the road feel intensity coefficient.
  6. 6. The method according to claim 1, further comprising performing a smooth transition process on the target gear ratio and/or the road feel intensity coefficient when the target gear ratio and/or the road feel intensity coefficient changes.
  7. 7. The steering cooperative control method of claim 1, further comprising switching the driver intention state to a regular driver intention state if the steering wheel angular velocity is below a preset stability threshold for a continuous plurality of control periods and/or the duration of the driver intention state being the urgent obstacle avoidance intention exceeds a preset maximum duration when the driver intention state is an urgent obstacle avoidance intention.
  8. 8. A steering cooperative control apparatus, characterized by comprising: A first module for constructing a feature vector from driver operation information and vehicle speed, the driver operation information including at least one of a steering wheel angle, a steering wheel angular speed, and a steering torque applied on the steering wheel by a driver; The second module is used for classifying and identifying the feature vectors through a preset driver intention identification model to obtain the driver intention state at the current moment; And a third module for determining a target gear ratio and a road feel intensity coefficient according to the driver intention state and the vehicle speed to adjust a vehicle steering gear ratio and a steering wheel feedback torque.
  9. 9. An electronic device comprising a memory and a processor; The memory is used for storing a computer program; the processor is configured to implement the steering cooperative control method according to any one of claims 1 to 7 when executing the computer program.
  10. 10. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, implements the steering cooperative control method according to any one of claims 1 to 7.

Description

Steering cooperative control method and device, electronic equipment and storage medium Technical Field The invention relates to the technical field of vehicles, in particular to a steering cooperative control method, a steering cooperative control device, electronic equipment and a storage medium. Background With the development of intelligent automobile and chassis electric control technology, a steer-by-wire system gradually becomes an important development direction of a new generation vehicle steering system, the system transmits steering instructions of a driver by replacing traditional mechanical connection through electronic signals, and the design of steering characteristics is more flexible, wherein variable transmission ratio control and road feel simulation control are key technologies in the steer-by-wire system, the variable transmission ratio is usually realized by establishing a mapping relation between a vehicle speed and the steering transmission ratio, a smaller transmission ratio is adopted at a low speed to improve steering sensitivity, a larger transmission ratio is adopted at a high speed to enhance vehicle driving stability, and meanwhile, in order to make up for the defect that the road feel feedback is cancelled after the mechanical connection, the system generates steering wheel feedback moment according to a preset road feel model through a feedback motor, so that the road surface feedback of the traditional mechanical steering system is simulated. In the related art, however, the steering transmission ratio is mostly adjusted only according to vehicle state parameters such as the vehicle speed, so that the real-time operation intention of a driver is difficult to reflect, when the driver performs different operations such as lane changing, emergency obstacle avoidance or parking, the steering characteristics often cannot be matched with the actual driving requirements in time, in addition, the existing road feel simulation control is usually designed as an independent module, the inconsistency between the hand feeling of a steering wheel and the steering sensitivity of the vehicle is easy to be caused, and under an emergency operation scene, the operation burden of the driver can be even increased by a larger feedback moment, so that the steering response efficiency and the driving safety are influenced. Disclosure of Invention The problem addressed by the present invention is how to provide a personalized steering feel that is more consistent with the driver. In order to solve the problems, the invention provides a steering cooperative control method, a steering cooperative control device, electronic equipment and a storage medium. In a first aspect, the present invention provides a steering cooperative control method, including: Constructing a feature vector from driver operation information and a vehicle speed, the driver operation information including at least one of a steering wheel angle, a steering wheel angular speed, and a steering torque applied to the steering wheel by a driver; classifying and identifying the feature vector through a preset driver intention identification model to obtain the driver intention state at the current moment; And determining a target transmission ratio and a road feel intensity coefficient according to the driver intention state and the vehicle speed so as to adjust the steering transmission ratio and the steering wheel feedback moment of the vehicle. Optionally, the constructing the feature vector according to the driver operation information and the vehicle speed includes: determining a steering torque change rate according to the steering torque; The steering wheel angle, the steering wheel angular velocity, the steering torque change rate, and the vehicle speed are taken as eigenvalues of the eigenvector to construct the eigenvector. Optionally, the classifying and identifying the feature vector through a preset driver intention identifying model, and obtaining the driver intention state at the current moment includes: classifying and calculating the feature vector through the driver intention recognition model and outputting a classification result; and determining the intention state of the driver at the current moment according to the classification result. Optionally, the determining the driver intention state at the current moment according to the classification result includes: When the vehicle speed is lower than a preset parking threshold, determining the intention state of the driver at the current moment as low-speed parking intention; When the vehicle speed is not lower than the preset parking threshold, judging whether the steering wheel angular speed is higher than a preset emergency threshold and whether the steering torque change rate is higher than a corresponding emergency threshold, and when the vehicle speed and the steering torque change rate are simultaneously met, determining the intention state of the driver at