CN-121990044-A - Method for controlling return of vehicle after steering and vehicle

CN121990044ACN 121990044 ACN121990044 ACN 121990044ACN-121990044-A

Abstract

The application provides a vehicle steering back correcting control method and a vehicle, and relates to the technical field of vehicle control. After the completion of the steering control of the vehicle is determined, the method obtains the steering state parameter of the vehicle, the reference aligning driving force of the steering wheel and the reference aligning driving force of the wheels. Based on the steering state parameters, parameters are determined that characterize the actual road surface adhesion of the road on which the vehicle is located. And further, according to the ratio of the parameter representing the actual road surface adhesion of the road where the vehicle is located to the parameter representing the reference road surface adhesion, adjusting the reference aligning driving force of the steering wheel or the reference aligning driving force of the wheels so as to enable the wheels to be aligned with the steering wheel synchronously. Therefore, the safety driving risk of the vehicle can be avoided, the steering wheel indication which is absolutely consistent with the real dynamic state of the vehicle is provided for the driver, the trust of the driver to the steer-by-wire system of the vehicle is established, and more natural and harmonious driving experience is provided for the driver.

Inventors

LI WEIMIN
ZHU YUTONG
ZHANG YAN
CHEN ZIYANG
XIE QINGXI

Assignees

东风汽车集团股份有限公司

Dates

Publication Date: 20260508
Application Date: 20260126

Claims (10)

1. A return control method after steering of a vehicle, characterized by being applied to an in-vehicle controller, the method comprising: After the steering control of the vehicle is determined, acquiring steering state parameters of the vehicle, reference aligning driving force of a steering wheel and reference aligning driving force of wheels; determining a parameter for representing the actual road surface adhesion of the road on which the vehicle is located based on the steering state parameter; And adjusting the reference aligning driving force of the steering wheel or the reference aligning driving force of the wheels according to the ratio of the parameter representing the actual road surface adhesion of the road where the vehicle is located to the parameter representing the reference road surface adhesion so as to enable the wheels to be aligned with the steering wheel synchronously.
2. The method according to claim 1, wherein the steering state parameters include a steering wheel angle, a vehicle speed, a yaw rate, and a lateral acceleration of the vehicle, the parameter indicative of an actual road surface adhesion of a road on which the vehicle is located is an actual road surface adhesion coefficient of the road on which the vehicle is located, the parameter indicative of a reference road surface adhesion is a preset reference road surface adhesion coefficient, The method comprises the steps of determining parameters for representing the actual road surface adhesion of the road where the vehicle is located based on the steering state parameters, wherein the parameters comprise the actual road surface adhesion coefficient of the road where the vehicle is located according to steering wheel rotation angle, vehicle speed, yaw rate and lateral acceleration; The adjusting of the reference aligning driving force of the steering wheel or the reference aligning driving force of the wheels according to the ratio of the parameter representing the actual road surface adhesion of the road where the vehicle is located to the parameter representing the reference road surface adhesion comprises adjusting the reference aligning driving force of the steering wheel or the reference aligning driving force of the wheels according to the ratio of the actual road surface adhesion coefficient of the road where the vehicle is located to the preset reference road surface adhesion coefficient so as to enable the wheels to be aligned synchronously with the steering wheel.
3. The method according to claim 2, wherein adjusting the reference aligning driving force of the steering wheel or the reference aligning driving force of the wheels according to the ratio of the actual road surface adhesion coefficient of the road on which the vehicle is located to the preset reference road surface adhesion coefficient comprises: if the actual road surface adhesion coefficient of the road where the vehicle is located is smaller than the preset reference road surface adhesion coefficient, according to the formula And the reference aligning driving force of the steering wheel is adjusted to be high, wherein, For a reference return driving force of the steering wheel, For the ratio of the actual road surface adhesion coefficient of the road where the vehicle is located to the preset reference road surface adhesion coefficient, And the steering wheel is regulated to be the return driving force of the steering wheel.
4. A method according to claim 3, wherein said adjusting the reference aligning driving force of the steering wheel or the reference aligning driving force of the wheels according to the ratio of the actual road surface adhesion coefficient of the road on which the vehicle is located to the preset reference road surface adhesion coefficient comprises: If the actual road surface adhesion coefficient of the road where the vehicle is located is greater than the preset reference road surface adhesion coefficient, according to the formula And heightening the reference return driving force of the wheel, wherein, For a reference return driving force of the wheel, For the ratio of the actual road surface adhesion coefficient of the road where the vehicle is located to the preset reference road surface adhesion coefficient, And the driving force is the righting driving force of the wheel after the height is adjusted.
5. The method according to claim 1, wherein the steering state parameters include a steering wheel angle, a vehicle speed, a yaw rate, and a lateral acceleration of the vehicle, the parameter indicative of an actual road surface adhesion of a road on which the vehicle is located is an actual road surface adhesion coefficient of the road on which the vehicle is located, the parameter indicative of a reference road surface adhesion is a preset reference road surface adhesion coefficient, The method comprises the steps of determining parameters for representing the actual road surface adhesion of the road where the vehicle is located based on the steering state parameters, wherein the parameters comprise the actual road surface adhesion coefficient of the road where the vehicle is located according to steering wheel rotation angle, vehicle speed, yaw rate and lateral acceleration; The adjusting of the reference aligning driving force of the steering wheel or the reference aligning driving force of the wheels according to the ratio of the parameter representing the actual road surface adhesion force of the road where the vehicle is located to the parameter representing the reference road surface adhesion force comprises the steps of carrying out weighted average on the actual road surface adhesion coefficient of the road where the vehicle is located and the preset reference road surface adhesion coefficient to obtain a road surface adhesion comprehensive coefficient, and adjusting the reference aligning driving force of the steering wheel or the reference aligning driving force of the wheels according to the ratio of the actual road surface adhesion coefficient of the road where the vehicle is located to the road surface adhesion comprehensive coefficient so as to enable the wheels to be aligned with the steering wheel synchronously.
6. The method according to claim 1, wherein the steering state parameters include a vehicle speed of the vehicle, a motor output torque of the vehicle, and a wheel rotation angle of the vehicle, the parameter indicative of an actual road surface adhesion of the road on which the vehicle is located is an actual steering resistance of the actual road surface of the road on which the vehicle is located, the parameter indicative of a reference road surface adhesion is an expected steering resistance of the vehicle, The adjusting the reference aligning driving force of the steering wheel or the reference aligning driving force of the wheels according to the ratio of the parameter representing the actual road surface adhesion of the road where the vehicle is located to the parameter representing the reference road surface adhesion comprises: Determining the actual steering resistance of a road on which the vehicle is positioned according to the motor output torque of the vehicle and the wheel rotation angle; Determining the expected steering resistance of the vehicle from a preset mapping relation table according to the vehicle speed and the wheel rotation angle of the vehicle; And adjusting the reference aligning driving force of the steering wheel or the reference aligning driving force of the wheels according to the ratio of the actual steering resistance to the expected steering resistance so as to enable the wheels to be aligned synchronously with the steering wheel.
7. The method according to claim 6, wherein the adjusting the reference return driving force of the steering wheel or the reference return driving force of the wheels according to the ratio of the actual steering resistance to the expected steering resistance includes: And under the condition that the actual steering resistance is smaller than the expected steering resistance, adjusting the reference aligning driving force of the steering wheel according to the ratio of the actual steering resistance to the expected steering resistance.
8. The method of claim 7, wherein said adjusting up the reference return driving force of the steering wheel according to the ratio of the actual steering resistance to the expected steering resistance comprises: According to the formula And the reference aligning driving force of the steering wheel is adjusted to be high, wherein, For a reference return driving force of the steering wheel, For the ratio of the actual steering resistance to the expected steering resistance, And the steering wheel is regulated to be the return driving force of the steering wheel.
9. The method according to claim 6, wherein the adjusting the reference return driving force of the steering wheel or the reference return driving force of the wheels according to the ratio of the actual steering resistance to the expected steering resistance includes: And when the actual steering resistance is larger than the expected steering resistance, adjusting the reference aligning driving force of the wheels according to the ratio of the actual steering resistance to the expected steering resistance.
10. A vehicle comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, causes the vehicle to perform the method of any one of claims 1 to 9.

Description

Method for controlling return of vehicle after steering and vehicle Technical Field The application relates to the technical field of vehicle control, in particular to a vehicle steering-back return control method and a vehicle. Background The steering-by-wire technology of the vehicle eliminates the mechanical connection between the conventional steering wheel and the steering wheel (such as a steering column and a transmission shaft), and instead, the transmission of steering instructions is realized through a sensor, an Electronic Control Unit (ECU) and an execution motor. When the driver turns the steering wheel, the sensor captures angle and torque signals and converts the angle and torque signals into electric signals to be sent to the ECU, and the ECU controls the steering motor to drive the wheels to rotate after integrating the vehicle state (such as vehicle speed and stability), so that the flexibility (such as adjustable steering ratio and hand feeling) can be improved, the space can be saved, the safety can be enhanced (combined with active steering intervention), and the steering wheel and the wheels can be automatically corrected after the steering control of the vehicle is determined, and the driving experience of the driver is improved. Currently, steer-by-wire techniques rely on determining the aligning torque of the steering wheel and wheels based on vehicle steering state parameters and a fixed parameter mapping model. However, if the friction coefficient of the road on which the vehicle is traveling is large, the wheels are later than the steering wheel alignment, and the vehicle continues traveling in the direction of movement in which the wheels are not aligned, so that there is a risk of safe driving. Disclosure of Invention The application provides a vehicle steering return control method and a vehicle, which are used for solving the problem of safe driving risk caused by asynchronous return of wheels and a steering wheel of the vehicle in the prior art. In a first aspect, the present application provides a method for controlling return of a vehicle after steering, which is applied to a vehicle-mounted controller, and the method provided by the present application includes: After the completion of the steering control of the vehicle is determined, acquiring a steering state parameter of the vehicle, a reference aligning driving force of a steering wheel and a reference aligning driving force of wheels; determining a parameter for representing the actual road surface adhesion of the road on which the vehicle is located based on the steering state parameter; and adjusting the reference aligning driving force of the steering wheel or the reference aligning driving force of the wheels according to the ratio of the parameter representing the actual road surface adhesion of the road where the vehicle is located to the parameter representing the reference road surface adhesion so as to enable the wheels to be aligned with the steering wheel synchronously. In some embodiments, the steering state parameters include steering wheel angle, vehicle speed, yaw rate, and lateral acceleration of the vehicle, the parameter indicative of actual road surface adhesion of the road on which the vehicle is located is an actual road surface adhesion coefficient of the road on which the vehicle is located, the parameter indicative of reference road surface adhesion is a preset reference road surface adhesion coefficient, Determining parameters for representing the actual road surface adhesion of the road where the vehicle is located based on the steering state parameters, including determining the actual road surface adhesion coefficient of the road where the vehicle is located according to the steering wheel angle, the vehicle speed, the yaw rate and the lateral acceleration; according to the ratio of the actual road surface adhesion of the road where the vehicle is located to the reference road surface adhesion, the reference aligning driving force of the steering wheel or the reference aligning driving force of the wheels is adjusted, and the reference aligning driving force of the steering wheel or the reference aligning driving force of the wheels is adjusted according to the ratio of the actual road surface adhesion coefficient of the road where the vehicle is located to the preset reference road surface adhesion coefficient, so that the wheels and the steering wheel are aligned synchronously. In some embodiments, adjusting the reference aligning driving force of the steering wheel or the reference aligning driving force of the wheels according to a ratio of an actual road surface adhesion coefficient of a road on which the vehicle is located to a preset reference road surface adhesion coefficient includes: if the actual road surface adhesion coefficient of the road where the vehicle is located is smaller than the preset reference road surface adhesion coefficient, according to the formula The referenc