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CN-122009310-A - Vehicle control method, device, storage medium, vehicle controller and vehicle

CN122009310ACN 122009310 ACN122009310 ACN 122009310ACN-122009310-A

Abstract

According to the vehicle control method, when the vehicle yaw motion auxiliary control requirement of the target vehicle is recognized, virtual steering wheel torque required for auxiliary control of the vehicle yaw motion of the target vehicle is generated according to the vehicle operation data of the target vehicle, and the virtual steering wheel torque is sent to an electric power-assisted steering system at the target vehicle so that the electric power-assisted steering system performs vehicle steering power-assisted control based on the virtual steering wheel torque to drive the vehicle to run linearly.

Inventors

  • XIANG WENMING
  • Bevis Paul Remy
  • YU MIAO

Assignees

  • 博世汽车部件(苏州)有限公司

Dates

Publication Date
20260512
Application Date
20241031

Claims (14)

  1. 1. A vehicle control method comprising: Acquiring vehicle operation data of a target vehicle; Judging whether a vehicle yaw motion auxiliary control requirement for the target vehicle exists according to the vehicle running data of the target vehicle, and obtaining a judging result; If the judging result shows that the vehicle yaw movement auxiliary control requirement for the target vehicle exists, determining virtual steering wheel torque required for auxiliary control for the vehicle yaw movement of the target vehicle according to the vehicle running data of the target vehicle; and sending the virtual steering wheel torque to an electric power steering system at the target vehicle so that the electric power steering system performs vehicle steering power control based on the virtual steering wheel torque.
  2. 2. The method of claim 1, the determining whether there is a vehicle yaw motion assistance control requirement for the target vehicle based on vehicle operation data of the target vehicle, comprising: And judging whether the target vehicle is in a speed change straight running state or not according to the vehicle running data of the target vehicle, wherein the vehicle yaw moment at the target vehicle is not equal to 0.
  3. 3. The method of claim 2, wherein determining whether the target vehicle is in a shift-straight state based on vehicle operation data of the target vehicle comprises: judging whether the target vehicle meets a preset speed change condition and a preset straight running condition according to the vehicle running data of the target vehicle; The preset speed change condition comprises at least one of the absolute value of the longitudinal acceleration of the target vehicle reaching a first threshold value, the opening degree of an accelerator pedal at the target vehicle reaching a second threshold value and the opening degree of a brake pedal at the target vehicle reaching a third threshold value; The preset straight traveling condition includes that a steering wheel angle of the target vehicle is smaller than a fourth threshold value, an actual steering wheel torque at the target vehicle is smaller than a fifth threshold value, a wheel speed difference between a left wheel and a right wheel of the target vehicle is smaller than a sixth threshold value, an absolute value of a lateral acceleration or a yaw rate of the target vehicle is smaller than at least one of a seventh threshold value, and a traveling speed of the target vehicle is not equal to 0.
  4. 4. A method according to any one of claims 1-3, said determining virtual steering wheel torque required for auxiliary control of vehicle yaw movement of said target vehicle from vehicle operation data of said target vehicle, comprising: calculating a vehicle yaw moment of the target vehicle according to the vehicle running data of the target vehicle; based on the vehicle yaw moment of the target vehicle, a virtual steering wheel torque required for assist control for the vehicle yaw motion of the target vehicle is determined.
  5. 5. The method of claim 4, the calculating a vehicle yaw moment of the target vehicle from vehicle operation data of the target vehicle, comprising: determining a target force applied at each wheel of the target vehicle according to vehicle operation data of the target vehicle, wherein the target force comprises any one of braking force and driving force; and calculating the sum of yaw moments generated by the target forces applied to the wheels to obtain the vehicle yaw moment of the target vehicle.
  6. 6. The method of claim 4, the determining a virtual steering wheel torque required for assistance control for vehicle yaw motion of the target vehicle based on a vehicle yaw moment of the target vehicle, comprising: determining a first preset coefficient of the yaw moment of the vehicle according to the actual steering wheel torque generated by the driver operating the steering wheel of the target vehicle, wherein the first preset coefficient is inversely related to the actual steering wheel torque, and/or, Determining a second preset coefficient of the yaw moment of the vehicle according to the running speed of the target vehicle and the yaw moment of the vehicle, wherein the second preset coefficient is positively correlated with the yaw moment of the vehicle, and the second preset coefficient is positively correlated with the running speed or negatively correlated with the running speed; Calculating the product of the vehicle yaw moment and a target coefficient to obtain virtual steering wheel torque required by auxiliary control for the vehicle yaw motion of the target vehicle, wherein the target coefficient comprises at least one of the first preset coefficient and the second preset coefficient.
  7. 7. The method of claim 1, further comprising: Determining an actual steering wheel torque generated by a driver performing an operation on a steering wheel of the target vehicle according to vehicle operation data of the target vehicle; And sending the actual steering wheel torque to the electric power steering system, wherein the electric power steering system is specifically used for determining motor torque information required for controlling a power steering motor according to the virtual steering wheel torque and the actual steering wheel torque.
  8. 8. A vehicle control method applied to an electric power steering system at a target vehicle, comprising: obtaining a virtual steering wheel torque required for auxiliary control of vehicle yaw motion of the target vehicle using the electric power steering system, wherein the virtual steering wheel torque is determined using the method of any one of claims 1-6; Acquiring actual steering wheel torque generated by a driver performing operation on a steering wheel of the target vehicle; Determining motor torque information required for controlling a power steering motor at the electric power steering system according to the virtual steering wheel torque and the actual steering wheel torque; based on the motor torque information, a control command for the power steering motor is generated.
  9. 9. The method of claim 8, the determining motor torque information needed to control a power steering motor at the electric power steering system based on the virtual steering wheel torque and the actual steering wheel torque, comprising: calculating the sum of the virtual steering wheel torque and the actual steering wheel torque to obtain the comprehensive steering wheel torque of the target vehicle; And determining motor torque information corresponding to the comprehensive steering wheel torque required for controlling the power steering motor.
  10. 10. A vehicle control apparatus comprising: The acquisition module is used for acquiring vehicle operation data of the target vehicle; the judging module is used for judging whether the vehicle yaw motion auxiliary control requirement for the target vehicle exists according to the vehicle running data of the target vehicle, and obtaining a judging result; The determining module is used for determining virtual steering wheel torque required for auxiliary control of the yaw motion of the vehicle of the target vehicle according to the vehicle running data of the target vehicle if the judging result shows that the yaw motion auxiliary control requirement of the vehicle of the target vehicle exists; and the transmitting module is used for transmitting the virtual steering wheel torque to the electric power steering system at the target vehicle so that the electric power steering system can perform vehicle steering power-assisted control based on the virtual steering wheel torque.
  11. 11. A vehicle control apparatus comprising: A first acquisition module for acquiring a virtual steering wheel torque required for assist control for a vehicle yaw motion of the target vehicle using the electric power steering system, wherein the virtual steering wheel torque is determined using the method according to any one of claims 1 to 6; the second acquisition module is used for acquiring actual steering wheel torque generated by the driver performing operation on the steering wheel of the target vehicle; The determining module is used for determining motor torque information required for controlling a power steering motor of the electric power steering system according to the virtual steering wheel torque and the actual steering wheel torque; And the generation module is used for generating a control command for the power steering motor based on the motor torque information.
  12. 12. A storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of any of claims 1 to 9.
  13. 13. A vehicle controller comprising a processor and a memory, wherein the memory stores computer readable instructions adapted to be loaded by the processor and to perform the steps of the method according to any one of claims 1 to 9.
  14. 14. A vehicle comprising the vehicle control apparatus according to claims 10 and 11 or the vehicle controller according to claim 13.

Description

Vehicle control method, device, storage medium, vehicle controller and vehicle Technical Field The present invention relates to the field of vehicle control technologies, and in particular, to a vehicle control method, a device, a storage medium, a vehicle controller, and a vehicle. Background With the development of national economy and the improvement of national consumption level, automobiles widely enter ordinary families, and the comfort requirements of people on the driving process of the automobiles are higher and higher. At present, when a user drives the vehicle straight, the vehicle may generate yaw motion due to factors such as inconsistent road conditions of tire running on the left side and the right side of the vehicle, unreasonable engine layout and the like. At this time, it is often necessary for the driver to manually operate the steering wheel to continuously apply steering torque so as to control the vehicle to keep traveling straight, resulting in poor driving experience of the driver's vehicle. Disclosure of Invention Based on the above, the invention provides a vehicle control method, a device, a storage medium, a vehicle controller and a vehicle, wherein when the vehicle control method is adopted to identify that a target vehicle has a vehicle yaw motion auxiliary control requirement, virtual steering wheel torque required for auxiliary control on the vehicle yaw motion is generated and sent to an electric power steering system, so that the electric power steering system is utilized to carry out vehicle steering power control, thereby promoting the vehicle to run straight, being beneficial to improving the driving comfort of a driver and guaranteeing the vehicle operation experience of the driver. In one aspect, the present invention provides a vehicle control method, the method including: Acquiring vehicle operation data of a target vehicle; Judging whether a vehicle yaw motion auxiliary control requirement for the target vehicle exists according to the vehicle running data of the target vehicle, and obtaining a judging result; If the judging result shows that the vehicle yaw movement auxiliary control requirement for the target vehicle exists, determining virtual steering wheel torque required for auxiliary control for the vehicle yaw movement of the target vehicle according to the vehicle running data of the target vehicle; and sending the virtual steering wheel torque to an electric power steering system at the target vehicle so that the electric power steering system performs vehicle steering power control based on the virtual steering wheel torque. Further, in some embodiments, the determining whether there is a vehicle yaw motion assistance control requirement for the target vehicle according to the vehicle operation data of the target vehicle includes: And judging whether the target vehicle is in a speed change straight running state or not according to the vehicle running data of the target vehicle, wherein the vehicle yaw moment at the target vehicle is not equal to 0. Further, in some embodiments, the determining whether the target vehicle is in a shift straight state according to the vehicle operation data of the target vehicle includes: judging whether the target vehicle meets a preset speed change condition and a preset straight running condition according to the vehicle running data of the target vehicle; The preset speed change condition comprises at least one of the absolute value of the longitudinal acceleration of the target vehicle reaching a first threshold value, the opening degree of an accelerator pedal at the target vehicle reaching a second threshold value and the opening degree of a brake pedal at the target vehicle reaching a third threshold value; The preset straight traveling condition includes that a steering wheel angle of the target vehicle is smaller than a fourth threshold value, an actual steering wheel torque at the target vehicle is smaller than a fifth threshold value, a wheel speed difference between a left wheel and a right wheel of the target vehicle is smaller than a sixth threshold value, an absolute value of a lateral acceleration or a yaw rate of the target vehicle is smaller than at least one of a seventh threshold value, and a traveling speed of the target vehicle is not equal to 0. Further, in some embodiments, the determining the virtual steering wheel torque required for the auxiliary control for the yaw motion of the vehicle of the target vehicle according to the vehicle operation data of the target vehicle includes: calculating a vehicle yaw moment of the target vehicle according to the vehicle running data of the target vehicle; based on the vehicle yaw moment of the target vehicle, a virtual steering wheel torque required for assist control for the vehicle yaw motion of the target vehicle is determined. Further, in some embodiments, the calculating the vehicle yaw moment of the target vehicle according to the vehicle operation da