阅读说明：本技术 一种车辆转向控制方法、装置、设备及存储介质 (Vehicle steering control method, device, equipment and storage medium ) 是由 李丰军 周剑光 繆鹏虎 于 2021-08-30 设计创作，主要内容包括：本申请公开了一种车辆转向控制方法、装置、设备及存储介质,所述方法包括：获取目标车辆的行驶工况数据和目标车辆的转向系统的扭矩对称度；基于行驶工况数据,确定转向系统的多个助力模块的初始助力力矩；基于行驶工况数据、扭矩对称度和每个助力模块的权重因子,确定每个助力模块的补偿增益；基于每个助力模块的补偿增益对初始助力力矩进行比例控制,得到每个助力模块的助力力矩；基于多个助力模块的助力力矩,控制目标车辆转向。利用本申请提供的方案能够基于转向系统的扭矩对称度对转向系统的多个助力模块进行补偿校正,改善转向系统的左右不对称情况,从而保证车辆左右转向时转向力的一致,提升车辆转向控制的精准性以及车辆行驶的安全性。(The application discloses a vehicle steering control method, a device, equipment and a storage medium, wherein the method comprises the following steps: acquiring running condition data of a target vehicle and torque symmetry of a steering system of the target vehicle; determining initial power-assisted torques of a plurality of power-assisted modules of the steering system based on the driving condition data; determining a compensation gain of each power assisting module based on the driving condition data, the torque symmetry and the weight factor of each power assisting module; carrying out proportional control on the initial power-assisted moment based on the compensation gain of each power-assisted module to obtain the power-assisted moment of each power-assisted module; and controlling the target vehicle to steer based on the power-assisted torques of the plurality of power-assisted modules. The scheme provided by the application can compensate and correct the plurality of power assisting modules of the steering system based on the torque symmetry of the steering system, and improves the left-right asymmetry condition of the steering system, so that the consistency of steering force when the vehicle turns left and right is ensured, and the accuracy of vehicle steering control and the safety of vehicle running are improved.)

1. A vehicle steering control method, characterized by comprising:

acquiring running condition data of a target vehicle and torque symmetry of a steering system of the target vehicle;

determining initial power-assisted torques of a plurality of power-assisted modules of the steering system based on the driving condition data;

determining a compensation gain of each power assisting module based on the driving condition data, the torque symmetry and a weight factor of each power assisting module;

carrying out proportional control on the initial power-assisted moment based on the compensation gain of each power-assisted module to obtain the power-assisted moment of each power-assisted module;

controlling the target vehicle to steer based on the assist torques of the plurality of assist modules.

2. The method of claim 1, wherein prior to determining the compensation gain for each power module based on the driving condition data, the torque symmetry, and a weight factor for each power module, the method further comprises:

obtaining the assisting ratio of each assisting module according to the ratio of the initial assisting torque of each assisting module to the sum of the initial assisting torques of the assisting modules;

and determining a weight factor of each power assisting module according to the power assisting curve and the power assisting ratio of each power assisting module, wherein the power assisting curve is used for representing the relationship between the power assisting ratio and the weight factor of the corresponding power assisting module.

3. The method of claim 1, wherein the driving condition data comprises a rotation angle and a torque of a steering wheel, and wherein determining the compensation gain of each power module based on the driving condition data, the torque symmetry, and a weight factor of each power module comprises:

obtaining a first compensation gain of each power assisting module based on the rotation angle, the torque symmetry and the weight factor of each power assisting module;

obtaining a second compensation gain of each power assisting module based on the torque, the torque symmetry and the weight factor of each power assisting module;

and obtaining the compensation gain based on the first compensation gain and the second compensation gain.

4. The method of claim 3, wherein the deriving the first compensation gain for each power module based on the rotation angle, the torque symmetry, and the weight factor for each power module comprises:

determining a first initial gain for each power assist module based on the angle of rotation and the torque symmetry;

and performing gain control on the first initial gain based on the weight factor to obtain the first compensation gain.

5. The method of claim 3, wherein the deriving the second compensation gain for each power module based on the torque, the torque symmetry, and the weight factor for each power module comprises:

determining a second initial gain for each power assist module based on the torque and the torque symmetry;

and performing gain control on the second initial gain based on the weight factor to obtain the second compensation gain.

6. The method according to any one of claims 1 to 5, wherein the driving condition data comprises: speed of a motor vehicle and angle of rotation, the angle of rotation speed and the moment of torsion of steering wheel, a plurality of helping hand modules include: the method comprises a basic power assisting module, a correcting power assisting module, a damping compensation module, an inertia compensation module and a friction compensation module, wherein the step of determining initial power assisting torques of a plurality of power assisting modules of the steering system based on the running condition data comprises the following steps:

determining an initial power-assisted moment of the basic power-assisted module according to the vehicle speed and the torque;

determining an initial power-assisted moment of the aligning power-assisted module according to the vehicle speed, the rotation angle and the torque;

determining an initial boosting moment of the damping compensation module according to the rotation angular velocity;

determining an initial boosting moment of the inertia compensation module according to the rotation angular speed;

and determining the initial assistance torque of the friction compensation module according to the rotation angle and the torque.

7. The method of any of claims 1-5, wherein the controlling the target vehicle steering based on the power assist torques of the plurality of power assist modules comprises:

performing fusion processing based on the power-assisted torques of the plurality of power-assisted modules to obtain a target power-assisted torque of the steering system;

and controlling the target vehicle to steer based on the target power-assisted torque.

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

the data acquisition module is used for acquiring the running condition data of a target vehicle and the torque symmetry of a steering system of the target vehicle;

the initial power-assisted torque determination module is used for determining initial power-assisted torques of a plurality of power-assisted modules of the steering system based on the driving condition data;

the compensation gain determination module is used for determining the compensation gain of each power assisting module based on the running condition data, the torque symmetry and the weight factor of each power assisting module;

the proportional control module is used for carrying out proportional control on the initial power-assisted moment based on the compensation gain of each power-assisted module to obtain the power-assisted moment of each power-assisted module;

and the steering control module is used for controlling the target vehicle to steer based on the power-assisted torques of the plurality of power-assisted modules.

9. A vehicle steering control apparatus, characterized in that the apparatus comprises a processor and a memory, in which at least one instruction or at least one program is stored, which is loaded and executed by the processor to implement the vehicle steering control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that at least one instruction or at least one program is stored in the storage medium, which is loaded and executed by a processor to implement the vehicle steering control method according to any one of claims 1 to 7.

Technical Field

The application relates to the technical field of automobile steering, in particular to a method, a device, equipment and a storage medium for controlling vehicle steering.

Background

The application of Electric Power Steering (EPS) is becoming the mainstream of the automobile Steering system technology. The EPS can provide steering assistance to the driver according to the torque of the steering wheel of the automobile, the rotation angle of the steering wheel, the speed of the automobile, the road surface condition and the like. The traditional EPS function algorithm design is carried out on the assumption that a steering system is bilaterally symmetrical, the same set of calibration data is adopted for the left and right steering functions, and the left and right steering functions are identified only by signs. Meanwhile, in the calibration process, the difference between the left and the right is made up as much as possible by repeatedly adjusting the set of calibration data.

However, on one hand, this way increases the calibration workload and complexity, and on the other hand, in the actual production manufacturing and use process of the vehicle, the left and right torque of the steering system is asymmetric, and for the steering system with large design and manufacturing tolerance, the left and right asymmetry of the steering system cannot be reduced in a one-to-one correspondence manner after mass production, so that the steering forces required when the vehicle is controlled to steer left and right are not consistent, thereby affecting the normal running of the vehicle. Accordingly, there is a need to provide more accurate and efficient vehicle steering control methods.

Disclosure of Invention

The application provides a vehicle steering control method, device, equipment and storage medium, can compensate the correction to a plurality of helping hand modules of a steering system based on the moment of torsion symmetry of a steering system, improve the asymmetric condition about the steering system to guarantee the unanimity of turning force when the vehicle turns to about, promote vehicle steering control's precision and the security that the vehicle travel, this application technical scheme is as follows:

in one aspect, a vehicle steering control method is provided, the method comprising:

acquiring running condition data of a target vehicle and torque symmetry of a steering system of the target vehicle;

determining initial power-assisted torques of a plurality of power-assisted modules of the steering system based on the driving condition data;

determining a compensation gain of each power assisting module based on the driving condition data, the torque symmetry and a weight factor of each power assisting module;

carrying out proportional control on the initial power-assisted moment based on the compensation gain of each power-assisted module to obtain the power-assisted moment of each power-assisted module;

controlling the target vehicle to steer based on the assist torques of the plurality of assist modules.

In another aspect, there is provided a vehicle steering control apparatus, the apparatus including:

the data acquisition module is used for acquiring the running condition data of a target vehicle and the torque symmetry of a steering system of the target vehicle;

the initial power-assisted torque determination module is used for determining initial power-assisted torques of a plurality of power-assisted modules of the steering system based on the driving condition data;

the compensation gain determination module is used for determining the compensation gain of each power assisting module based on the running condition data, the torque symmetry and the weight factor of each power assisting module;

the proportional control module is used for carrying out proportional control on the initial power-assisted moment based on the compensation gain of each power-assisted module to obtain the power-assisted moment of each power-assisted module;

and the steering control module is used for controlling the target vehicle to steer based on the power-assisted torques of the plurality of power-assisted modules.

In another aspect, a vehicle steering control apparatus is provided, the apparatus comprising a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded by the processor and executed to implement the vehicle steering control method as described above.

In another aspect, a computer-readable storage medium is provided, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded by a processor and executed to implement the vehicle steering control method as described above.

The vehicle steering control method, the vehicle steering control device, the vehicle steering control equipment and the storage medium have the following technical effects:

by the technical scheme, the initial power-assisted torques of the power-assisted modules of the steering system can be determined based on the running condition data of the target vehicle; determining the compensation gain of each power assisting module based on the driving condition data, the torque symmetry of the steering system and the weight factor of each power assisting module; then, the initial boosting torque is subjected to proportional control based on the compensation gain of each boosting module to obtain the boosting torque of each boosting module; based on the helping hand moment of a plurality of helping hand modules, control target vehicle turns to, on the one hand, based on the moment of torsion symmetry of a steering system a plurality of helping hand modules of a steering system compensate the correction, improve the asymmetric condition about a steering system to guarantee the unanimity of turning force when turning about the vehicle, promote vehicle steering control's precision and the security that the vehicle travel, on the other hand, subduct because of the asymmetric difference of feeling that produces about a steering system, promote the stability and the travelling comfort of driving experience.

Drawings

In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic flow chart diagram of a vehicle steering control method provided by an embodiment of the present application;

FIG. 2 is a schematic illustration of a torque symmetry curve provided by an embodiment of the present application;

FIG. 3 is a schematic diagram of a power assist module of a steering system provided in an embodiment of the present application;

FIG. 4 is a schematic flow chart illustrating a process for determining a weighting factor for each boost module provided by an embodiment of the present application;

fig. 5 is a schematic diagram of a relationship curve between a power ratio and a weighting factor of a basic power module provided in an embodiment of the present disclosure;

FIG. 6 is a schematic flow chart illustrating a process for determining a compensation gain for each of the plurality of power assist modules based on the driving condition data, the torque symmetry, and the weighting factor for each of the plurality of power assist modules according to an embodiment of the present disclosure;

fig. 7 is a schematic flowchart illustrating a process of controlling steering of the target vehicle based on the assist torques of the plurality of assist modules according to an embodiment of the present disclosure;

fig. 8 is a schematic diagram of a vehicle steering control method and device provided by an embodiment of the application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

A vehicle steering control method provided in an embodiment of the present application is described below, and fig. 1 is a schematic flow chart of the vehicle steering control method provided in the embodiment of the present application. It is noted that the present specification provides the method steps as described in the examples or flowcharts, but may include more or less steps based on routine or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In actual system or product execution, sequential execution or parallel execution (e.g., parallel processor or multi-threaded environment) may be possible according to the embodiments or methods shown in the figures. Specifically, as shown in fig. 1, the method may include:

and S101, acquiring running condition data of the target vehicle and the torque symmetry of a steering system of the target vehicle.

In the embodiments of the present description, the driving condition data may include, but is not limited to: vehicle speed and steering wheel angle of rotation, rotational angular velocity and torque. In practical application, the vehicle speed can be obtained through a vehicle speed sensor; the rotation angle and the torque of the steering wheel can be obtained through an angle torque sensor of the steering system, and the rotation angle is subjected to differential processing to obtain the rotation angular speed.

In this embodiment, the torque symmetry may be a torque symmetry of a left-right rotation angle of the steering wheel relative to a neutral position of a rotation angle of the steering wheel, and in an alternative embodiment, a right rotation angle (positive rotation angle) may be used as a reference, the torque symmetry is defined to be 100%, and a torque symmetry curve of a steering system of a target vehicle is obtained according to a ratio of the left-right rotation angle to a torque magnitude, specifically, fig. 2 is a schematic diagram of a torque symmetry curve provided in the embodiment of the present application, as shown in fig. 2, when the torque symmetry of the left rotation angle is greater than 100%, it is indicated that if a hand force required when the steering wheel is rotated to the left is consistent with a hand force required when the steering wheel is rotated to the right by the same angle, the steering system is required to provide a greater assisting force when the steering wheel is rotated to the left; when the torque symmetry of the left turn angle is less than 100%, it is indicated that if the hand force required to turn the steering wheel to the left is the same as the hand force required to turn the steering wheel to the right by the same angle, the steering system is required to provide less assistance when the steering wheel is turned to the left.

And S103, determining initial power-assisted torques of a plurality of power-assisted modules of the steering system based on the running condition data.

Specifically, the plurality of boosting modules may include, but are not limited to: the device comprises a basic power assisting module, a correcting power assisting module, a damping compensating module, an inertia compensating module and a friction compensating module. In practical application, the basic power assisting module is used for assisting a driver to steer and reducing steering wheel torque required by the driver during steering; the aligning power-assisted module is used for providing auxiliary aligning torque when the wheels are aligned through the power-assisted motor so as to assist the wheels to align automatically or align lightly under the operation of a driver; the damping compensation module is used for properly increasing the steering resistance of a steering system when the vehicle runs at a high speed and improving the operation stability when the vehicle runs at the high speed; the inertia compensation module is used for reducing the inertia response of a power-assisted motor speed reducing mechanism of the steering system and improving the quick steering response capability; the friction compensation module is used for reducing friction resistance in a steering system and reducing or eliminating adverse effects caused by friction in the steering process.

In an embodiment of the present specification, fig. 3 is a schematic diagram of a power module of a steering system provided in an embodiment of the present application, and according to the schematic diagram of the power module shown in fig. 3, a power data table corresponding to each power module may be obtained by performing calibration processing in advance by combining sample driving condition data of a large number of sample vehicles and sample initial power torque of each corresponding power module; and determining the initial assistance torque of each assistance module based on the running condition data of the target vehicle and the assistance data table corresponding to each assistance module. Specifically, the determining the initial boost torque of the plurality of boost modules of the steering system based on the driving condition data may include:

1) determining the initial boosting moment of the basic boosting module according to the vehicle speed and the torque;

2) determining an initial power-assisted moment of the centering power-assisted module according to the vehicle speed, the rotation angle and the torque;

3) determining an initial boosting moment of the damping compensation module according to the rotation angular velocity;

4) determining an initial power-assisted moment of the inertia compensation module according to the rotation angular speed;

5) and determining the initial assistance torque of the friction compensation module according to the rotation angle and the torque.

According to the embodiment, the initial power-assisted torque of each power-assisted module is determined according to various driving condition data, and the pertinence and the effectiveness of power-assisted compensation of the steering system are improved.

And S105, determining the compensation gain of each power assisting module based on the running condition data, the torque symmetry and the weight factor of each power assisting module.

In an embodiment of this specification, as shown in fig. 4, fig. 4 is a schematic flowchart of a process for determining a weight factor of each boosting module according to an embodiment of the present application, and specifically, the process may include:

and S401, obtaining the assisting power ratio of each assisting power module according to the ratio of the initial assisting power moment of each assisting power module to the sum of the initial assisting power moments of the assisting power modules.

And S403, determining a weight factor of each power assisting module according to the power assisting curve and the power assisting ratio of each power assisting module, wherein the power assisting curve is used for representing the relationship between the power assisting ratio and the weight factor of the corresponding power assisting module.

In practical application, in consideration of a nonlinear relationship between a steering wheel torque and a power-assisted torque of each power-assisted module, each power-assisted module does not provide the power-assisted torque according to a power-assisted ratio, so that the power-assisted ratio of each power-assisted module needs to be converted into a weight factor, and specifically, calibration can be performed by combining a sample power-assisted ratio of each power-assisted module and a steering debugging condition of a sample vehicle to obtain a relationship curve of the power-assisted ratio of each power-assisted module and the weight factor. Taking a basic power assisting module as an example, fig. 5 is a schematic diagram (parameters in the diagram are only used for illustration) of a relationship curve between a power assisting ratio of the basic power assisting module and a weighting factor provided in an embodiment of the present specification, and as shown in fig. 5, a corresponding weighting factor can be obtained based on the power assisting ratio of the basic power assisting module.

The embodiment shows that the boosting ratio of each boosting module is converted to obtain the weight factor, and the compensation gain of each boosting module can be more accurately controlled, so that the accuracy and the effectiveness of boosting compensation on each boosting module are improved.

In a specific embodiment, as shown in fig. 6, the determining the compensation gain of each power assisting module based on the driving condition data, the torque symmetry and the weighting factor of each power assisting module may include:

and S601, obtaining a first compensation gain of each power assisting module based on the rotation angle, the torque symmetry and the weight factor of each power assisting module.

Specifically, the first compensation gain may be a compensation gain matched based on a steering wheel rotation angle, and in a specific embodiment, the obtaining the first compensation gain of each of the boosting modules based on the rotation angle, the torque symmetry, and the weight factor of each of the boosting modules may include:

1) a first initial gain for each power module is determined based on the angle of rotation and the torque symmetry.

In practical application, the first three-dimensional data table of each power assisting module can be obtained by combining the sample rotation angle, the sample torque symmetry degree and the corresponding sample first initial gain of each power assisting module in advance and performing data processing based on a calibration method, and the first initial gain of each power assisting module is determined from the first three-dimensional data table based on the rotation angle and the torque symmetry degree.

2) And performing gain control on the first initial gain based on the weight factor to obtain a first compensation gain.

Specifically, the first compensation gain may be obtained based on a product of the first initial gain and the weighting factor.

And S603, obtaining a second compensation gain of each power assisting module based on the torque, the torque symmetry and the weight factor of each power assisting module.

Specifically, the second compensation gain may be a compensation gain matched based on a steering wheel torque, and in a specific embodiment, the obtaining the first compensation gain of each of the boosting modules based on the rotation angle, the torque symmetry, and the weight factor of each of the boosting modules may include:

1) a second initial gain for each power assist module is determined based on the torque and the torque symmetry.

In practical application, the sample torque symmetry and the corresponding sample second initial gain of each power assisting module can be combined in advance, data processing is carried out on the basis of a calibration method to obtain a second three-dimensional data table of each power assisting module, and the second initial gain of each power assisting module is determined from the second three-dimensional data table on the basis of the torque and the torque symmetry.

2) And performing gain control on the second initial gain based on the weight factor to obtain a second compensation gain.

Specifically, the second compensation gain may be obtained based on a product of the second initial gain and the weighting factor.

S605 obtains the compensation gain based on the first compensation gain and the second compensation gain.

Specifically, the compensation gain of each power module may be obtained based on the sum of the first compensation gain and the second compensation gain of each power module.

As can be seen from the above embodiments, the weight factor and the torque symmetry of each power-assisted module are respectively combined with the steering wheel rotation angle and the steering wheel torque to obtain a first compensation gain for matching each power-assisted module based on the steering wheel rotation angle and a second compensation gain for matching each power-assisted module based on the steering wheel torque, so that on one hand, the power-assisted compensation of each power-assisted module is realized through the two compensation gains, and the accuracy and pertinence of the power-assisted compensation can be improved; on the other hand, the left-right asymmetry condition of the steering system can be adjusted, so that the steering force is consistent when the vehicle steers left and right; on the other hand, the left-right asymmetry condition of the steering system can be well adjusted according to the torque symmetry difference of the steering system caused by large tolerance, the torque symmetry difference introduced by steering and chassis training, the torque symmetry difference introduced by the difference of various tire pressures in the using process, uneven load distribution and the like, and the universality of the method is improved.

And S107, proportionally controlling the initial boosting moment based on the compensation gain of each boosting module to obtain the boosting moment of each boosting module.

Specifically, the compensation gain of each power assisting module can be used as a proportional term of the initial power assisting torque to obtain the power assisting torque of each power assisting module.

And S109, controlling the target vehicle to steer based on the boosting torque of the plurality of boosting modules.

In a specific embodiment, as shown in fig. 7, the controlling the steering of the target vehicle based on the boosting torques of the plurality of boosting modules may include:

and S701, performing fusion processing based on the power-assisted torques of the plurality of power-assisted modules to obtain a target power-assisted torque of the steering system.

In an alternative embodiment, the target assist torque of the steering system may be obtained based on a sum of assist torques of a plurality of assist modules.

And S703, controlling the target vehicle to steer based on the target assisting torque.

In practical application, the power-assisted compensation can be carried out on the steering system based on the target power-assisted torque, so that the left and right steering forces of the steering system of the target vehicle are controlled to be consistent, and the driving experience of a user is improved.

As can be seen from the above description embodiments, according to the technical scheme provided by the embodiments of the present description, an initial boost torque of each boost module of a steering system can be determined based on various driving condition data, and a boost ratio of each boost module is converted to obtain a weight factor based on the initial boost torque, so that on one hand, a compensation gain of each boost module can be more accurately controlled, thereby improving accuracy and effectiveness of boost compensation performed on each boost module; on the other hand, the weight factor and the torque symmetry degree of each power-assisted module are respectively combined with the rotation angle of a steering wheel and the torque of the steering wheel to obtain a first compensation gain matched with each power-assisted module based on the rotation angle of the steering wheel and a second compensation gain matched with each power-assisted module based on the torque of the steering wheel, the power-assisted compensation of each power-assisted module is realized through the two compensation gains, the left-right asymmetry condition of a steering system can be adjusted, and the consistency of the steering force during left-right steering of the vehicle is ensured; on the other hand, the initial power-assisted torque is subjected to proportional control based on the compensation gain of each power-assisted module to obtain the power-assisted torque of each power-assisted module, and then the power-assisted torques of the plurality of power-assisted modules are integrated to control the steering of the target vehicle, so that the accuracy of vehicle steering control and the safety of vehicle running can be improved; on the other hand, the left-right asymmetry condition of the steering system can be well adjusted aiming at the torque symmetry difference of the steering system caused by larger tolerance, the torque symmetry difference introduced by steering and chassis training, the torque symmetry difference introduced by the difference of all tire pressures in the using process, uneven load distribution and the like, and the universality of the method is improved; on the other hand, the hand feeling difference caused by the left and right asymmetry of the steering system is reduced, and the stability and the comfort of the driving experience are improved.

An embodiment of the present application provides a vehicle steering control apparatus, as shown in fig. 8, the apparatus may include:

the data acquisition module 810 is configured to acquire driving condition data of a target vehicle and a torque symmetry of a steering system of the target vehicle;

an initial boost torque determination module 820, configured to determine initial boost torques of a plurality of boost modules of the steering system based on the driving condition data;

a compensation gain determination module 830, configured to determine a compensation gain of each of the boosting modules based on the driving condition data, the torque symmetry, and a weight factor of each of the boosting modules;

a proportional control module 840, configured to perform proportional control on the initial boost torque based on the compensation gain of each boost module to obtain a boost torque of each boost module;

and a steering control module 850 for controlling the steering of the target vehicle based on the assist torques of the plurality of assist modules.

In this embodiment, the initial assist torque determination module 820 may include:

the first initial power-assisted moment determining unit is used for determining the initial power-assisted moment of the basic power-assisted module according to the vehicle speed and the torque;

the second initial power-assisted moment determining unit is used for determining the initial power-assisted moment of the aligning power-assisted module according to the vehicle speed, the rotation angle and the torque;

the third initial power-assisted moment determining unit is used for determining the initial power-assisted moment of the damping compensation module according to the rotation angular velocity;

the fourth initial power-assisted moment determining unit is used for determining the initial power-assisted moment of the inertia compensation module according to the rotation angular speed;

and the fifth initial power-assisted torque determination unit is used for determining the initial power-assisted torque of the friction compensation module according to the rotation angle and the torque.

In an embodiment of the present specification, the apparatus may further include:

the power-assisted ratio determining module is used for obtaining the power-assisted ratio of each power-assisted module according to the ratio of the initial power-assisted torque of each power-assisted module to the sum of the initial power-assisted torques of the plurality of power-assisted modules;

and the weight factor determination module is used for determining the weight factor of each power assisting module according to the power assisting curve and the power assisting ratio of each power assisting module, and the power assisting curve is used for representing the relationship between the power assisting ratio and the weight factor of the corresponding power assisting module.

In a specific embodiment, the compensation gain determining module 830 may include:

a first compensation gain unit, configured to obtain a first compensation gain of each of the boosting modules based on the rotation angle, the torque symmetry, and a weight factor of each of the boosting modules;

a second compensation gain unit, configured to obtain a second compensation gain of each of the boosting modules based on the torque, the torque symmetry, and the weight factor of each of the boosting modules;

and a compensation gain unit for obtaining the compensation gain based on the first compensation gain and the second compensation gain.

In one particular embodiment, the steering control module 850 may include:

a fusion processing unit configured to perform fusion processing based on the assist torques of the plurality of assist modules to obtain a target assist torque of the steering system;

and a steering control unit for controlling the steering of the target vehicle based on the target assist torque.

The embodiment of the application provides a vehicle steering control device, which comprises a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded by the processor and executed to realize the vehicle steering control method provided by the method embodiment.

The memory may be used to store software programs and modules, and the processor may execute various functional applications and data processing by operating the software programs and modules stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs needed by functions and the like; the storage data area may store data created according to the use of the above-described apparatus, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory may also include a memory controller to provide the processor access to the memory.

The method provided by the embodiment of the application can be executed in a vehicle-mounted terminal or a similar operation device, that is, the computer device can comprise the vehicle-mounted terminal or the similar operation device.

The present application further provides a storage medium, where the storage medium may be disposed in a server to store at least one instruction or at least one program for implementing the vehicle steering control method in one of the method embodiments, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the vehicle steering control method provided by the method embodiment.

Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

As can be seen from the embodiments of the vehicle steering control method, device, equipment, or storage medium provided by the present application, with the technical solution provided by the embodiments of the present specification, an initial assist torque of each assist module of a steering system can be determined based on multiple driving condition data, and the assist duty ratio of each assist module is converted to obtain a weight factor based on the initial assist torque, so that on one hand, the compensation gain of each assist module can be more accurately controlled, thereby improving the accuracy and effectiveness of the assist compensation performed on each assist module; on the other hand, the weight factor and the torque symmetry degree of each power-assisted module are respectively combined with the rotation angle of a steering wheel and the torque of the steering wheel to obtain a first compensation gain matched with each power-assisted module based on the rotation angle of the steering wheel and a second compensation gain matched with each power-assisted module based on the torque of the steering wheel, the power-assisted compensation of each power-assisted module is realized through the two compensation gains, the left-right asymmetry condition of a steering system can be adjusted, and the consistency of the steering force during left-right steering of the vehicle is ensured; on the other hand, the initial power-assisted torque is subjected to proportional control based on the compensation gain of each power-assisted module to obtain the power-assisted torque of each power-assisted module, and then the power-assisted torques of the plurality of power-assisted modules are integrated to control the steering of the target vehicle, so that the accuracy of vehicle steering control and the safety of vehicle running can be improved; on the other hand, the left-right asymmetry condition of the steering system can be well adjusted aiming at the torque symmetry difference of the steering system caused by larger tolerance, the torque symmetry difference introduced by steering and chassis training, the torque symmetry difference introduced by the difference of all tire pressures in the using process, uneven load distribution and the like, and the universality of the method is improved; on the other hand, the hand feeling difference caused by the left and right asymmetry of the steering system is reduced, and the stability and the comfort of the driving experience are improved.

It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus, device and storage medium embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for relevant points.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program to instruct relevant hardware to implement the above program, and the above program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.