CN116985892A - Method and device for determining angular transmission ratio, electronic equipment and storage medium - Google Patents

Method and device for determining angular transmission ratio, electronic equipment and storage medium Download PDF

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Publication number
CN116985892A
CN116985892A CN202310973321.9A CN202310973321A CN116985892A CN 116985892 A CN116985892 A CN 116985892A CN 202310973321 A CN202310973321 A CN 202310973321A CN 116985892 A CN116985892 A CN 116985892A
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China
Prior art keywords
steering
steering wheel
angle
determining
transmission ratio
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CN202310973321.9A
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Chinese (zh)
Inventor
侯诗扬
高峰
郑四发
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Suzhou Automotive Research Institute of Tsinghua University
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Suzhou Automotive Research Institute of Tsinghua University
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Priority to CN202310973321.9A priority Critical patent/CN116985892A/en
Publication of CN116985892A publication Critical patent/CN116985892A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The application discloses a method, a device, equipment and a storage medium for determining an angular transmission ratio. The method comprises the following steps: acquiring the rotating speed of a steering wheel and the rotating angle of the steering wheel in the current period of the vehicle; determining a steering operation state according to the rotating speed of the steering wheel and the rotating angle of the steering wheel; the angular transmission ratio of the current cycle is determined according to the steering operation state. According to the technical scheme, the problem that the steering stability of the whole vehicle is reduced under the fixed steering working condition when the steer-by-wire vehicle adopts the variable angle transmission ratio is solved, the dynamic setting of the angle transmission ratio can be realized while the safety of the vehicle is ensured, and the driving experience of a driver is improved.

Description

Method and device for determining angular transmission ratio, electronic equipment and storage medium
Technical Field
The present application relates to the field of vehicle control technologies, and in particular, to a method and apparatus for determining an angular transmission ratio, an electronic device, and a storage medium.
Background
steering-By-Wire (SBW) automotive steering systems have evolved based on the currently widely used electric power steering systems (Electric Power Steering, EPS). The steering column mechanical connection between the steering wheel and the steering wheels is canceled, the operation of a driver is converted into an electric signal for the steering mechanism to execute, the mechanical decoupling of the steering mechanism and the steering wheel is realized, the steering column steering system has the characteristics of flexible mechanical layout, free design of the angle transmission ratio, realization of silence or folding of the steering wheel, high collision safety and the like, is quite suitable for the requirement of an automatic driving automobile on flexible cabin arrangement, is a key technology for realizing high-level automatic driving vehicles, and is one of important development directions in the future of the automobile steering system.
At present, in the prior art, a target angular transmission ratio is matched in a vehicle speed and angular transmission ratio comparison table by acquiring the vehicle speed of a vehicle according to the vehicle speed and the association relation between the preset vehicle speed and the angular transmission ratio, or the target angular transmission ratio is calculated according to a function of the vehicle speed and the angular transmission ratio. However, in the automatic driving scene, various working conditions such as fixed speed steering, fixed steering speed change, variable steering and variable speed exist, and it is difficult to ensure the stability and safety of the vehicle operation by adjusting the angular transmission ratio only according to the speed. For example, when the steering wheel angle is unchanged and the speed is changed, the angle transmission ratio is changed to change the front wheel angle, so that the problems of inconsistent running direction and steering direction of a driver, unexpected steering and the like can occur to the vehicle, the driver intuitively senses that the direction of the vehicle is uncontrolled, and further carries out dangerous operations such as repeated steering left and right, and the driving safety is influenced.
Disclosure of Invention
The application provides a method, a device, equipment and a storage medium for determining an angular transmission ratio, which are used for solving the problem that the steering stability of a whole vehicle is reduced under a fixed steering working condition when a steer-by-wire vehicle adopts a variable angular transmission ratio, and can realize dynamic setting of the angular transmission ratio while ensuring the safety of the vehicle and improving the driving experience of a driver.
According to an aspect of the present application, there is provided a method of determining an angular transmission ratio, the method comprising:
acquiring the rotating speed of a steering wheel and the rotating angle of the steering wheel in the current period of the vehicle;
determining a steering operation state according to the rotating speed of the steering wheel and the rotating angle of the steering wheel;
the angular transmission ratio of the current cycle is determined according to the steering operation state.
According to another aspect of the present application, there is provided an angular transmission ratio determining apparatus comprising:
the steering wheel information acquisition module is used for acquiring the rotating speed of the steering wheel and the steering wheel angle in the current period of the vehicle;
the steering operation state determining module is used for determining a steering operation state according to the rotating speed of the steering wheel and the rotating angle of the steering wheel;
and the angular transmission ratio determining module is used for determining the angular transmission ratio of the current period according to the steering operation state.
According to another aspect of the present application, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of determining an angular gear ratio according to any one of the embodiments of the present application.
According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute the method of determining an angular gear ratio according to any one of the embodiments of the present application.
According to the technical scheme, the steering operation state is determined according to the steering wheel rotating speed and the steering wheel rotating angle, and then the angle transmission ratio of the current period is determined according to the steering operation state. According to the technical scheme, the problem that the steering stability of the whole vehicle is reduced under the fixed steering working condition when the steer-by-wire vehicle adopts the variable angle transmission ratio is solved, the dynamic setting of the angle transmission ratio can be realized while the safety of the vehicle is ensured, and the driving experience of a driver is improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the application or to delineate the scope of the application. Other features of the present application will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for determining an angular gear ratio according to a first embodiment of the present application;
FIG. 2A is a flow chart of a method for determining an angular gear ratio according to a second embodiment of the present application;
fig. 2B is a schematic diagram of an association relationship between a vehicle speed and a reference angle transmission ratio according to a second embodiment of the present application;
fig. 2C is a schematic diagram of dead zone processing according to a second embodiment of the present application;
FIG. 2D is a schematic diagram showing the relationship between the angular transmission ratio change rate and the absolute value of the steering wheel rotation speed according to the second embodiment of the present application;
FIG. 3 is a schematic view of a device for determining an angular transmission ratio according to a third embodiment of the present application;
fig. 4 is a schematic structural view of an electronic device implementing a method of determining an angular gear ratio according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise 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 apparatus 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. The technical scheme of the application obtains, stores, uses, processes and the like the data, which all meet the relevant regulations of national laws and regulations.
Example 1
Fig. 1 is a flowchart of a method for determining an angular transmission ratio according to an embodiment of the present application, and the embodiment is applicable to a scene for determining an angular transmission ratio in a driving scene. The method may be performed by means of angular transmission ratio determination means, which may be implemented in hardware and/or software, which means may be arranged in an electronic device. As shown in fig. 1, the method includes:
s110, acquiring the rotating speed of the steering wheel and the steering wheel rotation angle of the current period of the vehicle.
The scheme can be executed by a steer-by-wire system of the vehicle, and the steer-by-wire system can be composed of a road feel feedback assembly and a steering mechanism assembly. The road sense feedback assembly mainly comprises a steering wheel, a road sense feedback motor, a torque angle sensor, a road sense simulation controller and other components, and is used for feeding back road senses simulated by software for a driver, and meanwhile, converting a driver operating signal into a target front wheel steering angle signal. The steering mechanism mainly comprises a steering motor, a steering controller, a steering angle sensor and other components, the steering controller receives a target front wheel steering angle request sent by the road feel simulation controller through private CAN communication, and controls a steering execution motor to push front wheels to rotate to a target angle through the steering mechanism, so that front wheel steering is realized.
The flexibly designed angular transfer characteristic is a great advantage of the steer-by-wire system, which is characterized by the angular transmission ratio. The angular transmission ratio is the ratio of the steering wheel angle to the front wheel steering angle, i.eWherein I is vsr Represents the angular transmission ratio, theta sw Indicating steering wheel angle, theta fw Indicating the front wheel rotation angle.
The angular gear ratio directly affects the operational portability and stability of the vehicle steering. The angular transmission ratio is generally designed to vary over a range as the vehicle speed varies: when the vehicle speed is low, the value of the angular transmission ratio is small, and steering load of a driver is reduced under low-speed driving conditions such as turning around, reversing, warehousing and the like; when the vehicle speed is high, the angular transmission ratio is increased along with the increase of the vehicle speed, and the change trend is generally aimed at improving the maneuverability of the whole vehicle; when the vehicle speed is higher than a preset speed threshold, the increase of the angular transmission ratio is gradually gentle along with the increase of the vehicle speed, and the angular transmission ratio is kept unchanged after the maximum value of the angular transmission ratio is reached, so that the steering sensitivity of the steering wheel is reduced, and the stability of the automobile during high-speed running is improved.
The steering-by-wire system can periodically acquire information such as the steering wheel rotating speed, the steering wheel rotating angle and the vehicle speed of the vehicle. The steer-by-wire system can determine the steering wheel rotational speed according to the steering wheel rotational angle variation in a preset time period.
S120, determining a steering operation state according to the rotating speed of the steering wheel and the rotating angle of the steering wheel.
The steering-by-wire system can determine the steering operation state according to the rotating speed of the steering wheel and the rotating angle of the steering wheel, and further judge whether the current driving working condition is constant-angle steering. The steering operation state may include a fixed angle steering and a variable angle steering, among others.
S130, determining the angular transmission ratio of the current period according to the steering operation state.
It will be appreciated that the steer-by-wire system may determine the angular gear ratio of the current period of vehicle speed match in the vehicle speed angular gear ratio look-up table, and take the angular gear ratio of the vehicle speed match as the reference angular gear ratio. According to the steering operation state, the steer-by-wire system may determine whether the reference angle transmission ratio matches the steering operation state. And if the reference angle transmission ratio is not matched with the steering operation state, the angle transmission ratio of the previous period is used as the angle transmission ratio of the current period so as to realize smooth and stable steering.
According to the technical scheme, the steering operation state is determined according to the steering wheel rotating speed and the steering wheel rotating angle, and then the angle transmission ratio of the current period is determined according to the steering operation state. According to the technical scheme, the problem that the steering stability of the whole vehicle is reduced under the fixed steering working condition when the steer-by-wire vehicle adopts the variable angle transmission ratio is solved, the dynamic setting of the angle transmission ratio can be realized while the safety of the vehicle is ensured, and the driving experience of a driver is improved.
Example two
Fig. 2A is a flowchart of a method for determining an angular transmission ratio according to a second embodiment of the present application, where the determining process of the steering operation state is refined based on the above embodiment. As shown in fig. 2A, the method includes:
s210, acquiring the rotating speed of the steering wheel and the steering wheel rotation angle of the current period of the vehicle.
According to the scheme, the steering action of the driver is identified according to the steering wheel angle and the steering wheel rotating speed. It can be understood that if the steering wheel maintains a certain and non-neutral angle, it reflects that the driver is performing a continuous rudder maintaining operation, that is, maintains a certain steering angle, and if the angular transmission ratio is output according to the reference angular transmission ratio, the problems of inconsistent vehicle driving direction and expected direction of the driver, unexpected steering and the like easily occur.
Fig. 2B is a schematic diagram of an association relationship between a vehicle speed and a reference angle transmission ratio according to a second embodiment of the present application. As a specific example, the reference angular gear ratio may decrease as shown in the relationship of fig. 2B when the driver is decelerating while maintaining the steering angle. If the reference angle transmission ratio is used as the angle transmission ratio of the current period, the front wheel steering angle is increased, namely, the front wheel steering angle deflection is increased while the speed is reduced, at the moment, the steering radius of the vehicle is reduced, the over-steering trend of the whole vehicle is increased, and the situation that the subjective expectation of the rudder protection of a driver is inconsistent with the actual action of the vehicle is caused, so that dangerous working conditions are caused.
S220, determining a steering wheel median position judging result according to the steering wheel angle, and determining an angle steering type according to the steering wheel rotating speed.
In this scheme, drive-by-wire steering system can judge whether the steering wheel is in the meso position according to the steering wheel corner, simultaneously, can judge the angle steering type of driver according to the steering wheel rotational speed. Wherein the angle steering type may include constant angle steering and variable angle steering.
In this aspect, optionally, the steering wheel neutral position determination result includes a steering wheel neutral position and a steering wheel non-neutral position;
the determining the median decision result of the steering wheel according to the steering wheel angle comprises the following steps:
if the steering wheel angle meets the preset steering wheel median judging condition, determining that the steering wheel is in the median;
if the steering wheel angle does not meet the preset steering wheel median judging condition, determining that the steering wheel is not in the median;
the determining the angle steering type according to the rotating speed of the steering wheel comprises the following steps:
dead zone processing is carried out on the steering wheel rotating speed, and the steering wheel rotating speed after dead zone processing is compared with a preset rotating speed threshold value;
if the steering wheel rotating speed after the dead zone processing is smaller than a preset rotating speed threshold value, determining that the angle steering type is fixed angle steering;
and if the steering wheel rotating speed after the dead zone processing is greater than or equal to a preset rotating speed threshold value, determining that the angle steering type is angle-variable steering.
Specifically, for determining the median determination result of the steering wheel, the steer-by-wire system may preset a median determination condition of the steering wheel, where the median determination condition of the steering wheel may be a median threshold of the steering wheel. The steering-by-wire system can take the absolute value of the steering wheel angle, compare the absolute value of the steering wheel angle with the median threshold of the steering wheel, and judge whether the steering wheel is in the median or not according to the comparison result. If the steering wheel angle absolute value is greater than or equal to the steering wheel median threshold, determining that the steering wheel is not in the median. If the steering wheel angle absolute value is smaller than the steering wheel median threshold value, the steering wheel is determined to be in the median position.
For the determination of the angle steering type, the steer-by-wire system can take the absolute value of the steering wheel rotating speed and perform low-pass filtering processing to realize the smoothing of the steering wheel rotating speed signal. The steer-by-wire system may perform dead zone processing on the filtered steering wheel speed, and compare the steering wheel speed after dead zone processing with a preset speed threshold to determine an angle steering type. Fig. 2C is a schematic diagram of dead zone processing according to a second embodiment of the present application, as shown in fig. 2C, the input steering wheel speed may be a filtered steering wheel speed, and the output steering wheel speed is a steering wheel speed after dead zone processing. If the input steering wheel speed is within the preset speed threshold rangeIn, the output steering wheel rotating speed is the input steering wheel rotating speed; if the input steering wheel speed is within the preset speed threshold range +.>And if the output steering wheel rotating speed is 0. Dead zone processing is advantageous in reducing the sensitivity to minor movements while the driver is preserving rudder.
After the dead zone processing, the steer-by-wire system may compare the steering wheel speed output by the dead zone processing to a preset speed threshold. If the steering wheel rotating speed after dead zone processing is smaller than a preset rotating speed threshold value, determining that the angle steering type is fixed angle steering; and if the steering wheel rotating speed after the dead zone processing is greater than or equal to a preset rotating speed threshold value, determining that the angle steering type is angle-variable steering.
S230, determining a steering operation state according to the steering wheel median determination result and the angle steering type.
It is easy to understand that, after the steering wheel neutral position determination result and the angle steering type are obtained, the steer-by-wire system can determine the steering operation state based on the steering wheel neutral position determination result and the angle steering type.
In one possible implementation, the determining the steering operation state according to the steering wheel median determination result and the angle steering type includes:
if the steering wheel is not in the middle position and the angle steering type is fixed angle steering, determining that the steering operation state is fixed angle steering;
if the steering wheel is in the neutral position or the angle steering type is the variable angle steering, the steering operation state is determined to be the variable angle steering.
The steer-by-wire system may set a steering operation status flag bit, 1 indicating a constant angle steering, and 0 indicating a variable angle steering. If the steering wheel is not in the middle position and the angle steering type is constant angle steering, the steering operation state flag bit is assigned to 1, and if the steering wheel is in the middle position or the angle steering type is variable angle steering, the steering operation state flag bit is assigned to 0.
S240, determining the angular transmission ratio of the current period according to the steering operation state.
In a preferred embodiment, the determining the angular transmission ratio of the current cycle according to the steering operation state includes:
if the steering operation state is a fixed angle steering, taking the angle transmission ratio of the previous period obtained in advance as the angle transmission ratio of the current period;
if the steering operation state is the variable angle steering, determining the position of the steering wheel, and determining the angular transmission ratio of the current period according to the position of the steering wheel.
If the steering operation state is the fixed angle steering, the angular transmission ratio of the previous period is taken as the angular transmission ratio of the current period. If the steering operating condition is variable angle steering, the steer-by-wire system may further determine a steering wheel position, and compare the steering wheel position to a preset position threshold to determine an angular gear ratio for the current period.
Optionally, the determining the angular transmission ratio of the current period according to the steering wheel position includes:
comparing the steering wheel position with a preset position threshold value, and determining a steering wheel turning angle overrun judgment result;
if the steering wheel angle overrun is determined according to the steering wheel angle overrun determination result, taking the angle transmission ratio of the previous period obtained in advance as the angle transmission ratio of the current period;
if the steering wheel angle is determined not to be overrun according to the steering wheel angle overrun determination result, taking the predetermined reference angle transmission ratio as the angle transmission ratio of the current period; the reference angular transmission ratio is the angular transmission ratio matched with the vehicle speed in the current period in the vehicle speed angular transmission ratio comparison table.
It will be appreciated that the position threshold may be a soft dead point of the steering wheel position, which may be determined based on a limit steering angle of the drive-by-wire steering system, which may be achieved by a resistive torque generated by a software controlled road-sensing motor that is opposite to the steering direction.
It should be noted that, the electric power steering system generally only has a hard stop, i.e. a rack limit position, and the steering wheel angle is unchanged corresponding to the hard stop. Because the drive-by-wire steering system adopts a variable angular transmission ratio, the limit position can be controlled through software, and therefore, at a lower vehicle speed, the steering wheel angle corresponding to the soft dead center is usually smaller than the hard dead center position of the electric power steering system. Angle θ of soft dead point sw_lim The calculation formula of (2) can be expressed as: θ sw_lim ＝I vsr ×θ fw_max 。
If the steering wheel angle is larger than the soft dead point angle, namely theta sw >θ sw_lim Determining that the steering wheel angle exceeds the limit; when the steering wheel angle is less than or equal to the soft dead point angle, i.e. θ sw ≤θ sw_lim And determining that the steering wheel angle is not overrun. If the steering wheel angle exceeds the limit, taking the angle transmission ratio of the previous period obtained in advance as the angle transmission ratio of the current period; if the direction isAnd if the disk rotation angle is not exceeded, taking the predetermined reference angular transmission ratio as the angular transmission ratio of the current period. The reference angular transmission ratio is an angular transmission ratio of the vehicle speed matching of the current period in the vehicle speed angular transmission ratio comparison table.
In this embodiment, after determining the angular gear ratio of the current cycle, the method further comprises:
determining the change rate of the angular transmission ratio according to the angular transmission ratio of the previous period and the angular transmission ratio of the current period;
outputting the angular transmission ratio of the current period according to the angular transmission ratio change rate and the change rate limit value; wherein the change rate limit value and the absolute value of the steering wheel rotating speed in the current period are in a negative correlation relationship.
After the angular transmission ratio of the current period is determined, the steer-by-wire system can realize stable adjustment of the angular transmission ratio through the change rate limit value, so that severe change of the front wheel steering angle caused by large change of the angular transmission ratio of two adjacent periods is avoided, and further the driving operation stability is influenced. The steer-by-wire system can determine the change rate of the angular transmission ratio according to the angular transmission ratio of the previous period and the angular transmission ratio of the current period, and output the angular transmission ratio of the current period according to the comparison result of the change rate of the angular transmission ratio and the change rate limit value.
Fig. 2D is a schematic diagram of the relationship between the angular transmission ratio change rate and the absolute value of the steering wheel rotation speed according to the second embodiment of the present application. As shown in fig. 2D, the abscissa is the absolute value of the steering wheel rotational speed, and the ordinate is the change rate limit of the angular transmission ratio. The steer-by-wire system may determine a matched rate of change limit based on the steering wheel speed for the current period. If the change rate of the angular transmission ratio of the current period does not exceed the change rate limit value, outputting the angular transmission ratio of the current period; if the angular transmission ratio change rate of the current period exceeds the change rate limit value, calculating the angular transmission ratio of the current period according to the change rate limit value and the angular transmission ratio of the previous period so as to ensure the smooth transition of the angular transmission ratios of the adjacent two periods.
According to the technical scheme, the steering operation state is determined according to the steering wheel rotating speed and the steering wheel rotating angle, and then the angle transmission ratio of the current period is determined according to the steering operation state. According to the technical scheme, the problem that the steering stability of the whole vehicle is reduced under the fixed steering working condition when the steer-by-wire vehicle adopts the variable angle transmission ratio is solved, the dynamic setting of the angle transmission ratio can be realized while the safety of the vehicle is ensured, and the driving experience of a driver is improved.
Example III
Fig. 3 is a schematic structural diagram of a device for determining an angular transmission ratio according to a third embodiment of the present application. As shown in fig. 3, the apparatus includes:
a steering wheel information obtaining module 310, configured to obtain a steering wheel rotation speed and a steering wheel rotation angle of a current cycle of the vehicle;
a steering operation state determining module 320, configured to determine a steering operation state according to the steering wheel rotation speed and the steering wheel rotation angle;
the angular transmission ratio determination module 330 is configured to determine an angular transmission ratio of a current cycle according to a steering operation state.
In this aspect, optionally, the steering operation state determining module 320 includes:
the steering wheel information judging unit is used for determining a steering wheel median judging result according to the steering wheel angle and determining an angle steering type according to the steering wheel rotating speed;
and the steering operation state determining unit is used for determining the steering operation state according to the steering wheel median position judging result and the angle steering type.
On the basis of the scheme, optionally, the steering wheel neutral position judging result comprises steering wheel neutral position and steering wheel non-neutral position;
the steering wheel information judging unit comprises a middle position judging sub-unit, and the middle position judging sub-unit is specifically used for:
if the steering wheel angle meets the preset steering wheel median judging condition, determining that the steering wheel is in the median;
if the steering wheel angle does not meet the preset steering wheel median judging condition, determining that the steering wheel is not in the median;
the steering wheel information judging unit further comprises an angle steering type determining sub-unit, wherein the angle steering type determining sub-unit is specifically used for:
dead zone processing is carried out on the steering wheel rotating speed, and the steering wheel rotating speed after dead zone processing is compared with a preset rotating speed threshold value;
if the steering wheel rotating speed after the dead zone processing is smaller than a preset rotating speed threshold value, determining that the angle steering type is fixed angle steering;
and if the steering wheel rotating speed after the dead zone processing is greater than or equal to a preset rotating speed threshold value, determining that the angle steering type is angle-variable steering.
In one possible solution, the steering operation state determining unit is specifically configured to:
if the steering wheel is not in the middle position and the angle steering type is fixed angle steering, determining that the steering operation state is fixed angle steering;
if the steering wheel is in the neutral position or the angle steering type is the variable angle steering, the steering operation state is determined to be the variable angle steering.
Based on the above, the angular transmission ratio determining module 330 includes:
the first angular transmission ratio determining unit is used for taking the angular transmission ratio of the previous period acquired in advance as the angular transmission ratio of the current period if the steering operation state is the fixed-angle steering;
and the second angular transmission ratio determining unit is used for determining the position of the steering wheel if the steering operation state is the variable-angle steering, and determining the angular transmission ratio of the current period according to the position of the steering wheel.
On the basis of the above scheme, optionally, the second angular transmission ratio determining unit is specifically configured to:
comparing the steering wheel position with a preset position threshold value, and determining a steering wheel turning angle overrun judgment result;
if the steering wheel angle overrun is determined according to the steering wheel angle overrun determination result, taking the angle transmission ratio of the previous period obtained in advance as the angle transmission ratio of the current period;
if the steering wheel angle is determined not to be overrun according to the steering wheel angle overrun determination result, taking the predetermined reference angle transmission ratio as the angle transmission ratio of the current period; the reference angular transmission ratio is the angular transmission ratio matched with the vehicle speed in the current period in the vehicle speed angular transmission ratio comparison table.
In a preferred embodiment, the apparatus further comprises:
the change rate determining module is used for determining the change rate of the angular transmission ratio according to the angular transmission ratio of the previous period and the angular transmission ratio of the current period;
the angular transmission ratio output module is used for outputting the angular transmission ratio of the current period according to the angular transmission ratio change rate and the change rate limit value; wherein the change rate limit value and the absolute value of the steering wheel rotating speed in the current period are in a negative correlation relationship.
The angular transmission ratio determining device provided by the embodiment of the application can execute the angular transmission ratio determining method provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of the executing method.
Example IV
Fig. 4 shows a schematic diagram of an electronic device 410 that may be used to implement an embodiment of the application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the applications described and/or claimed herein.
As shown in fig. 4, the electronic device 410 includes at least one processor 411, and a memory, such as a Read Only Memory (ROM) 412, a Random Access Memory (RAM) 413, etc., communicatively connected to the at least one processor 411, wherein the memory stores computer programs executable by the at least one processor, and the processor 411 may perform various suitable actions and processes according to the computer programs stored in the Read Only Memory (ROM) 412 or the computer programs loaded from the storage unit 418 into the Random Access Memory (RAM) 413. In the RAM 413, various programs and data required for the operation of the electronic device 410 may also be stored. The processor 411, the ROM 412, and the RAM 413 are connected to each other through a bus 414. An input/output (I/O) interface 415 is also connected to bus 414.
Various components in the electronic device 410 are connected to the I/O interface 415, including: an input unit 416 such as a keyboard, a mouse, etc.; an output unit 417 such as various types of displays, speakers, and the like; a storage unit 418, such as a magnetic disk, optical disk, or the like; and a communication unit 419 such as a network card, modem, wireless communication transceiver, etc. The communication unit 419 allows the electronic device 410 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The processor 411 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 411 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 411 performs the various methods and processes described above, such as the determination of the angular gear ratio.
In some embodiments, the method of determining the angular gear ratio may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 418. In some embodiments, some or all of the computer program may be loaded and/or installed onto the electronic device 410 via the ROM 412 and/or the communication unit 419. When the computer program is loaded into RAM 413 and executed by processor 411, one or more steps of the method of determining an angular gear ratio described above may be performed. Alternatively, in other embodiments, the processor 411 may be configured to perform the method of determining the angular gear ratio in any other suitable way (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable angular transmission ratio determination device, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present application, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present application may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present application are achieved, and the present application is not limited herein.
The above embodiments do not limit the scope of the present application. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of the present application.

Claims (10)

1. A method of determining an angular transmission ratio, the method comprising:
acquiring the rotating speed of a steering wheel and the rotating angle of the steering wheel in the current period of the vehicle;
determining a steering operation state according to the rotating speed of the steering wheel and the rotating angle of the steering wheel;
the angular transmission ratio of the current cycle is determined according to the steering operation state.
2. The method of claim 1, wherein determining the steering operating condition based on the steering wheel speed and the steering wheel angle comprises:
determining a steering wheel median decision result according to the steering wheel angle, and determining an angle steering type according to the steering wheel rotating speed;
and determining a steering operation state according to the steering wheel median determination result and the angle steering type.
3. The method of claim 2, wherein the steering wheel neutral position determination comprises steering wheel neutral position and steering wheel non-neutral position;
the determining the median decision result of the steering wheel according to the steering wheel angle comprises the following steps:
if the steering wheel angle meets the preset steering wheel median judging condition, determining that the steering wheel is in the median;
if the steering wheel angle does not meet the preset steering wheel median judging condition, determining that the steering wheel is not in the median;
the determining the angle steering type according to the rotating speed of the steering wheel comprises the following steps:
dead zone processing is carried out on the steering wheel rotating speed, and the steering wheel rotating speed after dead zone processing is compared with a preset rotating speed threshold value;
if the steering wheel rotating speed after the dead zone processing is smaller than a preset rotating speed threshold value, determining that the angle steering type is fixed angle steering;
and if the steering wheel rotating speed after the dead zone processing is greater than or equal to a preset rotating speed threshold value, determining that the angle steering type is angle-variable steering.
4. A method according to claim 3, wherein said determining a steering operation state based on the steering wheel neutral determination result and the angle steering type comprises:
if the steering wheel is not in the middle position and the angle steering type is fixed angle steering, determining that the steering operation state is fixed angle steering;
if the steering wheel is in the neutral position or the angle steering type is the variable angle steering, the steering operation state is determined to be the variable angle steering.
5. The method of claim 4, wherein determining the angular gear ratio of the current cycle based on the steering operating condition comprises:
if the steering operation state is a fixed angle steering, taking the angle transmission ratio of the previous period obtained in advance as the angle transmission ratio of the current period;
if the steering operation state is the variable angle steering, determining the position of the steering wheel, and determining the angular transmission ratio of the current period according to the position of the steering wheel.
6. The method of claim 5, wherein determining the angular gear ratio of the current cycle based on the steering wheel position comprises:
comparing the steering wheel position with a preset position threshold value, and determining a steering wheel turning angle overrun judgment result;
if the steering wheel angle overrun is determined according to the steering wheel angle overrun determination result, taking the angle transmission ratio of the previous period obtained in advance as the angle transmission ratio of the current period;
if the steering wheel angle is determined not to be overrun according to the steering wheel angle overrun determination result, taking the predetermined reference angle transmission ratio as the angle transmission ratio of the current period; the reference angular transmission ratio is the angular transmission ratio matched with the vehicle speed in the current period in the vehicle speed angular transmission ratio comparison table.
7. The method of claim 1, wherein after determining the angular gear ratio for the current cycle, the method further comprises:
determining the change rate of the angular transmission ratio according to the angular transmission ratio of the previous period and the angular transmission ratio of the current period;
outputting the angular transmission ratio of the current period according to the angular transmission ratio change rate and the change rate limit value; wherein the change rate limit value and the absolute value of the steering wheel rotating speed in the current period are in a negative correlation relationship.
8. An angular transmission ratio determining device, comprising:
the steering wheel information acquisition module is used for acquiring the rotating speed of the steering wheel and the steering wheel angle in the current period of the vehicle;
the steering operation state determining module is used for determining a steering operation state according to the rotating speed of the steering wheel and the rotating angle of the steering wheel;
and the angular transmission ratio determining module is used for determining the angular transmission ratio of the current period according to the steering operation state.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of determining an angular gear ratio of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to perform the method of determining an angular gear ratio according to any one of claims 1-7.
CN202310973321.9A 2023-08-03 2023-08-03 Method and device for determining angular transmission ratio, electronic equipment and storage medium Pending CN116985892A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310973321.9A CN116985892A (en) 2023-08-03 2023-08-03 Method and device for determining angular transmission ratio, electronic equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310973321.9A CN116985892A (en) 2023-08-03 2023-08-03 Method and device for determining angular transmission ratio, electronic equipment and storage medium

Publications (1)

Publication Number Publication Date
CN116985892A true CN116985892A (en) 2023-11-03

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Country Status (1)

Country Link
CN (1) CN116985892A (en)

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