CN117508335A - Method, system, vehicle and storage medium for realizing steering wheel return after parking - Google Patents
Method, system, vehicle and storage medium for realizing steering wheel return after parking Download PDFInfo
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- CN117508335A CN117508335A CN202311624033.9A CN202311624033A CN117508335A CN 117508335 A CN117508335 A CN 117508335A CN 202311624033 A CN202311624033 A CN 202311624033A CN 117508335 A CN117508335 A CN 117508335A
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- 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
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Abstract
The application provides a method, a system, a vehicle and a storage medium for realizing steering wheel return after parking, wherein the method comprises the following steps: calculating the steering friction force of the tire according to the type of the road surface where the current vehicle is located after parking; acquiring a target reverse angle of a steering wheel of the current vehicle according to the steering wheel angle information of the current vehicle; executing a request instruction for returning the reverse torque of the steering wheel and outputting a reverse torque signal of the steering wheel of the vehicle only when the reverse request of the steering wheel reaches the target reverse angle and exceeds the preset stay time; and canceling the steering friction force between the steering wheel and the tire of the vehicle through the reverse torque signal so as to keep the steering wheel to be aligned after parking. According to the method and the device, the types of different floors are identified, the friction force between the vehicle tire and the different floors is calculated, the torque signal of the vehicle steering wheel is obtained to offset the friction force between the steering wheel and the floors, the steering wheel is prevented from rebounding, the steering wheel returns to the normal position smoothly after parking is completed, and therefore the effect of good parking user experience is achieved.
Description
Technical Field
The application belongs to the technical field of automatic parking, and particularly relates to a method, a system, a vehicle and a storage medium for realizing steering wheel alignment after parking.
Background
With the vigorous development of the automobile industry, people not only stay on the past power performance and comfort for the automobile functionality and completeness, but also stand on an automobile stage in order of safety auxiliary performance, wherein an automatic parking system is a driving auxiliary system function which is toughen by people in recent years, the intelligence of automatic parking is also more and more important, and the safety of the parking process of the automatic parking system is particularly important. The automatic parking is small enough to achieve the purpose of substituting a passenger for parking, and in the whole parking process, the action of returning the steering wheel in situ finally exists, but due to the fact that the friction force exists between the tire and the ground, the back of the steering wheel is caused when the steering wheel is required to return, the back of the friction force exists when the steering wheel is required to return, the steering wheel is not returned after the steering wheel is returned, the experience effect is poor, the user is not satisfied, and the comfort of the user is reduced.
Disclosure of Invention
Aiming at the defects of the prior art, the application provides a method, a system, a vehicle and a storage medium for realizing steering wheel alignment after parking, wherein the method calculates the friction force between a vehicle tire and different grounds by identifying different ground types, counteracts the friction force between the steering wheel and the ground by acquiring a torque signal of the steering wheel of the vehicle, avoids steering wheel rebound, and enables the steering wheel to be aligned smoothly after parking is finished so as to achieve the effect of comfortable experience of a parking user.
In order to achieve the above purpose, the present application provides a method for achieving steering wheel alignment after parking, which mainly includes:
s1: and calculating the steering friction force of the tire according to the type of the road surface where the current vehicle is parked.
S2: and acquiring a target reverse angle of the steering wheel of the current vehicle according to the EPS steering wheel angle information of the current vehicle.
S3: and executing a request instruction for returning the reverse torque of the steering wheel only when the control steering wheel reverse request reaches the target reverse angle for more than the preset stay time, and outputting a reverse torque signal of the steering wheel of the vehicle.
S4: and canceling the steering friction force between the steering wheel and the tire of the vehicle through the reverse torque signal so as to keep the steering wheel to be aligned after parking.
In the present application, before the step S1, the method further includes:
responding to a vehicle parking completion signal, and acquiring road surface information of the current vehicle after parking; and judging and outputting the type of the road surface where the current vehicle is located after parking according to the road surface information.
In this application, the step S1 specifically includes:
and calculating the steering friction force of the tire according to the friction coefficient between the road surface type and the tire, the load of the steering shaft of the tire and the air pressure of the tire.
In this application, the step S2 specifically includes:
converting the EPS steering wheel angle information into an actual steering wheel angle value; and calculating the target reverse angle of the current vehicle steering wheel according to the actual steering wheel angle value.
In the present application, before the step S3, the method further includes:
controlling the steering wheel to obtain a steering wheel angle set required to be requested reversely at different angles and under different road surface types by a primary calibration mode, and constructing a calibration table; and acquiring the target reverse angle according to the calibration table.
In the application, the counteracting the steering friction force between the steering wheel and the tire through the reverse torque signal is specifically:
acquiring EPS steering wheel angle information adjusted by the current vehicle through the reverse torque signal; and counteracting steering force of the steering wheel caused by the steering friction force of the tire according to the adjusted EPS steering wheel angle information.
In order to achieve the above object, the present application further provides a steering wheel alignment implementation system after parking, the implementation system comprising:
the device comprises a first processing unit, a second processing unit, a third processing unit and a fourth processing unit.
The first processing unit is used for calculating the steering friction force of the tire according to the type of the road surface where the current vehicle is located after parking.
The second processing unit is used for acquiring a target reverse angle of the steering wheel of the current vehicle according to the EPS steering wheel angle information of the current vehicle.
The third processing unit is used for executing a request instruction of returning the reverse torque of the forward steering wheel and outputting a reverse torque signal of the steering wheel of the vehicle only when the reverse request of the steering wheel reaches the target reverse angle and exceeds the preset stay time.
And the fourth processing unit is used for counteracting the steering friction force between the steering wheel and the tire of the vehicle through the reverse torque signal so as to keep the steering wheel to be aligned after parking.
Further, the implementation system further includes:
the data acquisition unit is used for responding to a vehicle parking completion signal and acquiring road surface information of the current vehicle after parking; and judging and outputting the type of the road surface where the current vehicle is located after parking according to the road surface information.
To achieve the above object, the present application further provides a vehicle including at least the steering wheel return achieving system after parking as described in any one of the above.
In order to achieve the above object, the present application further provides a storage medium, which is one of computer readable storage media, and has a computer program stored thereon, where the computer program, when executed by a processor, implements the method for implementing steering wheel return after parking as described in any one of the above.
Compared with the prior art, the application has the beneficial effects that:
according to the method, the system, the vehicle and the storage medium for realizing steering wheel alignment after parking, the friction force between the vehicle tire and different floors is calculated by identifying different floor types, and the friction force between the steering wheel and the floors is counteracted by acquiring the torque signal of the steering wheel of the vehicle, so that the steering wheel is prevented from rebounding, the steering wheel is smoothly aligned after parking is finished, and the steering wheel alignment after parking is kept from rebounding again after the steering friction force between the steering wheel and the tire is counteracted by the reverse torque signal, so that the effect of comfortable experience of a parking user is achieved.
Drawings
Fig. 1 is a flowchart of a method for implementing steering wheel return after parking according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a steering wheel return implementation system after parking according to an embodiment of the present application.
Detailed Description
For the purposes, technical solutions and advantages of the embodiments of the present application to be more apparent, the technical solutions will be clearly and completely described below in connection with the embodiments of the present application. It will be apparent that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
Embodiment one:
as shown in fig. 1, in order to solve the above technical problem, the present application provides a method for implementing steering wheel alignment after parking, and it should be noted that in the prior art, after a vehicle is parked and the steering wheel is requested to return to zero degrees in situ, if the steering wheel exits from handshake control at this time, the steering wheel will rebound due to friction force between a tire and a road surface, resulting in no alignment of the steering wheel after parking, and the experience effect is very poor.
In this embodiment, the implementation method mainly includes:
s1: and calculating the steering friction force of the tire according to the type of the road surface where the current vehicle is parked.
After the vehicle is parked, namely, after a signal that the vehicle has braked is detected, the road surface information of the current position of the vehicle is identified through the looking-around camera. And judging and outputting the type of the road surface where the current vehicle is located after parking according to the road surface information.
Preferably, the road surface type includes at least an asphalt road surface or a muddy soil road surface, etc., without being limited thereto.
Further, the coefficient of friction and thus the friction force required for a vehicle tire to contact different road types may vary from one specific application to another.
In the present embodiment, the tire steering friction force is calculated based on the friction coefficient between the road surface type and the tire, the tire steering shaft load, and the tire air pressure.
Further, by the in-situ steering resistance moment empirical formula:wherein, fr is the friction force between the in-situ steering tire and the ground, f is the friction coefficient between the tire and the ground, different friction forces are obtained according to the result of road surface type identification, G is the load of the steering shaft and is related to the axle weight of the vehicle; p is the tire pressure Mpa; the current steering friction is calculated.
Preferably, the corresponding friction coefficient (f) is obtained according to the recognition result of the road surface type, for example, it may be 0.7 for an asphalt road surface, it may be 0.9 for a concrete road surface, or the like.
Steering axle load is typically a parameter related to the tires and suspension system of the vehicle. This value needs to be obtained according to the vehicle model and specification. Tire pressure is a known value, typically in megapascals (MPa).
Assuming that the current vehicle is parked on the asphalt road after parking, the friction coefficient f=0.7 is obtained.
Let the steering shaft load g=800N.
Let the tire pressure p=2.4 MPa.
As is clear from the above, fr in the present embodiment is calculated to be about 3408N, and is not limited to this.
The current steering friction force can be calculated by applying the modified in-situ steering resistance moment empirical formula through parameters such as road surface type, friction coefficient, steering shaft load, tire pressure and the like. This calculation process can be adjusted and optimized according to the specific vehicle and the actual situation.
S2: and acquiring a target reverse angle of the steering wheel of the current vehicle according to the EPS steering wheel angle information of the current vehicle.
Further, in this embodiment, the step S2 specifically includes:
converting the EPS steering wheel angle information into an actual steering wheel angle value; and calculating the target reverse angle of the current vehicle steering wheel according to the actual steering wheel angle value.
It should be noted that EPS systems typically provide an angle information indicating the position of the steering wheel. This may be output in the form of a voltage, current or digital signal.
The obtained EPS steering wheel angle information may need to be processed by a corresponding Electronic Control Unit (ECU) to be converted into an actual steering wheel angle value. Where appropriate conversion is also required depending on the design and calibration of the system.
The target reverse angle can be calculated according to a specific algorithm or formula by obtaining the actual steering wheel angle value. This involves making some adjustments or calculations to the current steering wheel angle to determine an accurate target value for the reverse torque request.
For example, assume that the actual steering wheel angle value is expressed in angular units (e.g., degrees) ranging from-180 to 180. In this example, the target reverse angle may be calculated by the following formula:
target reverse angle = -1 actual steering wheel angle
The meaning of this formula is to take the actual steering wheel angle negative to get the target angle in the opposite direction. For example, if the actual steering wheel angle is 30 °, the target reverse angle is-30 °.
In the present embodiment, the specific implementation may be different according to the vehicle type and EPS system design, and is not limited thereto.
Assume that the EPS steering wheel angle information is represented as a voltage value in the range of 0V to 5V.
It is assumed that within this range 0V corresponds to a full left turn of the steering wheel and 5V corresponds to a full right turn of the steering wheel.
It is assumed that a linear relationship between the actual steering wheel angle and the voltage value is determined during the calibration process.
The target reverse angle of the current vehicle steering wheel can be obtained by converting the acquired EPS steering wheel angle information into an actual steering wheel angle value and applying a specific calculation mode. This target reverse angle will be used for subsequent steps such as requesting reverse torque and steering wheel return.
S3: and executing a request instruction for returning the reverse torque of the steering wheel only when the control steering wheel reverse request reaches the target reverse angle for more than the preset stay time, and outputting a reverse torque signal of the steering wheel of the vehicle.
In this embodiment, before the step S3, the method further includes:
controlling the steering wheel to obtain a steering wheel angle set required to be requested reversely at different angles and under different road surface types by a primary calibration mode, and constructing a calibration table; and acquiring the target reverse angle according to the calibration table.
After the automatic parking is completed, the system acquires the current EPS steering wheel angle information, controls the steering wheel to reversely request to reach the calibrated angle to stop for a preset 500ms in a table look-up mode according to the current angle information, and then requests to return to the positive steering wheel angle so as to offset the friction force between the tire and the ground after the system exits from the handshake, and ensures that the steering wheel returns to the range of 0+/-5 degrees. Wherein the preset time can be calibrated to change.
The purpose of the calibration table is to eliminate the in-situ request of the steering wheel, the friction force between the tire and the ground, the steering wheel is controlled at different angles through the acquisition system, the steering wheel reverse rebound angles under different grounds are different, and the steering wheel angle required to be requested reversely is calibrated, so that the friction force is eliminated.
In this embodiment, the calibration process is:
after parking is completed, the system controls the steering wheel to reversely request to reach a calibrated angle according to the current angle information by collecting the current angle information of the EPS steering wheel. The recording system controls the reverse rebound angle of the steering wheel at different steering wheel angles and different road types.
And then the collected reverse rebound angles under different angles and different road surface types are arranged into a calibration table. This table records the steering wheel angle that is required to reverse the request under different conditions.
The execution process is as follows:
when steering wheel return is needed, the system acquires EPS steering wheel angle information of the current vehicle. And searching a corresponding target reverse angle according to the current EPS steering wheel angle information by using the calibration table constructed before. This target angle is calibrated to eliminate friction effects.
After the target reverse angle is obtained through table look-up, the system controls the steering wheel to reversely request to reach the target angle. After the target reverse angle is reached, the system will stay for a preset time, e.g., 500ms.
Then, after a preset dwell time, the system requests a positive steering wheel angle again to ensure that the steering wheel is back within a predetermined 0 deg. + -5 deg..
Through the implementation process, the system can offset the friction force between the tire and the ground after exiting from the handshake, and the accuracy and stability of steering wheel alignment are ensured.
Through the calibration process, the system obtains the reverse rebound angle of the steering wheel under different conditions, so that the steering wheel angle of the reverse request can be adjusted according to actual conditions, and the influence of friction force is eliminated.
The construction of the calibration table enables the system to more accurately select a proper target reverse angle, and improves the steering wheel alignment effect.
By collecting reverse rebound angles under different road surface types, the system becomes more flexible, and a proper steering wheel reverse request strategy can be selected according to actual road conditions.
In conclusion, the automatic parking system can be better adapted to different environmental conditions through the calibration process and the implementation of the reverse request, and the accuracy and the stability of steering wheel alignment after parking are improved.
S4: and canceling the steering friction force between the steering wheel and the tire of the vehicle through the reverse torque signal so as to keep the steering wheel to be aligned after parking.
In the application, the counteracting the steering friction force between the steering wheel and the tire through the reverse torque signal is specifically:
acquiring EPS steering wheel angle information adjusted by the current vehicle through the reverse torque signal; and counteracting steering force of the steering wheel caused by the steering friction force of the tire according to the adjusted EPS steering wheel angle information.
It should be noted that, through the above steps, the system may obtain a reverse torque signal from the calibration table, where the reverse torque signal is used to counteract the steering wheel and tire steering friction.
After the step S3 is executed, the steering wheel of the vehicle is requested to be reversed and returned, and at this time, the EPS steering wheel angle information adjusted by the vehicle is obtained.
With the reverse torque signal, the system counteracts steering wheel steering forces caused by tire steering friction by adjusting the EPS steering wheel angle information. This involves adjusting the output of the electric assist system to reduce or counteract the steering force generated by the friction.
At this time, the reverse torque of the steering wheel is required to be recovered through a real vehicle bus signal, and after the corresponding counteracting torque is read, the steering wheel handshake control is carried out to achieve the stable recovery state (0+/-5 degrees) after the steering wheel is recovered, and the steering wheel handshake control is not limited to the recovery state.
Through real-time adjustment, the system ensures that the steering wheel is maintained at a preset target reverse angle so as to maintain the steering wheel in a return state after parking. This helps to improve the driving experience and stability of the vehicle.
In this embodiment, the application of the reverse torque signal can effectively counteract the steering force of the steering wheel caused by the friction between the tire and the ground, ensuring that the steering wheel is able to return to a predetermined angle.
By acquiring and applying the reverse torque signal in real time, the system can more accurately adjust the steering wheel and improve the return effect of the steering wheel after parking.
In other embodiments, different road types and environmental conditions may cause variations in friction, and real-time adjustment of the system can adapt it to different driving scenarios.
In summary, an embodiment of the present invention provides a method for identifying an adaptive parking mode, which performs detailed analysis and illustration, identifies a current road surface type through a looking-around camera, calculates a tire steering friction force, obtains EPS steering wheel angle information, and constructs a calibration table through a one-time calibration manner, so as to implement adaptive control of steering wheel alignment after parking. And acquiring current road surface type information through the looking-around camera, and calculating the steering friction force of the tire according to the road surface type. Meanwhile, calculation of a target reverse angle and reverse request of control of the steering wheel are achieved by acquiring angle information of the EPS steering wheel. And obtaining the steering wheel reverse rebound angles under different angles and different road surface types in a one-time calibration mode, and constructing a calibration table. The calibration table is used for acquiring a target reverse angle according to the current EPS steering wheel angle information so as to eliminate the influence of the friction force between the tire and the ground. By acquiring the reverse torque signal, the system achieves the function of counteracting the steering friction force between the steering wheel and the tire of the vehicle, and keeps the steering wheel in the right direction after parking. According to the steering wheel steering system, the friction force can be effectively counteracted by the system in the steering wheel aligning process after parking, and stable driving experience is provided.
Embodiment two:
in order to solve the above technical problems, as shown in fig. 2, the present application further provides a steering wheel alignment system after parking, and it should be noted that the system may enable the steering wheel after parking to be aligned and not rebound.
The implementation system comprises:
the device comprises a first processing unit, a second processing unit, a third processing unit and a fourth processing unit.
The first processing unit is used for calculating the steering friction force of the tire according to the type of the road surface where the current vehicle is located after parking.
The first processing unit is used for calculating the steering friction force of the tire, and calculating the steering friction force between the tire and the ground by using a preset friction coefficient or friction force model according to the type of the road surface where the current vehicle is parked.
And providing input data for subsequent processing by acquiring the steering friction force between the tire and the ground under the current road surface.
The second processing unit is used for acquiring a target reverse angle of the steering wheel of the current vehicle according to the EPS steering wheel angle information of the current vehicle.
It should be noted that, the second processing unit is configured to obtain the target reverse angle, and calculate the target reverse angle of the steering wheel of the current vehicle according to the angle information of the EPS steering wheel of the current vehicle by using a calibration table or an algorithm. This angle is calibrated to counteract the effect of the friction between the tire and the ground.
By determining a target steering wheel reversal angle, a target value is provided for controlling a steering wheel reversal request.
The third processing unit is used for executing a request instruction of returning the reverse torque of the forward steering wheel and outputting a reverse torque signal of the steering wheel of the vehicle only when the reverse request of the steering wheel reaches the target reverse angle and exceeds the preset stay time.
It should be noted that the third processing unit is aimed at executing the reverse request and outputting the reverse torque signal, detecting whether the current steering wheel has reached the target reverse angle according to the target reverse angle reached by the control steering wheel reverse request and the preset residence time, and monitoring whether the duration exceeds the preset residence time. If the condition is satisfied, a request command to return the reverse torque of the forward steering wheel is executed, and a reverse torque signal of the vehicle steering wheel is output.
The vehicle steering wheel is returned by controlling the execution of the steering wheel reverse request and outputting a reverse torque signal.
And the fourth processing unit is used for counteracting the steering friction force between the steering wheel and the tire of the vehicle through the reverse torque signal so as to keep the steering wheel to be aligned after parking.
It should be noted that the fourth processing unit is aimed at counteracting the steering friction force to keep the steering wheel in a right direction, and adjusts the EPS steering wheel angle by applying the reverse torque signal to counteract the steering force of the steering wheel caused by the friction force between the tire and the ground. This process is real-time and is intended to maintain the steering wheel in a return state.
By counteracting the steering friction force, the steering wheel is ensured to be righted and cannot rebound, and the driving stability and controllability are improved.
Further, the implementation system further includes:
the data acquisition unit is used for responding to a vehicle parking completion signal and acquiring road surface information of the current vehicle after parking; and judging and outputting the type of the road surface where the current vehicle is located after parking according to the road surface information.
The data acquisition unit starts to operate after receiving the vehicle parking completion signal.
The data acquisition unit acquires road surface information of the current vehicle after parking is completed by using a vehicle-mounted sensor, a camera or other related devices. The road surface information includes ordinary roads, sidewalks, parking lots, and the like, and the road surface type is further determined.
The data acquisition unit can acquire road surface information of the vehicle after parking is completed in real time, and provides an accurate data basis for subsequent processing. Based on the acquired road surface information, the data acquisition unit may determine the type of road surface on which the current vehicle is located after parking is completed, for example, whether it is a asphalt road or a soil road, whether it is a flat road or a slope.
The road surface type has influence on the friction force between the tire and the ground, so that the steering wheel alignment strategy can be optimized according to the road surface type, and the adaptability and effect of the system are improved.
In this embodiment, the data acquisition unit receives the parking completion signal after the vehicle completes parking.
The data acquisition unit captures an image of a surrounding road surface through the vehicle-mounted camera, and analyzes the image content to determine the type of the road surface, for example, whether it is a parking lot or a general road.
If the vehicle is judged to be parked in the parking lot, the system can adjust the steering wheel aligning strategy according to the flat pavement characteristics of the parking lot so as to adapt to different pavement types and improve the steering wheel aligning accuracy after parking.
The system can more intelligently adjust the steering wheel alignment strategy by acquiring real-time road information through the data acquisition unit, and improves the adaptability of the system in different environments, thereby improving the driving experience and the vehicle stability.
In summary, embodiment two has made detailed analysis and illustration to the steering wheel returns to the right realization system after this application puts forward, and this application calculates steering friction through first processing unit, and the second processing unit obtains the target reverse angle, and the third processing unit carries out reverse request and output reverse torque signal to and fourth processing unit offset steering friction, realized that the vehicle parks back steering wheel returns to the right and can not rebound function. And each processing unit cooperatively works, so that the accuracy and stability of steering wheel alignment after parking are improved. The specific implementation process and principle are described in detail in the first embodiment, and are not described in detail in this embodiment.
Embodiment III:
the application also provides a vehicle which at least comprises the system for realizing the steering wheel alignment after parking.
It should be noted that the vehicle may be any type of vehicle, and the vehicle interior is provided with the steering wheel return system after parking, so that the function of the application can be realized.
Preferably, a smart car is assumed, which is equipped with the above-described post-park steering wheel return implementation system.
The first processing unit in the automobile calculates the steering friction force of the tire according to the current road surface type by using vehicle-mounted sensors such as a gyroscope, a steering sensor, a road surface camera and the like. For example, when the vehicle is parked on a flat road surface in a parking lot, the system can accurately calculate the friction of the tire with the ground.
The second processing unit of the automobile acquires EPS steering wheel angle information of the current vehicle through the EPS steering wheel angle sensor, and calculates a target reverse angle of the steering wheel of the current vehicle according to a previous calibration table or algorithm.
The third processing unit detects whether the current steering wheel reaches the target reverse angle or not according to the target reverse angle reached by the steering wheel reverse request and the preset residence time, and monitors whether the duration exceeds the preset residence time or not. If the condition is satisfied, a request command to return the reverse torque of the forward steering wheel is executed, and a reverse torque signal of the vehicle steering wheel is output.
By applying the reverse torque signal, the fourth processing unit of the automobile adjusts the EPS steering wheel angle to counteract steering wheel steering forces caused by tire to ground friction, thereby maintaining steering wheel alignment after parking.
According to the automobile, the steering friction force of the tire is calculated in real time, and the accurate control of the steering wheel aligning process is realized by combining the target reverse angle, so that the aligning accuracy is ensured.
After the vehicle is parked, the driver does not need to actively adjust the steering wheel, and the system can automatically keep the steering wheel to be righted, so that the driving comfort and convenience are improved. By counteracting the friction force between the tire and the ground, the vehicle can better maintain a stable running state, and the running safety and controllability are improved. The data acquisition unit judges the road surface type according to the road surface information, so that the system can optimize steering wheel alignment strategies according to different road surface types and adapt to various driving environments.
In summary, the vehicle in this embodiment realizes the cooperative work of each processing unit of the system through steering wheel alignment after parking, and realizes the function of steering wheel alignment after parking without rebound. The vehicle can keep a stable running state under different road conditions, and the driving comfort and controllability are improved.
Embodiment four:
the application also provides a storage medium, which is one of computer readable storage media, and a computer program is stored on the storage medium, and when the computer program is executed by a processor, the method for realizing steering wheel return after parking is realized.
The computer readable storage medium may be configured on any computer device, may be a computing device such as a tablet computer, a desktop computer, a cloud server, or may be a vehicle terminal or a control system, for example, may further include an input/output device, a network access device, and the like.
Preferably, it is assumed that the vehicle manufacturer pre-loads the computer program in this storage medium on the smart car it produces. Thus, the steering wheel return realizing function after the vehicle is parked can be used when the vehicle leaves the factory.
In this embodiment, the smart car is provided with a computer program stored in the storage medium. These programs, when executed by the processor of the smart car, enable the vehicle to achieve steering wheel alignment after parking without rebound.
In this embodiment, the computer program in the storage medium includes respective processing units, i.e., a first processing unit, a second processing unit, a third processing unit, and a fourth processing unit, required for implementing the steering wheel return method after parking.
The above-described program realizes functions of calculating the tire steering friction force according to the road surface type, acquiring the target reverse angle, executing the reverse request and outputting the reverse torque signal, and canceling the vehicle steering wheel and the tire steering friction force by the reverse torque signal.
The program can also respond to the vehicle parking completion signal to acquire road surface information and judge the road surface type.
The intelligent automobile can realize steering wheel alignment after parking by the computer program in the storage medium, so that the convenience and the comfort of driving are improved. The steering wheel alignment strategy can be optimized under different road conditions by calculating the steering friction force of the tire and judging the road surface type according to the road surface information, so that the adaptability of the system is enhanced.
The program realizes an automatic steering wheel aligning process, does not need driver intervention, and improves the driving safety.
The intelligent automobile is preloaded by the automobile manufacturer, so that the system can be used when the automobile leaves the factory, and a driver does not need an extra installation step. The storage medium pre-installed on the intelligent automobile can ensure the compatibility of the system and the vehicle hardware and provide the optimal performance through the preset configuration parameters.
Through the mode of loading the storage medium, the intelligent automobile has the function of steering wheel alignment after parking when leaving the factory, and more convenient, safe and automatic driving experience is provided for users.
The processor may be a Central Processing Unit (CPU), but may also be other general purpose processors, digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The memory is used to store an operating system, application programs, boot loader (BootLoader), data, and other programs, etc., such as program code for the computer program, etc. The memory may also be used to temporarily store data that has been output or is to be output.
In several embodiments provided herein, it will be understood that each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device to perform all or part of the steps of the method described in the various embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing embodiments have been provided for the purpose of illustrating the objects, technical solutions and advantages of the present application in further detail, and it should be understood that the foregoing embodiments are merely examples of the present application and are not intended to limit the scope of the present application. It should be noted that any modifications, equivalent substitutions, improvements, etc. made by those skilled in the art, which are within the spirit and principles of the present application, are intended to be included within the scope of the present application.
Claims (10)
1. The method for realizing steering wheel return after parking is characterized by comprising the following steps:
s1: calculating the steering friction force of the tire according to the type of the road surface where the current vehicle is located after parking;
s2: acquiring a target reverse angle of a steering wheel of the current vehicle according to the steering wheel angle information of the current vehicle;
s3: executing a request instruction for returning the reverse torque of the steering wheel and outputting a reverse torque signal of the steering wheel of the vehicle only when the reverse request of the steering wheel reaches the target reverse angle and exceeds the preset stay time;
s4: and counteracting the steering friction force between the steering wheel of the vehicle and the tire through the reverse torque signal so as to keep the steering wheel to return to the normal position after parking.
2. The method for realizing the return of the steering wheel after parking according to claim 1, further comprising, before said step S1:
responding to a vehicle parking completion signal, and acquiring road surface information of the current vehicle after parking;
and judging and outputting the type of the road surface where the current vehicle is located after parking according to the road surface information.
3. The method for realizing the return of the steering wheel after parking according to claim 2, wherein the step S1 is specifically:
and calculating the steering friction force of the tire according to the friction coefficient between the road surface type and the tire, the load of the steering shaft of the tire and the air pressure of the tire.
4. The method for realizing the return of the steering wheel after parking according to claim 3, wherein the step S2 is specifically:
converting the steering wheel angle information into an actual steering wheel angle value;
and calculating the target reverse angle of the current vehicle steering wheel according to the actual steering wheel angle value.
5. The method for realizing the return of the steering wheel after parking according to claim 4, further comprising, before said step S3:
controlling the steering wheel to obtain a steering wheel angle set required to be requested reversely at different angles and under different road surface types by a primary calibration mode, and constructing a calibration table;
and acquiring the target reverse angle according to the calibration table.
6. The method for realizing the return of the steering wheel after parking according to claim 5, wherein the counteracting the steering friction force between the steering wheel and the tire of the vehicle by the reverse torque signal is specifically as follows:
acquiring steering wheel angle information adjusted by the current vehicle through the reverse torque signal;
and counteracting steering force of the steering wheel caused by the steering friction force of the tire according to the adjusted steering wheel angle information.
7. A system for achieving steering wheel return after parking, comprising:
the device comprises a first processing unit, a second processing unit, a third processing unit and a fourth processing unit;
the first processing unit is used for calculating the steering friction force of the tire according to the type of the road surface where the current vehicle is located after parking is completed; the second processing unit is used for acquiring a target reverse angle of the steering wheel of the current vehicle according to the angle information of the steering wheel of the current vehicle;
the third processing unit is used for executing a request instruction for returning the reverse torque of the forward steering wheel and outputting a reverse torque signal of the steering wheel of the vehicle only when the reverse request of the steering wheel reaches the target reverse angle and exceeds the preset stay time;
and the fourth processing unit is used for counteracting the steering friction force between the steering wheel and the tire of the vehicle through the reverse torque signal so as to keep the steering wheel to be aligned after parking.
8. The post-park steering wheel return achieving system according to claim 7, further comprising:
the data acquisition unit is used for responding to a vehicle parking completion signal and acquiring road surface information of the current vehicle after parking; and judging and outputting the type of the road surface where the current vehicle is located after parking according to the road surface information.
9. A vehicle comprising at least the post-park steering wheel return achieving system according to any one of claims 7 to 8.
10. A storage medium, being one of computer readable storage media, characterized in that it has stored thereon a computer program, which when executed by a processor, implements a method for realizing steering wheel return after parking according to any of claims 1-6.
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| CN202311624033.9A CN117508335A (en) | 2023-11-30 | 2023-11-30 | Method, system, vehicle and storage medium for realizing steering wheel return after parking |
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| CN202311624033.9A CN117508335A (en) | 2023-11-30 | 2023-11-30 | Method, system, vehicle and storage medium for realizing steering wheel return after parking |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117922678A (en) * | 2024-03-25 | 2024-04-26 | 中国第一汽车股份有限公司 | Steering wheel return control method and device, vehicle and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117922678A (en) * | 2024-03-25 | 2024-04-26 | 中国第一汽车股份有限公司 | Steering wheel return control method and device, vehicle and storage medium |
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