CN110667700A - Vehicle steering mode switching method, device and electronic device - Google Patents

Abstract

The present application provides a vehicle steering mode switching method, device and electronic device, including: determining that the steering angle of the steering gear assembly and the steering angle satisfy a first preset condition; The connected first torque sensor measures the real-time torque of the controllable clutch; maintains the engagement process of the controllable clutch according to the relative relationship between the real-time torque and the first preset comparison value; completes the engagement process of the controllable clutch, and connects the first motor with the first motor. Any one of the second motors gradually stops running to switch the steering mode of the vehicle from the steering-by-wire mode to the power-assisted steering mode, wherein the first motor controls the steering wheel and the second motor controls the steering gear assembly. Compared with the prior art, the steering mode can be smoothly switched, thereby avoiding the frustration caused by the instantaneous switching.

Description

Vehicle steering mode switching method, device and electronic device

technical field

The present application relates to the field of vehicle steering mode switching, and in particular, to a vehicle steering mode switching method, device, and electronic device.

Background technique

In the prior art, vehicle steering modes include a wire-by-wire mode and a power-assisted steering mode. Steering-by-wire mode means that the steering wheel and the wheel steering assembly are connected to different motors. When the user controls the steering wheel, the motor connected to the steering wheel provides torque feedback, while the steering of the vehicle wheels is connected to the wheel steering assembly. motor control. The power steering mode refers to the power-assisted connection between the steering wheel and the wheel steering assembly, and the steering wheel is turned to control the wheel steering through the power transmission.

In the prior art, the conversion between the steering-by-wire mode and the power-assisted steering mode of the vehicle is usually realized by means of a clutch. Under normal operation, the clutch is disconnected, the steering wheel and the wheels are kept decoupled, and the steering-by-wire mode is maintained; in emergency situations, the clutch is disconnected. , the clutch is engaged, the power-assisted connection between the steering wheel and the wheels is restored, and the power steering mode is switched. In the prior art, there is usually no transition when switching between the steer-by-wire mode and the power-assisted steering mode, and the sense of frustration brought about by the instantaneous switching brings difficulties to the driver's control and reduces driving safety.

SUMMARY OF THE INVENTION

The purpose of the embodiments of the present application is to provide a vehicle steering mode switching method, device, and electronic device, so as to improve the problem of no transition between switching between the steer-by-wire mode and the power steering mode in the prior art.

In a first aspect, an embodiment of the present application provides a method for switching a steering mode of a vehicle, for switching a steering mode of a vehicle, the vehicle includes a controller, a steering gear assembly, a steering wheel and a controllable clutch, the controller are respectively electrically connected to the steering gear assembly, a steering wheel and a controllable clutch, the controllable clutch being provided between the steering gear assembly and the steering wheel, the method comprising: determining the steering gear assembly The turning angle and the turning angle of the steering wheel satisfy a first preset condition; start the engagement process of the controllable clutch, and control the first torque sensor connected with the controllable clutch to measure the real-time torque of the controllable clutch; The relative relationship between the real-time torque and the first preset comparison value is maintained, and the engagement process of the controllable clutch is maintained; the engagement process of the controllable clutch is completed, and any one of the first motor and the second motor is gradually stopped. In operation, the steering mode of the vehicle is switched from a steering-by-wire mode to a power-assisted steering mode, wherein the first motor controls the steering wheel, and the second motor controls the steering gear assembly.

In the above-mentioned embodiment, the smoothing process from disconnection to engagement of the controllable clutch is carried out under the condition that the angle of the steering gear assembly and the angle of the steering wheel satisfy the first preset condition. preset conditions. While the first preset condition is met, the real-time torque of the controllable clutch is measured, and the advancement of the engagement process is maintained according to the relative relationship between the real-time torque and the first preset comparison value, until the engagement process of the controllable clutch is completed, and the Either one of the first motor and the second motor stops running to complete the switching of the steering mode. Compared with the prior art, the smooth switching of the steering mode can be realized, thereby avoiding the frustration caused by the instantaneous switching.

In a possible design, the determining that the rotation angle of the steering gear assembly and the steering wheel angle satisfy the first preset condition includes: determining that the following conditions are all continuously satisfied for more than a first period of time: the steering gear assembly The angle difference between the angle of the steering wheel and the angle of the steering wheel is within the preset angle difference range; the angle change of the steering wheel assembly is within the first change; the angle change of the steering wheel is within the second within the variation.

In the above-mentioned embodiment, the first preset condition is specifically: determining that the angle difference between the steering angle of the steering gear assembly and the steering wheel angle is within a preset angle difference range, and determining the angle change of the steering angle of the steering gear assembly The amount is within the first change amount, and at the same time it is determined that the angular change amount of the steering wheel angle is within the second change amount. The above three conditions are all satisfied, and the duration exceeds the first duration. The switching of the steering mode is performed when the first preset condition is satisfied, and satisfying the first preset condition can ensure that the steering mode is performed smoothly.

In a possible design, maintaining the engagement process of the controllable clutch according to the relative relationship between the real-time torque and the first preset comparison value includes: if the real-time torque is greater than or equal to the first preset comparison value If the comparison value is set, the engagement process of the controllable clutch is suspended and the control voltage of the controllable clutch is lowered until the real-time torque is less than the first preset comparison value, and then the engagement process of the controllable clutch is continued. .

In the above-mentioned embodiment, the magnitude of the real-time torque is monitored in real time, and the real-time torque is compared with the first preset comparison value. When the real-time torque is greater than or equal to the first preset comparison value, the engagement process is suspended and the available torque is lowered. The control voltage of the clutch is controlled until the real-time torque is less than the first preset comparison value. In the above manner, it can be further determined that the steering mode can be performed smoothly.

In a possible design, the first preset comparison value is a fifth-order polynomial rising curve of the maximum transmission torque of the controllable clutch during the engagement process.

In a possible design, before the determining that the turning angle of the steering gear assembly and the turning angle of the steering wheel satisfy a first preset condition, the method further includes: determining that the speed of the vehicle is lower than a preset threshold Or the first control command input by the driver is received.

In the above-mentioned embodiment, under certain road conditions, the vehicle is easier to be manipulated and driven in the power steering mode. Therefore, when it is detected that the vehicle speed is lower than the preset threshold or the driver actively inputs a control command indicating switching of the steering mode to switch the steering mode.

In a second aspect, an embodiment of the present application provides a method for switching a steering mode of a vehicle, for switching a steering mode of a vehicle, where the vehicle includes a controller, a steering gear assembly, a steering wheel, and a controllable clutch, the controller are respectively electrically connected with the steering gear assembly, the steering wheel and the controllable clutch, the controllable clutch is arranged between the steering gear assembly and the steering wheel, the method includes: controlling the motor that has stopped running to restart the operation ; control the input torque of the first motor and the input torque of the second motor, so that the real-time torque of the controllable clutch is stabilized at a preset stable value; determine that the real-time torque of the controllable clutch satisfies the second preset condition; The disconnection process of the controllable clutch is maintained, and the real-time torque of the controllable clutch is maintained to be less than the second preset comparison value; the disconnection process of the controllable clutch is completed, and the first motor is respectively released through fuzzy control. The input torque and the control of the input torque of the second motor switch the vehicle steering mode from the power steering mode to the wire-steering mode.

In the above-mentioned embodiment, the stopped motor is restarted, and the input torque of the first motor and the second motor is controlled in real time, so that the real-time torque of the controllable clutch is stabilized at a preset stable value. When it is determined that the real-time torque satisfies the second preset condition, the disconnection of the controllable clutch is initiated, and during the disconnection process, the real-time torque of the controllable clutch is maintained to be less than the second preset comparison value until the disconnection of the controllable clutch. The completion of the open process. After the disconnection process is completed, the control of the input torques of the first motor and the second motor is released through fuzzy control, so that the steering mode is switched from the power steering mode to the wire-steering mode. Compared with the prior art, the smooth switching of the steering mode can be realized, thereby avoiding the frustration caused by the instantaneous switching.

In a possible design, the determining that the real-time torque of the controllable clutch satisfies the second preset condition includes: determining that the following conditions are all continuously satisfied for more than a second time period; the real-time torque of the controllable clutch is less than the preset torque value; the variation range of the real-time torque of the controllable clutch is smaller than the preset range.

In the above embodiment, the second preset condition specifically includes that the real-time torque of the controllable clutch is less than the preset torque value, and the variation range of the real-time torque of the controllable clutch is less than the preset range. The above two conditions are both satisfied and continue for the second period of time. The switching of the steering mode is performed when the second preset condition is satisfied, and the smooth progress of the steering mode can be ensured when the second preset condition is satisfied.

In a possible design, the second preset comparison value is a fifth-order polynomial descending curve of the maximum transmission torque of the controllable clutch during the disconnection process.

In a third aspect, an embodiment of the present application provides a vehicle steering mode switching device for switching a steering mode of a vehicle, where the vehicle includes a controller, a steering gear assembly, a steering wheel and a controllable clutch, the controller are respectively electrically connected with the steering gear assembly, the steering wheel and the controllable clutch, the controllable clutch is arranged between the steering gear assembly and the steering wheel, and the device includes: a first condition satisfying module for determining that the angle of rotation of the steering gear assembly and the angle of rotation of the steering wheel meet a first preset condition; the torque measurement module is used to start the engagement process of the controllable clutch, and control the first connection with the controllable clutch The torque sensor measures the real-time torque of the controllable clutch; the engagement maintenance module is used for maintaining the engagement process of the controllable clutch according to the relative relationship between the real-time torque and the first preset comparison value; the engagement completion module is used for Complete the engagement process of the controllable clutch, gradually stop running any one of the first motor and the second motor, and switch the steering mode of the vehicle from the steering-by-wire mode to the power-assisted steering mode, wherein the first motor The steering wheel is controlled and the second motor controls the steering gear assembly.

In a fourth aspect, an embodiment of the present application provides a vehicle steering mode switching device for switching a steering mode of a vehicle, where the vehicle includes a controller, a steering gear assembly, a steering wheel and a controllable clutch, the controller respectively electrically connected with the steering gear assembly, the steering wheel and the controllable clutch, the controllable clutch is arranged between the steering gear assembly and the steering wheel, and the device includes: a motor re-running module for controlling The motor that has stopped running starts to run again; the torque stabilization module is used to control the input torque of the first motor and the input torque of the second motor, so that the real-time torque of the controllable clutch is stabilized at a preset stable value; the condition meets the module, using to determine that the real-time torque of the controllable clutch satisfies the second preset condition; the disconnection process start module is used to start the disconnection process of the controllable clutch and maintain the real-time torque of the controllable clutch to be less than the second preset condition. Set a comparison value; a disconnection process completion module is used to complete the disconnection process of the controllable clutch, and respectively release the control of the input torque of the first motor and the input torque of the second motor through fuzzy control, Switch the vehicle steering mode from power steering mode to steer-by-wire mode.

In a fifth aspect, the present application provides an electronic device, comprising: a processor, a memory, and a bus, the memory stores machine-readable instructions executable by the processor, and when the electronic device runs, the processor In communication with the memory through a bus, the machine-readable instructions execute the method described in the first aspect or any optional implementation manner of the first aspect when the machine-readable instructions are executed by the processor.

In a sixth aspect, the present application provides a readable storage medium on which a computer program is stored, the computer program being executed by the processor when the first aspect or any optional implementation manner of the first aspect is executed. method described.

In a seventh aspect, the present application provides a computer program product that, when running on a computer, causes the computer to execute the method of the first aspect or any possible implementation manner of the first aspect.

In order to make the above-mentioned objects, features and advantages to be achieved by the embodiments of the present application more obvious and easy to understand, the preferred embodiments are hereinafter described in detail together with the accompanying drawings.

Description of drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, therefore It should not be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can also be obtained from these drawings without any creative effort.

FIG. 1 shows a schematic structural diagram of a vehicle to which the vehicle steering mode switching method provided by an embodiment of the present application is applied;

2 is a schematic flowchart of a vehicle steering mode switching method provided by an embodiment of the present application;

FIG. 3 is a schematic flowchart of a specific implementation of a vehicle steering mode switching method provided by an embodiment of the present application;

4 is a schematic structural diagram of a vehicle steering mode switching device provided by an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a specific implementation manner of a vehicle steering mode switching device provided in an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

Please refer to FIG. 1. FIG. 1 shows a schematic structural diagram of a vehicle to which the vehicle steering mode switching method provided by an embodiment of the present application is applied. The vehicle includes a controller, a steering gear assembly, a steering wheel, and a controllable clutch. The controllers are respectively It is electrically connected with the steering gear assembly, the steering wheel and the controllable clutch, and the controllable clutch is arranged between the steering gear assembly and the steering wheel.

Optionally, the vehicle further includes a first rotation angle sensor, a first motor, a second motor, a second rotation angle sensor, a first torque sensor, and a second torque sensor. The first rotation angle sensor is connected in series between the controller and the steering wheel, the first motor is connected in series between the controller and the steering wheel; the second motor is connected in series between the controller and the steering gear assembly, and the second rotation angle sensor is connected in series with the controller between the steering gear assembly. The controller is also connected with the first torque sensor and the second torque sensor respectively, the first torque sensor is connected in series between the steering wheel and the controllable clutch, and the second torque sensor is connected in series between the steering gear assembly and the controllable clutch. Optionally, the controller may be an electronic control unit (Electronic Control Unit, ECU for short) in the vehicle.

The first rotation angle sensor can be used to acquire the steering angle of the steering wheel and transmit the steering angle to the controller; the second rotation angle sensor can be used to acquire the steering angle of the steering gear assembly and transmit the steering angle of the steering gear assembly to the controller. The controller can drive the first motor to provide torque feedback for the steering wheel, and can also drive the second motor to control the steering gear assembly. The first torque sensor can be used to detect the torque of the steering wheel, and can also be used to detect the torque of the controllable clutch, and transmit the detected torque to the controller. The second torque sensor may be used to detect the torque of the steering gear assembly and transmit the detected torque to the controller. The controllable clutch can realize the decoupling or coupling of the steering wheel and the steering gear assembly under the control of the controller.

FIG. 2 is a vehicle steering mode switching method provided by an embodiment of the present application, which is used to switch the steering mode of the vehicle. The method may be executed by a controller of the vehicle, and specifically includes the following steps S110 to S140:

Step S110, it is determined that the rotation angle of the steering gear assembly and the rotation angle of the steering wheel satisfy a first preset condition.

Optionally, satisfying the first preset condition may be determining that the following conditions are continuously satisfied for more than a first time period: the angle difference between the rotation angle of the steering gear assembly and the rotation angle of the steering wheel is within a preset angle difference range; the The angular variation of the turning angle of the steering gear assembly is within the first variation; the angular variation of the steering wheel's turning angle is within the second variation.

The preset angle difference range, the first change amount, and the second change amount may be the same or different. For example, the preset angle difference range may be 0.5 degrees, and the first change amount and the second change amount may also be 0.5 degrees. The first duration may be 0.1s.

Step S120, start the engagement process of the controllable clutch, and control the first torque sensor connected to the controllable clutch to measure the real-time torque of the controllable clutch.

The engagement process of the controllable clutch is the process in which the controllable clutch gradually changes from being separated from the steering wheel and the steering gear assembly to a process in which the controllable clutch engages the steering wheel and the steering gear assembly. A torque sensor measures the real-time torque of the controllable clutch in real time.

Step S130, maintaining the engagement process of the controllable clutch according to the relative relationship between the real-time torque and the first preset comparison value.

The first preset comparison value may be a fifth-order polynomial rising curve of the maximum transmission torque of the controllable clutch in the engagement process.

Optionally, step S130 may be: if the real-time torque is greater than or equal to the first preset comparison value, suspend the engagement process of the controllable clutch and reduce the control voltage of the controllable clutch, and the controllable clutch can be controlled. The real-time torque of the clutch gradually decreases as the control voltage is lowered until the real-time torque is less than the first preset comparison value, and then the engagement process of the controllable clutch is continued.

The real-time torque is monitored in real time, and the real-time torque is compared with the first preset comparison value. When the real-time torque is greater than or equal to the first preset comparison value, the engagement process is suspended and the control voltage of the controllable clutch is lowered until The real-time torque is less than the first preset comparison value. In the above manner, it can be further determined that the steering mode can be performed smoothly.

Step S140, complete the engagement process of the controllable clutch, gradually stop the operation of any one of the first motor and the second motor, and switch the vehicle steering mode from the wire-controlled steering mode to the power steering mode, wherein the The first motor controls the steering wheel and the second motor controls the steering gear assembly.

Stop any one of the first motor and the second motor, and the other motor can be used for steering assist. For example, the first motor can be stopped, because the steering wheel and steering gear assembly has been realized by a controllable clutch Therefore, when the driver turns the steering wheel, the steering gear assembly will move with the mechanical transmission of the controllable clutch, and the second motor can be used to provide assistance for the movement of the steering gear assembly. For example, after the controllable clutch is engaged, the torque of the first motor is 8Nm and the torque of the second motor is 25Nm, then in the next 0.5s, the torque of the first motor drops to 0Nm, and the torque of the second motor increases A large 33Nm.

The switching process of the controllable clutch from disengagement to engagement is performed under the condition that the rotation angle of the steering gear assembly and the steering wheel angle satisfy the first preset condition. During this process, the first preset condition needs to be always satisfied. While the first preset condition is met, the real-time torque of the controllable clutch is measured, and the advancement of the engagement process is maintained according to the relative relationship between the real-time torque and the first preset comparison value, until the engagement process of the controllable clutch is completed, and the Either one of the first motor and the second motor stops running to complete the switching of the steering mode. Compared with the prior art, the smooth switching of the steering mode can be realized, thereby avoiding the frustration caused by the instantaneous switching.

Optionally, before step S110, the method may further include the step of: determining that the vehicle speed of the vehicle is lower than a preset threshold or receiving a first control instruction input by the driver.

The switch from the steer-by-wire mode to the power-assisted steering mode can be triggered when it is determined that the vehicle speed is lower than the preset threshold or the first control command from the driver is received. The driving experience of the mode is better. In some road conditions, the vehicle is easier to handle and drive in the power steering mode. Therefore, when the vehicle speed is detected to be below a preset threshold or the driver actively enters a control command that characterizes the switching of the steering mode to switch the steering mode.

FIG. 3 is a specific implementation of the vehicle steering mode switching method provided by the embodiment of the application, which is used to switch the steering mode of the vehicle. The method can also be executed by the controller, and specifically includes the following steps S210 to S250:

In step S210, the motor that has stopped running is controlled to start running again.

Continuing with the above example, the controller can control the motor that has stopped running to start running again. For example, when the control command is given, the torque of the first motor is 0Nm, and the torque of the second motor is 33Nm. Within 0.5s, the torque of the first motor is restored to 8Nm, and the torque of the second motor is reduced to 25Nm, so that the first motor starts running again.

Step S220, controlling the input torque of the first motor and the input torque of the second motor, so that the real-time torque of the controllable clutch is stabilized at a preset stable value.

The controller can control the input torque of the first motor and the second motor respectively, so that the real-time torque of the controllable clutch is stabilized at a preset stable value. The preset stable value is a preset torque value. When the real-time torque of the controllable clutch is around this value, the vehicle can smoothly switch the steering mode on the basis of smooth operation. Optionally, the preset stable value may specifically be 0.

Step S230, determining that the real-time torque of the controllable clutch satisfies a second preset condition.

The second preset condition specifically includes determining that the following conditions are continuously satisfied for more than a second time period: the real-time torque of the controllable clutch is less than a preset torque value; the variation range of the real-time torque of the controllable clutch is less than a preset range.

The value of the preset torque value may be the same as the preset amplitude, or may be different, for example, both the preset torque value and the preset amplitude may be 0.2Nm. The specific duration of the second duration may be the same as or different from the first duration. Specifically, the second duration may be 0.1s.

The controller can obtain the real-time torque of the controllable clutch and the variation range of the real-time torque through the first torque sensor. Subsequently, the controller compares the real-time torque of the controllable clutch with the preset torque value, and the controller compares the variation range of the real-time torque with the preset range, and when the real-time torque is less than the preset torque value and the real-time torque variation range is less than the preset torque value When the amplitude is set and both last for more than the second time period, it is determined that the real-time torque of the controllable clutch satisfies the second preset condition.

Step S240, starting the process of disconnecting the controllable clutch, and maintaining the real-time torque of the controllable clutch to be less than a second preset comparison value.

The second preset comparison value is a fifth-order polynomial drop curve of the maximum transfer torque of the controllable clutch during the disengagement process.

Step S250, complete the disconnection process of the controllable clutch, release the control of the input torque of the first motor and the input torque of the second motor respectively through fuzzy control, and switch the steering mode of the vehicle from the power steering mode Steer-by-wire mode.

The motor that has stopped running is restarted, and the input torque of the first motor and the second motor is controlled in real time, so that the real-time torque of the controllable clutch is stabilized at a preset stable value. When it is determined that the real-time torque satisfies the second preset condition, the disconnection of the controllable clutch is initiated, and during the disconnection process, the real-time torque of the controllable clutch is maintained to be less than the second preset comparison value until the disconnection of the controllable clutch. The completion of the open process. After the disconnection process is completed, the control of the input torques of the first motor and the second motor is released through fuzzy control, so that the steering mode is switched from the power steering mode to the wire-steering mode. Compared with the prior art, the smooth switching of the steering mode can be realized, thereby avoiding the frustration caused by the instantaneous switching.

Referring to FIG. 4 , FIG. 4 shows a vehicle steering mode switching device provided by an embodiment of the present application. The device 300 includes:

The first condition satisfaction module 310 is configured to determine that the rotation angle of the steering gear assembly and the rotation angle of the steering wheel satisfy a first preset condition.

The torque measurement module 320 is configured to start the engagement process of the controllable clutch, and control the first torque sensor connected to the controllable clutch to measure the real-time torque of the controllable clutch.

An engagement maintenance module 330 is configured to maintain the engagement process of the controllable clutch according to the relative relationship between the real-time torque and the first preset comparison value.

The engagement completion module 340 is configured to complete the engagement process of the controllable clutch, gradually stop the operation of any one of the first motor and the second motor, and switch the vehicle steering mode from the wire-controlled steering mode to the power steering mode, Wherein, the first motor controls the steering wheel, and the second motor controls the steering gear assembly.

The engagement maintaining module 330 is further configured to suspend the engagement process of the controllable clutch and reduce the control voltage of the controllable clutch when the real-time torque is greater than or equal to the first preset comparison value until the The engagement process of the controllable clutch is continued when the real-time torque is less than the first preset comparison value.

The device also includes:

The identification module is activated to determine that the vehicle speed of the vehicle is lower than a preset threshold or a first control instruction input by the driver is received.

Referring to FIG. 5, FIG. 5 shows a vehicle steering mode switching device provided by an embodiment of the present application. The device 400 includes:

The motor restarting module 410 is used to control the stopped motor to start running again.

The torque stabilization module 420 is configured to control the input torque of the first motor and the input torque of the second motor, so that the real-time torque of the controllable clutch is stabilized at a preset stable value.

A condition satisfaction module 430 is used to determine that the real-time torque of the controllable clutch satisfies a second preset condition.

The disconnection process initiation module 440 is configured to initiate the disconnection process of the controllable clutch and maintain the real-time torque of the controllable clutch to be less than a second preset comparison value.

The disconnection process completion module 450 is used to complete the disconnection process of the controllable clutch, release the control of the input torque of the first motor and the input torque of the second motor respectively through fuzzy control, and steer the vehicle The mode is switched from power steering mode to steer-by-wire mode.

Compared with the prior art, the present application can realize the switching of the steering mode during the driving of the vehicle, greatly reduce the impact of the clutch engagement process and the disconnection process, respond to the steering wheel angle in time, and not feel the driver's driving feeling. Shock is generated to achieve dynamic and smooth switching of steering modes.

In the embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces, indirect coupling or communication connection of devices or units, which may be in electrical, mechanical or other forms.

In addition, units described as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

Furthermore, each functional module in each embodiment of the present application may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.

In this document, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such existence between these entities or operations. The actual relationship or sequence.

The above descriptions are merely examples of the present application, and are not intended to limit the protection scope of the present application. For those skilled in the art, various modifications and changes may be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims (11)

1. A steering mode switching method for a vehicle, the vehicle including a controller, a steering assembly, a steering wheel, and a controllable clutch, the controller being electrically connected to the steering assembly, the steering wheel, and the controllable clutch being disposed between the steering assembly and the steering wheel, the method comprising:

determining that the turning angle of the steering gear assembly and the turning angle of the steering wheel meet a first preset condition;

starting the engagement process of the controllable clutch, and controlling a first torque sensor connected with the controllable clutch to measure the real-time torque of the controllable clutch;

maintaining the engagement process of the controllable clutch according to the relative relation between the real-time torque and a first preset comparison value;

and completing the engaging process of the controllable clutch, gradually stopping any one of the first motor and the second motor, and switching the vehicle steering mode from a steer-by-wire mode to a power-assisted steering mode, wherein the first motor controls the steering wheel, and the second motor controls the steering gear assembly.

2. The method of claim 1, wherein the determining that the steering angle of the steering assembly and the steering angle of the steering wheel satisfy a first preset condition comprises:

determining that the following conditions are all continuously satisfied for more than a first length of time:

the angle difference between the corner of the steering gear assembly and the corner of the steering wheel is within a preset angle difference range;

the angle variation of the turning angle of the steering gear assembly is within a first variation;

the angle change amount of the turning angle of the steering wheel is within the second change amount.

3. The method of claim 1, wherein maintaining engagement progress of the controllable clutch based on the real-time torque relative to a first predetermined comparison value comprises:

and if the real-time torque is greater than or equal to the first preset comparison value, pausing the engagement process of the controllable clutch and reducing the control voltage of the controllable clutch until the real-time torque is less than the first preset comparison value, and then continuing the engagement process of the controllable clutch.

4. The method according to claim 3, characterized in that the first preset comparison value is a fifth order polynomial rise curve of the maximum transmission torque of the controllable clutch during the engagement process.

5. The method of claim 1, wherein prior to the determining that the steering angle of the steering assembly and the steering angle of the steering wheel satisfy a first preset condition, the method further comprises:

determining that the vehicle speed of the vehicle is lower than a preset threshold value or receiving a first control instruction input by a driver.

6. A steering mode switching method for a vehicle, the vehicle including a controller, a steering assembly, a steering wheel, and a controllable clutch, the controller being electrically connected to the steering assembly, the steering wheel, and the controllable clutch being disposed between the steering assembly and the steering wheel, the method comprising:

controlling the motor which stops running to restart running;

controlling the input torque of the first motor and the input torque of the second motor to enable the real-time torque of the controllable clutch to be stabilized at a preset stable value;

determining that the real-time torque of the controllable clutch meets a second preset condition;

starting a disconnection process of the controllable clutch, and maintaining the real-time torque of the controllable clutch to be smaller than a second preset comparison value;

and completing the disconnection process of the controllable clutch, respectively releasing the control on the input torque of the first motor and the input torque of the second motor through fuzzy control, and switching the vehicle steering mode from the power-assisted steering mode to the steer-by-wire mode.

7. The method of claim 6, wherein the determining that the immediate torque of the controllable clutch satisfies a second preset condition comprises:

determining that the following conditions are all continuously satisfied for more than a second duration;

the real-time torque of the controllable clutch is smaller than a preset torque value;

the change amplitude of the real-time torque of the controllable clutch is smaller than the preset amplitude.

8. The method according to claim 6, characterized in that the second preset comparison value is a fifth order polynomial descent curve of the maximum transmission torque of the controllable clutch during the disengagement process.

9. A steering mode switching apparatus for a vehicle for switching a steering mode of the vehicle, the vehicle including a controller, a steering gear assembly, a steering wheel, and a controllable clutch, the controller being electrically connected to the steering gear assembly, the steering wheel, and the controllable clutch being disposed between the steering gear assembly and the steering wheel, the apparatus comprising:

a first condition satisfaction module for determining that a corner of the steering gear assembly and a corner of the steering wheel satisfy a first preset condition;

the torque measuring module is used for starting the engagement process of the controllable clutch and controlling a first torque sensor connected with the controllable clutch to measure the real-time torque of the controllable clutch;

the engagement maintaining module is used for maintaining the engagement progress of the controllable clutch according to the relative relation between the real-time torque and a first preset comparison value;

and the joint completion module is used for completing the joint process of the controllable clutch, gradually stopping any one of the first motor and the second motor from running and switching the vehicle steering mode from a steer-by-wire mode to a power-assisted steering mode, wherein the first motor controls the steering wheel, and the second motor controls the steering gear assembly.

10. A steering mode switching apparatus for a vehicle for switching a steering mode of the vehicle, the vehicle including a controller, a steering gear assembly, a steering wheel, and a controllable clutch, the controller being electrically connected to the steering gear assembly, the steering wheel, and the controllable clutch being disposed between the steering gear assembly and the steering wheel, the apparatus comprising:

the motor restarting module is used for controlling the stopped motor to restart operation;

the torque stabilizing module is used for controlling the input torque of the first motor and the input torque of the second motor so that the real-time torque of the controllable clutch is stabilized at a preset stable value;

the condition meeting module is used for determining that the real-time torque of the controllable clutch meets a second preset condition;

the disconnection process starting module is used for starting the disconnection process of the controllable clutch and maintaining the real-time torque of the controllable clutch to be smaller than a second preset comparison value;

and the disconnection process completion module is used for completing the disconnection process of the controllable clutch, respectively releasing the control on the input torque of the first motor and the input torque of the second motor through fuzzy control, and switching the vehicle steering mode from the power-assisted steering mode to the steer-by-wire mode.

11. An electronic device, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating over the bus when the electronic device is operating, the processor executing the machine-readable instructions to perform the method of any one of claims 1-8 when executed.

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