Road feeling simulation method, device, system and storage medium for remote driving

Abstract

The embodiment of the present invention discloses a remote driving road feeling simulation method, device, system, and storage medium. The method includes: obtaining steering wheel resistance torque through a load observer; obtaining steering compensation torque through a reaction force strategy of an electric power steering system; Determine the road sense torque according to the steering wheel resistance torque and the steering compensation torque; send the road sense torque to the remote control terminal through the wireless network, so that the remote control terminal controls the road sense motor to generate the road sense torque. same torque. The embodiment of the present invention realizes the accurate feedback of the road sense information of the vehicle equipped with the EPS system to the driver of the remote control terminal, improves the accuracy of the vehicle operation information obtained by the remote control terminal, and is beneficial to the driver to issue more accurate control of the vehicle instruction.

Description

Technical field[0001]Embodiments of the present invention relate to remote driving technologies in the art, in particular, to a remote driving road sense simulation method, apparatus, system, and storage medium.Background technique[0002]With the development of automatic driving technology and wireless communication network, the development of remote driving technology is gradually derived. The development of remote driving technology has enabled the driver to realize vehicle control at the far end. When conducting some high-risk work, it is greatly guaranteed driving. The life safety of the staff.[0003]In remote driving techniques, the driver inputs the control information of the vehicle on the remote road in the simulated cockpit, which transmitted to the vehicle controller through the network, and the vehicle performs corresponding operations according to these control information, thereby implementing Remote driving. During the driving process of the vehicle, the road sense is th...

AI Technical Summary

Problems solved by technology

During vehicle driving, road feeling is the steering wheel reaction force felt by the driver when turning the steering wheel. This force includes the movement and force of the vehicle and tires. Road feeling information is an important reference condition for the driver to perform driving operations. , but because the driver and the vehicle are separated in space in the remote driving technology, the road feeling information fed back by the vehicle cannot be directly fed back to the driver

[0004] At present, there are also road feeling simulation methods for vehicles using steering-by-wire technology, but steering-by-wire technology is a direction for future vehicle development and has not been popularized. Most vehicles are still equipped with EPS (Electric PowerSteering, electric power steering) system Therefore, when the existing vehicle equipped with the EPS system is used for remote driving, the road feeling simulation of the steering-by-wire technology is not applicable, so there is an urgent need for a driving system that can accurately feed back the road feeling information of the vehicle equipped with the EPS system to the remote control terminal. Driver's technology, so that the driver can control the running vehicle based on more accurate vehicle operation information

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