CN109649492A - Vehicle and its power steering control method, system, equipment and storage medium - Google Patents
Vehicle and its power steering control method, system, equipment and storage medium Download PDFInfo
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- CN109649492A CN109649492A CN201910099937.1A CN201910099937A CN109649492A CN 109649492 A CN109649492 A CN 109649492A CN 201910099937 A CN201910099937 A CN 201910099937A CN 109649492 A CN109649492 A CN 109649492A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The application provides a kind of vehicle and its power steering control method, system, equipment and storage medium, is related to technical field of vehicle control, for the quick power-assisted under dangerous working condition, reduces the risk of collision of vehicle.The power steering control method includes: the danger coefficient for obtaining vehicle and colliding；Power steering coefficient is obtained according to the speed of the danger coefficient and the vehicle；Power steering torque is obtained according to the steering wheel input torque of the power steering coefficient and the vehicle；And power steering control is carried out to the vehicle according to the power steering torque.The application adjusts power steering coefficient according to the danger coefficient that vehicle collides, power steering torque is adjusted in real time according to power steering coefficient, by carrying out power steering control to vehicle with the associated power steering torque of danger coefficient, steering safety of the vehicle under dangerous working condition is improved.
Description
Technical field
This application involves technical field of vehicle control, specifically, be related to a kind of vehicle and its power steering control method,
System, equipment and storage medium.
Background technique
EPS (Electric Power Steering, electric boosting steering system) generally according to driver hand-power square with
And speed input determines the size of power-assisted, and Vehicular turn can be preferably helped under common operating condition.
But under dangerous working condition, it is likely to understeer occur during driver's emergency turn, if EPS is still at this time
It is inputted according to the hand-power square and speed of driver and determines that power-assisted size will bring great security risk.
It should be noted that the information in above-mentioned background technology part application is only used for reinforcing the reason to the background of the application
Solution, therefore may include the information not constituted to the prior art known to persons of ordinary skill in the art.
Summary of the invention
In view of this, the application provides a kind of vehicle and its power steering control method, system, equipment and storage medium,
Can under dangerous working condition quick power-assisted, reduce the risk of collision of vehicle.
According to the one aspect of the application, a kind of power steering control method is provided, comprising: obtain what vehicle collided
Danger coefficient；Power steering coefficient is obtained according to the speed of the danger coefficient and the vehicle；According to the power steering system
Several and the vehicle steering wheel input torque obtains power steering torque；And according to the power steering torque to the vehicle
Carry out power steering control.
Preferably, in above-mentioned power steering control method, obtain vehicle collide danger coefficient the step of include:
Acquire the situation of remote of the vehicle；According to the situation of remote calculate needed for the vehicle avoids collision object safety away from
From；According to the actual range of the vehicle and the object and the safe distance, the danger coefficient is obtained.
Preferably, in above-mentioned power steering control method, the vehicle is calculated according to the situation of remote and is avoided collision
The method of safe distance needed for object is:
Wherein, DWIt is the safe distance, veIt is the speed of the vehicle, αeIt is the maximum braking deceleration of the vehicle,
vfIt is the speed of the object, αfIt is the deceleration of the object, T is the delay time before the vehicle braking.
Preferably, in above-mentioned power steering control method, the delay time T includes multiple preset values, the safety
Distance DWEach preset value based on the delay time T forms multiple safe distance sections, the method for obtaining the danger coefficient
It is: the danger coefficient is obtained according to the safe distance section that the actual range is fallen into, the danger coefficient is with the reality
The reduction in the safe distance section that distance is fallen into and increase.
Preferably, in above-mentioned power steering control method, there are three preset values for the delay time T tool, work as T=T1When
DW=DW1, work as T=T2When DW=DW2, work as T=T3When DW=DW3, T1>T2>T3, DW1>DW2>DW3, obtain the step of the danger coefficient
If including: suddenly DW2<d≤DW1, obtain the first danger coefficient L1If DW3<d≤DW2, obtain the second danger coefficient L2If d≤DW3,
Obtain third danger coefficient L3, L1<L2<L3, d is the actual range.
Preferably, it in above-mentioned power steering control method, is obtained according to the speed of the danger coefficient and the vehicle
The step of power steering coefficient includes:
K (v)=4.68-0.126v+0.0015v2+0.002v2*L
Wherein, k (v) is the power steering coefficient, and v is the speed of the vehicle, and L is the danger coefficient.
Preferably, in above-mentioned power steering control method, according to the direction of the power steering coefficient and the vehicle
The method that disk input torque obtains power steering torque is:
Pe=CM*k(v)*(Pi-1.5)
Wherein, PeIt is the power steering torque, CMIt is the motor magnetic force moment coefficient of the vehicle, PiIt is the vehicle
Steering wheel input torque.
According to further aspect of the application, a kind of power steering control system is provided, the steering for executing above-mentioned helps
Force control method, the power steering control system includes: detecting module, the danger coefficient to collide for obtaining vehicle；
Control module, for obtaining power steering coefficient according to the speed of the danger coefficient and the vehicle, and according to the steering
The steering wheel input torque of power-assisted coefficient and the vehicle obtains power steering torque；And execution module, for according to
Power steering torque carries out power steering control to the vehicle.
According to further aspect of the application, a kind of power steering control equipment is provided, comprising: processor；Memory,
In be stored with the executable instruction of the processor；Wherein, the processor is configured to next via the executable instruction is executed
The step of executing above-mentioned power steering control method.
According to further aspect of the application, a kind of computer readable storage medium is provided, for storing program, the journey
Sequence is performed the step of realizing above-mentioned power steering control method.
According to further aspect of the application, a kind of vehicle is provided, the vehicle configuration has above-mentioned power steering control
System, power steering control equipment or computer readable storage medium.
The beneficial effect of the application compared with prior art is:
The application adjusts power steering coefficient according to the danger coefficient that vehicle collides, real-time according to power steering coefficient
Power steering torque is adjusted, by carrying out power steering control to vehicle with the associated power steering torque of danger coefficient, is improved
Steering safety of the vehicle under dangerous working condition.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The application can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the application
Example, and together with specification it is used to explain the principle of the application.It should be evident that the accompanying drawings in the following description is only the application
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 shows a kind of step schematic diagram of power steering control method in the embodiment of the present application；
Fig. 2 shows the realization architecture diagrams of power steering control method a kind of in the embodiment of the present application；
Fig. 3 shows a kind of module diagram of power steering control system in the embodiment of the present application；
Fig. 4 shows a kind of structural schematic diagram of power steering control equipment in the embodiment of the present application；
Fig. 5 shows a kind of structural schematic diagram of computer readable storage medium in the embodiment of the present application.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to embodiment set forth herein.On the contrary, thesing embodiments are provided so that the application will
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.It is identical attached in figure
Icon note indicates same or similar structure, thus will omit repetition thereof.
Fig. 1 shows the step schematic diagram that power assist control method is turned in embodiment.Shown in referring to Fig.1, in some embodiments
In, the power steering control method of the application includes:
S10, the danger coefficient that vehicle collides is obtained；
S20, power steering coefficient is obtained according to the speed of danger coefficient and vehicle；
S30, power steering torque is obtained according to the steering wheel input torque of power steering coefficient and vehicle；
S40, power steering control is carried out to vehicle according to power steering torque.
By detecting the danger coefficient that collides of vehicle, power steering coefficient is adjusted according to danger coefficient, and according to turning
Power steering torque is adjusted in real time to power-assisted coefficient, by turning to the associated power steering torque of danger coefficient to vehicle
Power assisted control realizes that quickly power-assisted reduces the risk of collision of vehicle under dangerous working condition.
In a preferred embodiment, the step of danger coefficient that vehicle collides is obtained in step S10 includes: collecting vehicle
Situation of remote；The safe distance needed for vehicle avoids collision object is calculated according to situation of remote；According to vehicle and target
The actual range and safe distance of object obtain danger coefficient.Wherein, situation of remote include vehicle-to-target object actual range,
The speed of vehicle, the speed of object and braking deceleration etc..Needed for avoiding collision object according to situation of remote calculating vehicle
Safe distance, that is, calculate under the situation of remote currently acquired, vehicle can under conditions of taking maximum braking deceleration
Distance needed for avoiding collision object.When calculating safe distance, it may be considered that vehicle takes prolonging before maximum braking deceleration
The slow time, to improve the calculating accuracy of safe distance.Obtain safe distance after, according to the actual range of vehicle and object with
The relationship of safe distance, can obtain danger coefficient, such as actual range is greater than safe distance, then danger coefficient is low, it is practical away from
From safe distance is less than, then danger coefficient is high.
Referring to the realization architecture diagram for turning to power assist control method in embodiment illustrated in fig. 2.The step of acquiring situation of remote can
To be executed by the detecting module 1 of vehicle, calculating safe distance and the step of acquisition danger coefficient can be by the AEB module 21 of vehicle
It is executed with ASA module 22.The detecting module 1 of vehicle may include the millimetre-wave radar 11 for being assemblied in vehicle, forward direction camera 12,
The radars such as laser radar 13 and shooting part.AEB (Autonomous Emergency Braking, automatic emergency brake) module
21 and ASA (Auto Steering Assist, active steering auxiliary) module 22 is the active safety technologies for being assemblied in vehicle, can
To be integrated in ADAS (Advanced Driver Assistance System, advanced driving assistance system) controller 2 of vehicle
In.The danger coefficient can be the ASA Level signal sent by ASA module 22.
In some specific embodiments, peace needed for vehicle avoids collision object can be 1. calculated using following formula
Full distance DW:
Wherein, veIt is the speed of vehicle, αeIt is the maximum braking deceleration of vehicle, vfIt is the speed of object, αfIt is target
The deceleration of object, T are the delay times before vehicle braking.The speed v of vehiclee, object speed vf, object deceleration
αfAs obtained by the detection of the detecting module of vehicle, detecting module 1 as shown in Figure 2.Maximum braking deceleration αeIt is that vehicle is taken
Attainable maximum braking deceleration when maximum braking force.Delay time T is vehicle from current vehicle speed veFrom reaching maximum braking
Deceleration αePreceding a period of time, it is also assumed that being the reaction time of driver.Delay time, T was bigger, then safe distance DWMore
Greatly.Within the period of delay time T, it is believed that vehicle remains a constant speed veTraveling.In other embodiments, above-mentioned formula is 1.
In the minimum workshop d of vehicle-to-target object can also be added0, minimum workshop d0A usually preset value, for example, be derived from 2m~
5m。
Object be usually with from vehicle in same lane, positioned at the vehicle from front side；Under some special screnes, target
Object also may include being accidentally inserted positioned at from the static or mobile barrier in front side, from vehicle left front or right front from where vehicle
The vehicle in lane, as long as the speed v of object can be detectedfWith deceleration αf?.Delay time, T can be set as needed,
Safe distance DWIncrease with the increase of delay time T.In a preferred embodiment, delay time T may include multiple default
Value, each preset value based on delay time T, safe distance DWMultiple safe distance sections can be formed, then obtain danger coefficient
When, the safe distance section fallen into according to the actual range of vehicle-to-target object, obtain danger coefficient, danger coefficient with reality away from
Reduction from the safe distance section fallen into and increase.That is, actual range is smaller, then danger coefficient is bigger.
Specifically, in some embodiments, there are three preset values for delay time T tool, work as T=T1When DW=DW1, work as T=
T2When DW=DW2, work as T=T3When DW=DW3, T1>T2>T3, DW1>DW2>DW3If the step of obtaining danger coefficient includes: DW2<d≤
DW1, obtain the first danger coefficient L1If DW3<d≤DW2, obtain the second danger coefficient L2If d≤DW3, obtain third danger coefficient
L3, L1<L2<L3, d is the actual range of vehicle-to-target object.For example, T1For example, 2.5s, T2For example, 1.5s, T3Such as
For 0.9s, then when delay time T takes T1Resulting safe distance D is calculated when=2.5sWFor DW1, when delay time T takes T2=1.5s
When calculate resulting safe distance DWFor DW2, when delay time T takes T3Resulting safe distance D is calculated when=0.9sWFor DW3.Root
According to three safe distance D of acquisitionW1、DW2、DW3, four groups of safe distance sections can be obtained, including be greater than DW1Safe distance area
Between, DW1~DW2Safe distance section, DW2~DW3Safe distance section, be less than DW3Safe distance section, and then basis
The safe distance section that the actual range d of vehicle-to-target object is fallen into obtains corresponding danger coefficient, and following formula is 2. shown:
Wherein, the first danger coefficient L1, the second danger coefficient L2, third danger coefficient L3It can be incremental linear relationship
Or non-linear relation, it is set with specific reference to actual demand.Work as d > DW1When, illustrate actual range between vehicle-to-target object compared with
Greatly, vehicle is in safe operating condition, the danger coefficient to collide there is no need to calculate vehicle at this time.
It further, can be using following formula 3. in step S20 after obtaining danger coefficient according to above-mentioned any embodiment
It obtains power steering coefficient k (v):
K (v)=4.68-0.126v+0.0015v2+0.002v2* L formula is 3.
Wherein v is the speed of vehicle, and L is danger coefficient, and L for example can be above-mentioned first danger coefficient L1, it is second dangerous
Coefficient L2, third danger coefficient L3In any one.By the way that danger coefficient L to be associated with speed v, dangerous working condition can be obtained
The lower power steering coefficient k (v) for realizing quick power-assisted, when danger coefficient is bigger, then power steering coefficient k (v) is bigger, to realize
In emergency circumstances enough power steerings can be provided to vehicle.
Further, steering can be 4. obtained using following formula after obtaining power steering coefficient k (v), in step S30 to help
Power torque Pe:
Pe=CM*k(v)*(Pi- 1.5) formula is 4.
Wherein CMIt is the motor magnetic force moment coefficient of vehicle, PiIt is the steering wheel input torque of vehicle.Steering wheel input torque Pi
It is the hand-power square that driver turn steering wheel is applied, when driver turn steering wheel, is 4. turned to by above-mentioned formula
Booster torquemoment Pe, according to power steering torque P in step S40ePower steering control can be carried out to vehicle.
Referring to shown in Fig. 2, step S20 obtains power steering coefficient k (v) into S40, obtains power steering torque Pe, with
And the operation for carrying out power steering control to vehicle can be executed by the EPS module 3 of vehicle.EPS module 3 receives ASA module
After the 22 ASA Level (i.e. danger coefficient) sent, power steering coefficient k (v) is adjusted to increase vehicle based on dangerous working condition
Power steering ability, and the power steering torque P that practical booster vehicle turns to is obtained according to power steering coefficient k (v)e, thus
The power steering control for adapting to dangerous working condition is realized in driver turn steering wheel.
In conclusion the power steering control method of the application can turn according to the danger coefficient adjustment that vehicle collides
To power-assisted coefficient, power steering torque is adjusted according to power steering coefficient in real time, improves steering peace of the vehicle under dangerous working condition
Quan Xing.
The embodiment of the present application also provides a kind of power steering control system, referring to shown in Fig. 3, in some embodiments, turns
Include: to assisted control system
Detecting module 31, the danger coefficient to collide for obtaining vehicle.Detecting module 31 can be used for executing above-mentioned turn
To step 10 described in power assist control method embodiment.
Control module 32 for obtaining power steering coefficient according to the speed of danger coefficient and vehicle, and is helped according to steering
The steering wheel input torque of force coefficient and vehicle obtains power steering torque.Control module 32 can be used for executing above-mentioned power steering
Step 20 described in control method embodiment and S30.
Execution module 33, for carrying out course changing control to vehicle according to power steering torque.Execution module 33 can be used for holding
Step 40 described in the above-mentioned power steering control method embodiment of row.
In some embodiments, power steering control system can integrate in the EPS system of vehicle, by EPS system
Detecting module 31 obtains danger coefficient, adjusts power steering coefficient and power steering torque in real time by control module 32, and by holding
Row module 33 carries out power steering control to vehicle.
The power steering control system of the application can obtain the danger coefficient that vehicle collides by detecting module 31,
Power steering coefficient is adjusted according to danger coefficient by control module 32, and power steering is adjusted according to power steering coefficient in real time
Torque carries out power steering control to vehicle according to power steering torque by execution module 33, improves vehicle in dangerous working condition
Under steering safety.
The embodiment of the present application also provides a kind of power steering control equipment, including processor and memory, deposits in memory
Executable instruction is contained, processor is configured as executing the power steering control in above-described embodiment via executable instruction is executed
The step of method processed.
As described above, the power steering control equipment of the application can turn according to the danger coefficient adjustment that vehicle collides
To power-assisted coefficient, power steering torque is adjusted according to power steering coefficient in real time, by with the associated power steering of danger coefficient
Torque carries out power steering control to vehicle, improves steering safety of the vehicle under dangerous working condition.
Fig. 4 is the structural schematic diagram that Power assisted control equipment (hereinafter referred to as electronic equipment) is turned in the embodiment of the present application, is answered
When understanding, Fig. 4 is only to schematically show modules, these modules can be virtual software module or actual
Hardware module, merging, fractionation and its increase of complementary modul block of these modules are all within the scope of protection of this application.
Person of ordinary skill in the field it is understood that the various aspects of the application can be implemented as system, method or
Program product.Therefore, the various aspects of the application can be with specific implementation is as follows, it may be assumed that complete hardware embodiment, complete
The embodiment combined in terms of full Software Implementation (including firmware, microcode etc.) or hardware and software, can unite here
Referred to as " circuit ", " module " or " platform ".
The electronic equipment 400 of the application is described referring to Fig. 4.The electronic equipment 400 that Fig. 4 is shown is only one and shows
Example, should not function to the embodiment of the present application and use scope bring any restrictions.
As shown in figure 4, electronic equipment 400 is showed in the form of universal computing device.The component of electronic equipment 400 can wrap
Include but be not limited to: at least one processing unit 410, at least one storage unit 420, connection different platform component (including storage
Unit 420 and processing unit 410) bus 430, display unit 440 etc..
Wherein, storage unit is stored with program code, and program code can be executed with unit 410 processed, so that processing is single
Member 410 executes the step of power steering control method described in above-described embodiment.For example, processing unit 410 can execute such as
Fig. 1 is to shown step.
Storage unit 420 may include the readable medium of volatile memory cell form, such as Random Access Storage Unit
(RAM) 4201 and/or cache memory unit 4202, it can further include read-only memory unit (ROM) 4203.
Storage unit 420 can also include program/utility with one group of (at least one) program module 4205
4204, such program module 4205 includes but is not limited to: operating system, one or more application program, other program moulds
It may include the realization of network environment in block and program data, each of these examples or certain combination.
Bus 430 can be to indicate one of a few class bus structures or a variety of, including storage unit bus or storage
Cell controller, peripheral bus, graphics acceleration port, processing unit use any bus structures in a variety of bus structures
Local bus.
Electronic equipment 400 can also be with one or more external equipments 500 (such as keyboard, sensing equipment, bluetooth equipment
Deng) communication, can also be enabled a user to one or more equipment interact with the electronic equipment 400 communicate, and/or with make
Any equipment (such as the router, modulation /demodulation that the electronic equipment 400 can be communicated with one or more of the other calculating equipment
Device etc.) communication.This communication can be carried out by input/output (I/O) interface 450.Also, electronic equipment 400 can be with
By network adapter 460 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network,
Such as internet) communication.Network adapter 460 can be communicated by bus 430 with other modules of electronic equipment 400.It should
Understand, although not shown in the drawings, other hardware and/or software module can be used in conjunction with electronic equipment 400, including but unlimited
In: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and number
According to backup storage platform etc..
The embodiment of the present application also provides a kind of computer readable storage medium, and for storing program, program is performed reality
The step of power steering control method of existing above-described embodiment description.In some possible embodiments, the application's is each
Aspect is also implemented as a kind of form of program product comprising program code, when program product is run on the terminal device
When, program code is used for the step of making terminal device execute the power steering control method that above-described embodiment describes.
As described above, the computer readable storage medium of the application can be adjusted according to the danger coefficient that vehicle collides
Power steering coefficient adjusts power steering torque according to power steering coefficient in real time, by helping with the associated steering of danger coefficient
Power torque carries out power steering control to vehicle, improves steering safety of the vehicle under dangerous working condition.
Fig. 5 is the structural schematic diagram of the computer readable storage medium of the application.Refering to what is shown in Fig. 5, describing according to this
The program product 600 for realizing the above method of the embodiment of application can use the read-only storage of portable compact disc
Device (CD-ROM) and including program code, and can be run on terminal device, such as PC.However, the journey of the application
Sequence product is without being limited thereto, and in this document, readable storage medium storing program for executing can be any tangible medium for including or store program, the journey
Sequence can be commanded execution system, device or device use or in connection.
Program product can be using any combination of one or more readable mediums.Readable medium can be readable signal Jie
Matter or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can be but be not limited to electricity, magnetic, optical, electromagnetic, infrared ray or partly lead
System, device or the device of body, or any above combination.More specific example (the non exhaustive column of readable storage medium storing program for executing
Table) it include: the electrical connection with one or more conducting wires, portable disc, hard disk, random access memory (RAM), read-only storage
Device (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read only memory (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
Computer readable storage medium may include in a base band or as carrier wave a part propagate data-signal,
In carry readable program code.The data-signal of this propagation can take various forms, including but not limited to electromagnetic signal,
Optical signal or above-mentioned any appropriate combination.Readable storage medium storing program for executing can also be any readable Jie other than readable storage medium storing program for executing
Matter, the readable medium can send, propagate or transmit for by instruction execution system, device or device use or and its
The program of combined use.The program code for including on readable storage medium storing program for executing can transmit with any suitable medium, including but not
It is limited to wireless, wired, optical cable, RF etc. or above-mentioned any appropriate combination.
Can with any combination of one or more programming languages come write for execute the application operation program
Code, programming language include object oriented program language-Java, C++ etc., further include conventional process
Formula programming language-such as " C " language or similar programming language.Program code can be calculated fully in user
It executes in equipment, partly execute on a user device, executing, as an independent software package partially in user calculating equipment
Upper part executes on a remote computing or executes in remote computing device or server completely.It is being related to remotely counting
In the situation for calculating equipment, remote computing device can pass through the network of any kind, including local area network (LAN) or wide area network
(WAN), it is connected to user calculating equipment, or, it may be connected to external computing device (such as utilize ISP
To be connected by internet).
Embodiments herein also provides a kind of vehicle, which has above-mentioned power steering control system, or matches
Above-mentioned power steering control equipment is equipped with, or configured with above-mentioned computer readable storage medium, to realize according to touching
The danger coefficient hit adjusts power steering coefficient in real time, and adjusts power steering torque in real time according to power steering coefficient, passes through
Power steering control is carried out to vehicle with danger coefficient associated power steering torque, improves steering of the vehicle under dangerous working condition
Safety.
The above content is combine specific preferred embodiment to made by the application further description, and it cannot be said that
The specific implementation of the application is only limited to these instructions.For those of ordinary skill in the art to which this application belongs, exist
Under the premise of not departing from the application design, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to the application's
Protection scope.
Claims (11)
1. a kind of power steering control method characterized by comprising
Obtain the danger coefficient that vehicle collides；
Power steering coefficient is obtained according to the speed of the danger coefficient and the vehicle；
Power steering torque is obtained according to the steering wheel input torque of the power steering coefficient and the vehicle；And
Power steering control is carried out to the vehicle according to the power steering torque.
2. power steering control method as described in claim 1, which is characterized in that obtain the danger coefficient that vehicle collides
The step of include:
Acquire the situation of remote of the vehicle；
The safe distance needed for the vehicle avoids collision object is calculated according to the situation of remote；
According to the actual range of the vehicle and the object and the safe distance, the danger coefficient is obtained.
3. power steering control method as claimed in claim 2, which is characterized in that calculate the vehicle according to the situation of remote
The method of safe distance needed for avoiding collision object is:
Wherein, DWIt is the safe distance, veIt is the speed of the vehicle, αeIt is the maximum braking deceleration of the vehicle, vfIt is
The speed of the object, αfIt is the deceleration of the object, T is the delay time before the vehicle braking.
4. power steering control method as claimed in claim 3, which is characterized in that the delay time T includes multiple default
Value, the safe distance DWEach preset value based on the delay time T forms multiple safe distance sections, obtains the danger
The method of coefficient is:
The danger coefficient is obtained according to the safe distance section that the actual range is fallen into, the danger coefficient is with the reality
The reduction in the safe distance section that distance is fallen into and increase.
5. power steering control method as claimed in claim 4, which is characterized in that there are three default for the delay time T tool
Value, works as T=T1When DW=DW1, work as T=T2When DW=DW2, work as T=T3When DW=DW3, T1>T2>T3, DW1>DW2>DW3, described in acquisition
The step of danger coefficient includes:
If DW2<d≤DW1, obtain the first danger coefficient L1,
If DW3<d≤DW2, obtain the second danger coefficient L2,
If d≤DW3, obtain third danger coefficient L3, L1<L2<L3, d is the actual range.
6. power steering control method as described in claim 1, which is characterized in that according to the danger coefficient and the vehicle
Speed obtain power steering coefficient the step of include:
K (v)=4.68-0.126v+0.0015v2+0.002v2*L
Wherein, k (v) is the power steering coefficient, and v is the speed of the vehicle, and L is the danger coefficient.
7. power steering control method as claimed in claim 6, which is characterized in that according to the power steering coefficient and described
The method that the steering wheel input torque of vehicle obtains power steering torque is:
Pe=CM*k(v)*(Pi-1.5)
Wherein, PeIt is the power steering torque, CMIt is the motor magnetic force moment coefficient of the vehicle, PiIt is the direction of the vehicle
Disk input torque.
8. a kind of power steering control system, which is characterized in that helped for executing the described in any item steerings of claim 1-7 such as
Force control method, the power steering control system include:
Detecting module, the danger coefficient to collide for obtaining vehicle；
Control module, for obtaining power steering coefficient according to the speed of the danger coefficient and the vehicle, and according to described
The steering wheel input torque of power steering coefficient and the vehicle obtains power steering torque；And
Execution module, for carrying out power steering control to the vehicle according to the power steering torque.
9. a kind of power steering controls equipment characterized by comprising
Processor；
Memory, wherein being stored with the executable instruction of the processor；
Wherein, the processor be configured to via execute the executable instruction come perform claim require it is 1 to 7 described in any item
The step of power steering control method.
10. a kind of computer readable storage medium, for storing program, which is characterized in that described program is performed realization power
Benefit requires the step of 1 to 7 described in any item power steering control methods.
11. a kind of vehicle, it is characterised in that:
The vehicle configuration has power steering control system as claimed in claim 8；Or
The vehicle configuration has power steering control equipment as claimed in claim 9；Or
The vehicle configuration has computer readable storage medium as claimed in claim 10.
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