CN113665664B - SBW angle following feedforward control method, storage medium and control system - Google Patents
SBW angle following feedforward control method, storage medium and control system Download PDFInfo
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- CN113665664B CN113665664B CN202110902731.5A CN202110902731A CN113665664B CN 113665664 B CN113665664 B CN 113665664B CN 202110902731 A CN202110902731 A CN 202110902731A CN 113665664 B CN113665664 B CN 113665664B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
- B62D5/005—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback
- B62D5/006—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback power actuated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
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Abstract
The invention discloses a SBW angle following feedforward control method, which is used for a force sense analog controller end and comprises the following steps: after the steering wheel rotating speed signal is subjected to low-pass filtering processing, steering wheel rotating speed signal dead zone processing is carried out to obtain a steering wheel rotating speed signal SV used for angle following feedforward control; the real vehicle tests the angle following delay of the rotating speed working condition of each steering wheel of each vehicle speed; forming an angle following feedforward gain table along with the vehicle speed and the rotating speed of a steering wheel; calibrating a gain coefficient FeedforwardG in the angle following feedforward gain table; and carrying out low-pass filtering on the steering wheel angle signal to obtain the current steering wheel angle SA. The steering wheel outgoing target angle is SA + SV feed forward g. The invention also discloses a computer readable medium for executing the steps in the SBW angle following feedforward control method and an SBW angle following feedforward control system. The invention can correct the corresponding feedforward gain coefficient according to the real-time driving condition on the premise of not increasing the cost, improve the SBW steering following performance and optimize the steer-by-wire quality.
Description
Technical Field
The invention relates to the field of automobiles, in particular to an SBW angle following feedforward control method. The invention also relates to a computer readable medium for executing the steps in the SBW angle follow feedforward control method, and an SBW angle follow feedforward control system.
Background
The automobile electric power-assisted steering-By-Wire (SBW) system has great significance for advanced automatic driving of automobiles, and is considered to be one of key execution components for intelligent driving. High-altitude and fully autonomous cars are expected to start to enter the market in 2025 and start to grow rapidly, and steer-by-wire systems are a new technology that truly liberates human hands from steering. Compared with the traditional EPS system, the SBW system has the characteristics of road feel feedback control, variable transmission ratio, active steering control and the like, so the pre-research and development of the SBW system become the focus of the steering industry and advance towards safe and reliable mass production.
The steer-by-wire system cancels the mechanical connection between a steering wheel and a steering gear, and transmits a steering instruction to the steering gear through an electric signal to realize the steering control of a vehicle, and the method of canceling the mechanical connection brings a new technical problem: the steering directness of the whole vehicle, namely the steering actuator follows the angle of the response steering wheel, certain delay is necessarily generated, and the delay is mainly generated by two factors: delay of message period between a force sense analog controller (a steering wheel system) and a steering execution controller; and (c) angle following delay of the steering actuator exists in an angle following algorithm (such as time used in an integration process).
The prior art mainly solves the following delay problem of SBW steering from three aspects: firstly, shortening a message outgoing period; secondly, the angle following performance is improved by algorithm optimization at the end of the actuator; and thirdly, the steering direct performance of the steering actuator is improved by adopting a variable transmission ratio (the angle of a steering wheel and the angle of the steering actuator are transmitted in a ratio of 1: 1). The prior art optimizes the SBW steering following performance to a certain extent, but the following delay feeling of a professional driver when driving a steer-by-wire automobile is still eliminated for the standard traditional EPS, especially under the working condition of rapid steering.
Disclosure of Invention
In the summary section a series of simplified form concepts are introduced, which are all simplifications of the prior art in this field, which will be further detailed in the detailed description section. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
The invention aims to solve the technical problem of providing an SBW angle following feedforward control method capable of reducing SBW steering following delay on the premise of not increasing cost.
Accordingly, the present invention also provides a computer readable medium for performing the steps of the SBW angle follow feedforward control method, and an SBW angle follow feedforward control system.
In order to solve the above technical problem, the present invention provides an SBW angle following feedforward control method for a force sense analog controller, comprising the following steps:
after low-pass filtering processing is carried out on the steering wheel rotating speed signal, steering wheel rotating speed signal dead zone processing is carried out to obtain a steering wheel rotating speed signal SV used by angle following feedforward control;
the real vehicle tests the angle following delay of the rotating speed working condition of each steering wheel of each vehicle speed;
forming an angle following feedforward gain table following the vehicle speed and the rotating speed of a steering wheel;
calibrating a gain coefficient FeederwardG in the angle following feedforward gain table;
and carrying out low-pass filtering on the steering wheel angle signal to obtain the current steering wheel angle SA.
The steering wheel outgoing target angle is SA + SV feedback.
The gain table is a map, which is configured to: the horizontal axis is the vehicle speed (which can be calibrated), the vertical axis is the rotating speed of the steering wheel (which can be calibrated), and the map value is the angle following feedforward gain value, which is the gain table with reference to fig. 3. By way of example: the gain value for the vehicle speed of 60, 500deg/s is 0.06. 0.06 is 0.06 seconds delay for the actuator angle to follow the steering wheel angle if no angle following feed forward control is added, and to eliminate or reduce this delay, the steering wheel angle is required to advance flare, i.e. the flare angle is: the current angle SA +0.06 × 500 deg/s. So that: the gain table is formed by the designed gain values according to different vehicle speeds and different steering wheel rotating speeds.
Optionally, the SBW angle following feedforward control method is further improved, and the low-pass filtering process includes filtering out burrs and noises of the steering wheel speed signal and the steering wheel angle signal, so that smoothness and stability of the steering wheel speed signal and the steering wheel angle signal are ensured.
Optionally, the SBW angle following feedforward control method is further improved, and the steering wheel speed signal dead-zone processing includes: shielding a rotation speed signal of the non-rotation of the steering wheel;
and/or shielding the steering wheel speed signal with the steering wheel speed signal range of [ -2, 2 ].
To solve the above technical problem, the present invention provides a computer readable medium for the steps in the SBW angle following feedforward control method according to any one of the above items.
In order to solve the above technical problem, the present invention provides an SBW angle following feedforward control system for a force sense analog controller, including:
the preprocessing unit is used for filtering burrs and noises of a steering wheel rotating speed signal and a steering wheel angle signal and executing steering wheel rotating speed signal dead zone processing;
the receiving unit is used for receiving the angle following delay of the rotating speed working condition of each steering wheel of each vehicle speed obtained by external real vehicle test;
a gain coefficient acquisition unit for forming an angle following feedforward gain table following the vehicle speed and the rotating speed of the steering wheel;
and the calculating unit is used for calculating the outgoing target angle of the steering wheel according to the steering wheel rotating speed signal and the steering wheel angle signal output by the preprocessing unit and the gain coefficient obtained by the gain coefficient acquisition single-query feedforward gain table.
Optionally, the SBW angle following feedforward control system is further modified, and the steering wheel speed signal dead-zone processing includes masking the non-rotating steering wheel speed signal;
and/or masking the steering wheel speed signal in the range of-2, 2.
Optionally, the SBW angle following feedforward control system is further improved, and the steering wheel outgoing target angle is SA + SV feed forward g;
SA is the front steering wheel angle obtained through low-pass filtering, SV is the steering wheel rotating speed signal, the steering wheel rotating speed signal used by angle following feedforward control is obtained through low-pass filtering and dead zone processing, and feed forward G is a gain coefficient.
As described in the background section of the present invention, the three prior art solutions still eliminate the follow-up delay feeling that a professional driver does not have when driving a steer-by-wire vehicle, especially in fast steering conditions. The invention provides a solution for improving the following performance of steering, which is different from the traditional solution, in order to solve the problem of following delay of steer-by-wire. According to the invention, the control algorithm is added at the force sense analog controller end to reduce the SBW steering following delay, so that the following performance target of the steer-by-wire system is close to or equal to that of the traditional steering system, the corresponding feed-forward gain coefficient can be corrected according to the real-time driving condition on the premise of not increasing the cost, the SBW steering following performance is simply and directly improved through a software control method, and the steer-by-wire quality is optimized.
Drawings
The accompanying drawings, which are included to provide further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. The drawings are not necessarily to scale, however, and may not be intended to accurately reflect the precise structural or performance characteristics of any given embodiment, and should not be construed as limiting or restricting the scope of values or properties encompassed by exemplary embodiments in accordance with the invention. The invention will be described in further detail with reference to the following detailed description and accompanying drawings:
fig. 1 is a schematic diagram of the principle of the present invention.
FIG. 2 is a schematic view of a second embodiment of the present invention.
FIG. 3 is a second embodiment of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and technical effects of the present invention will be fully apparent to those skilled in the art from the disclosure in the specification. The invention is capable of other embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the general concept of the invention. It should be noted that the features in the following embodiments and examples may be combined with each other without conflict. The following exemplary embodiments of the present invention may be embodied in many different forms and should not be construed as limited to the specific embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the technical solutions of these exemplary embodiments to those skilled in the art.
A first embodiment;
referring to fig. 1, the present invention provides a SBW angle following feedforward control method for a force-sensing analog controller, including the following steps:
after the steering wheel rotating speed signal is subjected to low-pass filtering processing, steering wheel rotating speed signal dead zone processing is carried out to obtain a steering wheel rotating speed signal SV used for angle following feedforward control;
the real vehicle tests the angle following delay of the rotating speed working condition of each steering wheel of each vehicle speed;
forming an angle following feedforward gain table following the vehicle speed and the rotating speed of a steering wheel;
calibrating a gain coefficient FeederwardG in the angle following feedforward gain table;
and carrying out low-pass filtering on the steering wheel angle signal to obtain the current steering wheel angle SA.
The steering wheel outgoing target angle is SA + SV feed forward g.
A second embodiment;
referring to fig. 1, the present invention provides a SBW angle following feedforward control method for a force-sensing analog controller, including the following steps:
after burrs and noise are filtered from the steering wheel rotating speed signal, steering wheel rotating speed signal dead zone processing is carried out to obtain a steering wheel rotating speed signal SV used for angle following feedforward control;
the real vehicle tests the angle following delay of the rotating speed working condition of each steering wheel of each vehicle speed;
forming an angle following feedforward gain table along with the vehicle speed and the rotating speed of a steering wheel;
calibrating a gain coefficient FeedforwardG in the angle following feedforward gain table;
and filtering burrs and noise of the steering wheel angle signal to obtain the current steering wheel angle SA.
The target angle of the outward turning of the steering wheel is SA + SV FeedforwardG;
wherein the steering wheel speed signal dead zone processing comprises: shielding a rotation speed signal of the non-rotation of the steering wheel;
and/or shielding the steering wheel speed signal with the steering wheel speed signal range of [ -2, 2 ].
Referring to fig. 2 and 3, the following three operation conditions are illustrated;
illustratively, the target outgoing angle (deg) is the steering wheel angle (deg) +0.072 is the steering wheel speed (deg/s). 0.072 is the value of the angle following feedforward gain coefficient for the vehicle speed, the steering wheel speed, which is present in the "angle following feedforward gain Map with vehicle speed, with steering wheel speed".
For example, for a driving condition of 20km/h and 300deg/s, the corresponding angle outgoing feedforward gain value is 0.059, and the outgoing target angle (deg) is the steering wheel angle (deg) +0.059 × the steering wheel rotation speed (deg/s).
Illustratively, the outgoing target angle is: the outgoing target angle (deg) is the steering wheel angle (deg) +0.03 steering wheel speed (deg/s). And calibrating the value of the angle following feedforward gain Map along with the speed and the rotating speed of the steering wheel to be 0.03 under the working condition of the rotating speed of the steering wheel. Through angle following feedforward control, the purpose that the target angle and the actual corner are close to coincide is achieved, so that angle following delay is fully reduced, and SBW angle following quality is improved.
A third embodiment;
the present invention provides a computer readable medium for executing the steps of the SBW angle follow feed-forward control method according to any one of the first or second embodiments. A third embodiment;
a fourth embodiment;
the invention provides a SBW angle following feedforward control system for a force-sensing analog controller end, which comprises:
the preprocessing unit is used for filtering burrs and noises of a steering wheel rotating speed signal and a steering wheel angle signal and executing steering wheel rotating speed signal dead zone processing;
the receiving unit is used for receiving the angle following delay of the rotating speed working condition of each steering wheel of each vehicle speed obtained by external real vehicle test;
a gain coefficient acquisition unit for forming an angle following feedforward gain table following the vehicle speed and the rotating speed of the steering wheel;
and the calculating unit is used for calculating the outgoing target angle of the steering wheel according to the steering wheel rotating speed signal and the steering wheel angle signal output by the preprocessing unit and the gain coefficient obtained by the gain coefficient acquisition single-query feedforward gain table.
A fifth embodiment;
the invention provides a SBW angle following feedforward control system for a force-sensing analog controller end, which comprises:
the preprocessing unit is used for filtering burrs and noises of a steering wheel rotating speed signal and a steering wheel angle signal and executing steering wheel rotating speed signal dead zone processing;
the receiving unit is used for receiving the angle following delay of the rotating speed working condition of each steering wheel of each vehicle speed obtained by external real vehicle test;
a gain coefficient acquisition unit for forming an angle following feedforward gain table following the vehicle speed and the rotating speed of the steering wheel;
the calculation unit is used for calculating the outgoing target angle of the steering wheel according to the steering wheel rotating speed signal and the steering wheel angle signal output by the preprocessing unit and the gain coefficient obtained by the gain coefficient acquisition single-query feedforward gain table;
the outward target angle of the steering wheel is SA + SV feed forward G;
SA is a front steering wheel angle obtained through low-pass filtering, SV is a steering wheel rotating speed signal, the steering wheel rotating speed signal used for angle following feedforward control is obtained through low-pass filtering and dead zone processing, and feed forward G is a gain coefficient;
the steering wheel rotating speed signal dead zone processing comprises the steps of shielding a rotating speed signal of a non-rotating steering wheel;
and/or shielding the steering wheel speed signal with the steering wheel speed signal range of [ -2, 2 ].
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The present invention has been described in detail with reference to the specific embodiments and examples, but these are not to be construed as limiting the invention. Many variations and modifications may be made by one of ordinary skill in the art without departing from the principles of the present invention, which should also be considered as within the scope of the present invention.
Claims (6)
1. An SBW angle following feedforward control method is used for a force sense analog controller end and is characterized by comprising the following steps:
after the steering wheel rotating speed signal is subjected to low-pass filtering processing, steering wheel rotating speed signal dead zone processing is carried out to obtain a steering wheel rotating speed signal SV used for angle following feedforward control;
the real vehicle tests the angle following delay of the rotating speed working condition of each steering wheel of each vehicle speed;
forming an angle following feedforward gain table following the vehicle speed and the rotating speed of a steering wheel;
calibrating a gain coefficient FeederwardG in the angle following feedforward gain table;
carrying out low-pass filtering on the steering wheel angle signal to obtain a current steering wheel angle SA;
the steering wheel outgoing target angle is SA + SV feedback.
2. A SBW angle following feedforward control method as claimed in claim 1, wherein: the low-pass filtering processing comprises filtering burrs and noises of a steering wheel rotating speed signal and a steering wheel angle signal.
3. A SBW angle follow feed forward control method as claimed in claim 1, wherein: the steering wheel speed signal dead zone processing comprises the following steps: shielding a rotation speed signal of the non-rotation of the steering wheel;
and/or shielding the steering wheel speed signal with the steering wheel speed signal range of [ -2, 2 ].
4. A computer readable medium for performing the steps in the SBW angle follow feed forward control method of any one of claims 1-3.
5. An SBW angle following feedforward control system for a force sensing analog controller, comprising:
the preprocessing unit is used for filtering burrs and noises of a steering wheel rotating speed signal and a steering wheel angle signal and executing steering wheel rotating speed signal dead zone processing;
the receiving unit is used for receiving the angle following delay of the rotating speed working condition of each steering wheel of each vehicle speed obtained by external real vehicle test;
a gain coefficient acquisition unit for forming an angle following feedforward gain table following the vehicle speed and the rotating speed of the steering wheel;
the calculation unit is used for calculating the outgoing target angle of the steering wheel according to the steering wheel rotating speed signal and the steering wheel angle signal output by the preprocessing unit and the gain coefficient obtained by the gain coefficient acquisition single-query feedforward gain table;
the target angle of the outward turning of the steering wheel is SA + SV FeedforwardG;
SA is a front steering wheel angle obtained through low-pass filtering, SV is a steering wheel rotating speed signal, low-pass filtering and dead zone processing are carried out on the steering wheel rotating speed signal to obtain a steering wheel rotating speed signal used by angle following feedforward control, and feed forward G is a gain coefficient.
6. An SBW angle following feedforward control system as claimed in claim 5, wherein: the steering wheel rotating speed signal dead zone processing comprises the steps of shielding a rotating speed signal of the non-rotating steering wheel;
and/or masking the steering wheel speed signal in the range of-2, 2.
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