CN102795263A - Compensation torque control method for vehicle deflection preventing system - Google Patents
Compensation torque control method for vehicle deflection preventing system Download PDFInfo
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- CN102795263A CN102795263A CN2012101035935A CN201210103593A CN102795263A CN 102795263 A CN102795263 A CN 102795263A CN 2012101035935 A CN2012101035935 A CN 2012101035935A CN 201210103593 A CN201210103593 A CN 201210103593A CN 102795263 A CN102795263 A CN 102795263A
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- 238000010586 diagram Methods 0.000 description 5
- 230000015572 biosynthetic process Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000005520 electrodynamics Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- 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
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/04—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
- B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
- B60W2510/202—Steering torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/02—Control of vehicle driving stability
- B60Y2300/022—Stability in turns or during cornering
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention provides a compensation torque control method for a vehicle deflection preventing system, comprising the steps as follows: a torque control part determines whether a compensation torque direction and a driver steering torque direction are inconsistent according to drive environment changes caused by deflection of the vehicle in a straight driving state; if the compensation torque direction and the driver steering torque direction are inconsistent, the torque control part determines whether a difference between the compensation torque and the driver steering torque stays more than a reference torque for second learning time; and if the difference between the compensation torque and the driver steering torque stays more than the reference torque for second learning time, the torque control part relieves the compensation torque. According to the present invention, in the case that a horizontal force direction suddenly changes and the compensation torque is added towards a direction opposite to the driver steering torque, the compensation torque is relieved or compensation torque calculating time is shortened to raise responsiveness of the compensation torque, thereby preventing the compensation torque from influncing steering of the driver.
Description
Technical field
The present invention relates to the anti-deviation system of a kind of vehicle; Saying so more in detail, it is a kind of under the situation that the direction of transverse force changes to relate to; Direction and size according to driver's steering torque and compensation torque are come the control compensation moment of torsion, improve the compensation torque control method of the anti-deviation system of vehicle of responsibility.
Background technology
In general, utilize the steering hardware of the power of vehicle that fluid pressure type that utilizes machine oil and the electrodynamic type that utilizes electric motor are arranged.
Hydraulic power-assisted steering (Hydraulic Power Steering, HPS) in, Hydraulic Pump utilizes the application force draw fluid of engine and forms hydraulic pressure, when the driver rotates steering handwheel, supplies with hydraulic pressure to the direction that turns to, lightens so that handle.
In addition, electric steering-assisted (Motor Driven Power Steering, MDPS) in, utilize electric motor moment of torsion to be provided to the direction that the driver turns to lighten so that handle.These are electric steering-assisted different with hydraulic power-assisted steering in the past, automatically control the action of electric motor according to driving conditions, thereby improve turning efficiency and turn to sense.
In addition, usually when vehicle goes, owing to lateral load such as beam wind force or road surface fluctuating or other inside and outside factor effect have transverse force, the deviation phenomenon (Steering Pull) of a certain side in may taking place about the vehicle deflection.
In the prior art, if under the craspedodrome state sideslip of generation vehicle, apply compensation torque to the direction identical with driver's steering torque, compensate driver's steering torque.At this moment, if the running environment of the vehicle in keeping straight on changes and the direction flip-flop of transverse force, the direction of compensation torque also should change thereupon.
But because the restriction of the responsibility of compensation torque, compensation torque keeps the direction before the direction of transverse force changes to apply, thereby exists driver's steering torque to compare the problem that increases when not implementing torque compensation.
Thus, the fatigue that the driver experiences increases, and has the problem of the driving safety that hinders vehicle.
Summary of the invention
The present invention proposes in order to improve aforesaid problem; The object of the present invention is to provide a kind of compensation torque control method of the following anti-deviation system of vehicle: under the situation that the direction of transverse force changes; Direction and big or small control compensation moment of torsion according to driver's steering torque and compensation torque; Improve responsibility, thereby guarantee the riding stability of vehicle.
Compensation torque control method according to the anti-deviation system of vehicle of a mode of the present invention; Comprise: torque control portion changes according to the sideslip of vehicle causes under the craspedodrome state running environment, judges the direction inconsistent step whether of direction and driver's steering torque of compensation torque; If the direction of the direction of above-mentioned compensation torque and above-mentioned driver's steering torque is inconsistent, whether the gap that above-mentioned compensation torque and above-mentioned driver's steering torque are judged by above-mentioned torque control portion is with the step of second learning time of the state continuance more than the basic torque; And if the gap of above-mentioned compensation torque and above-mentioned driver's steering torque is with the state continuance more than the basic torque above-mentioned second learning time, above-mentioned torque control portion removes the step of above-mentioned compensation torque.
The invention is characterized in that in removing the step of above-mentioned compensation torque, above-mentioned torque control portion shortens and is used to calculate first required learning time of above-mentioned compensation torque.
The invention is characterized in; The gap of judging above-mentioned compensation torque and above-mentioned driver's steering torque whether with the step of second learning time of the state continuance more than the basic torque in; If the direction of above-mentioned compensation torque and above-mentioned driver's steering torque is inconsistent, above-mentioned second learning time shortens in above-mentioned torque control portion.
The invention effect
According to the present invention, at the direction flip-flop of transverse force, and cause compensation torque under situation about applying with driver's steering torque opposite sense, remove compensation torque, thereby prevent that compensation torque from hindering turning to of driver.
And, according to the present invention,, and cause compensation torque under situation about applying with driver's steering torque opposite sense at the direction flip-flop of transverse force, shorten the required time of compensation torque calculating, improve the responsibility of compensation torque.
Thus, in the present invention, under the situation of the direction flip-flop of the transverse force that puts on vehicle under the craspedodrome state, reduce driver's fatigue strength and guarantee the driving safety of vehicle.
Description of drawings
Fig. 1 is the block diagram of expression according to the formation of the anti-deviation system of vehicle of one embodiment of the invention.
Fig. 2 is in the compensation torque control method according to the anti-deviation system of vehicle of one embodiment of the invention, looks from the rear of vehicle the torque compensation according to the change of road surface heave direction and the figure of the situation that the direction of driver's steering torque and compensation torque changes.
Fig. 3 is illustrated under the situation of road surface heave direction change as shown in Figure 2, driver's steering torque and compensation torque chart over time.
Fig. 4 is the diagram of circuit of expression according to the motion flow of the compensation torque control method of the anti-deviation system of vehicle of one embodiment of the invention.
(description of reference numerals)
110: sensor part
111: steering torque sensor 112: steering angle sensor
113: car speed sensor 114: yaw rate sensor
120：ECU
121: signal processing part 122: the sideslip judging part
123: the 124:MDPS of torque compensation portion logic
125: torque control portion 130: motor driving part
10:MDPS basic logic 20: motor control logic
The specific embodiment
Below, with reference to accompanying drawing the compensation torque control method according to the anti-deviation system of vehicle of one embodiment of the invention is carried out detailed explanation.In this process, the thickness of the lines shown in the accompanying drawing or the size of structural constituent etc. are for the definition on explaining may be amplified diagram with facility.And, after the term stated be to consider the function among the present invention and the term that defines, it can be according to user, operator's intention or convention and difference.Therefore, to the definition of this term should based on this specification sheets in full content and confirm.
Fig. 1 is the block diagram according to the formation of the anti-deviation system of vehicle of one embodiment of the invention.
Anti-deviation system comprises according to the vehicle of one embodiment of the invention: sensor part 110, ECU120 and motor driving part 130.
Sensor part 110 comprises: steering torque sensor 111, and it detects direction and size that the driver imposes on driver's steering torque of steering handwheel; Steering angle sensor 112, it detects deflection angle; Car speed sensor 113, it detects the speed of a motor vehicle; And yaw rate sensor 114, it detects rate of yaw.
Sensor part 110 detects driver's steering torque, deflection angle, the speed of a motor vehicle and rate of yaw through the sensor, sends it to ECU 120.
ECU 120 comprises signal processing part 121, sideslip judging part 122, torque compensation portion 123, MDPS logical one 24 and torque control portion 125.
121 pairs of driver's steering torque, deflection angle, the speed of a motor vehicle and rate of yaw that receive from sensor part 110 of signal processing part are carried out signal conditioning and are sent sideslip judging part 122 to.
Sideslip judging part 122 judges based on the driver's steering torque, deflection angle, the speed of a motor vehicle and the rate of yaw that transmit from signal processing part 121 whether whether the craspedodrome state of vehicle reach the sideslip state.
At first, sideslip judging part 122 judge vehicle according to predefined craspedodrome state judgment standard the craspedodrome state whether.At this moment, craspedodrome state judgment standard can decide based at least more than one the value in deflection angle, the speed of a motor vehicle, the rate of yaw.
At this moment; If detected deflection angle is that the benchmark deflection angle is following, the detected speed of a motor vehicle is that the predefined benchmark speed of a motor vehicle is above, rate of yaw is below the predefined attitude of combat speed, sideslip judging part 122 can be judged as vehicle and be in the craspedodrome state.
Wherein, benchmark deflection angle, the benchmark speed of a motor vehicle, attitude of combat speed are as can being judged as the value of the benchmark that is in the craspedodrome state, can diversely select according to the configuration of the system of designer's intention and employing.
Subsequently, be in the craspedodrome state if be judged as vehicle, the sideslip state that sideslip judging part 122 is judged vehicle according to predefined sideslip state judgment standard whether.At this moment, sideslip state judgment standard can steering torque sensor 111 based on sensor part 110 in detected driver's steering torque decide.
Specifically, if the aviation value of the driver's steering torque in first learning time continues fiducial time with the value more than the basic torque aviation value, sideslip judging part 122 can be judged as vehicle and be in the sideslip state.
Wherein, first learning time was the time that is used to calculate the aviation value of driver's steering torque, and it belongs to the time that is used to calculate compensation torque, according to the configuration of the system of designer's intention and employing and can diversely select.First learning time is long more, and the reliability of driver's steering torque aviation value is high more.
In addition, torque compensation portion 123 calculates the required compensation torque of torque compensation based on the judged result of sideslip judging part 122, sends MDPS logical one 24 to through torque control portion 125.
Specifically; Torque compensation portion 123 is judged as vehicle and is under the situation of sideslip state in sideslip judging part 122; Aviation value and standard deviation based on the driver's steering torque in first learning time; Calculate compensation torque, send this computing value to MDPS logical one 24 through torque control portion 125.
MDPS logical one 24 is controlled motor driving part 130 based on from the compensation torque of torque compensation portion 123 through 125 transmission of torque control portion.
At this moment, under the smaller situation of compensation torque, that is, under the situation of the lower torque compensation of needs, in steering torque sensor 111, be suitable for compensation torque in detected driver's steering torque, thus, implement torque compensation by MDPS basic logic 10.
On the contrary, under the bigger situation of compensation torque, that is, under need situation, compensation torque be directly applied for motor control logic 20 and implements torque compensation than higher torque compensation.
Fig. 2 is in the compensation torque control method according to the anti-deviation system of vehicle of one embodiment of the invention; Look from the rear of vehicle the torque compensation according to the change of road surface heave direction and the figure of the situation that the direction of driver's steering torque and compensation torque changes; Fig. 3 is illustrated under the situation of road surface heave direction change as shown in Figure 2, driver's steering torque and compensation torque chart over time.
In Fig. 2 and Fig. 3, a representes not implement the driver's steering torque under the situation of torque compensation, and Tc representes compensation torque, and Td representes to implement the driver's steering torque under the situation of torque compensation.And, the positive value representation right direction of the longitudinal axis among Fig. 3, negative value representation left direction.
Torque control portion 125 carries out based on the direction and the size of compensation torque and driver's steering torque, controlling the compensation torque that sends MDPS logical one 24 under the situation in the torque compensation under the craspedodrome state.
At first, torque control portion 125 judges whether the compensation torque that calculates in the torque compensation portion 123 sends MDPS 124 to and carry out in the torque compensation.
If the compensation torque that calculates in the torque compensation portion 123 sends MDPS 124 to and carries out in the torque compensation, the craspedodrome state that vehicles are judged through sideslip judging part 122 by torque control portion 125 whether.
Subsequently, if vehicle is in the craspedodrome state, torque control portion 125 judges whether the direction of direction and compensation torque of driver's steering torque is inconsistent.
In general, effect has transverse force in the vehicle in craspedodrome, vehicle is under the situation of sideslip state, to the direction addition compensation torque identical with driver's steering torque.
At this moment, if the direction flip-flop of transverse force, the sideslip direction of vehicle will change, and therefore, be used to keep the direction of driver's steering torque of vehicle craspedodrome state also will change.
But; Because compensation torque is calculated by the aviation value of the driver's steering torque in first learning time and the value of standard deviation; Need certain hour from the direction that reflects the driver's steering torque that changes with big or small compensation torque to the addition direction identical with driver's steering torque; In the corresponding time, be used to keep driver's steering torque of the state of keeping straight on to increase.
The situation that casehistory road surface heave direction changes, shown in the left side of Fig. 2, when vehicle was in the road traveling that rises and falls to the left, if realize torque compensation, driver's steering torque and compensation torque will be to the right direction effects of vehicle.The t of the chart that it is equivalent to illustrate among Fig. 3
1Interval.
At this moment, if the driver changes bus or train route alignment right side, will from the craspedodrome state, break away from, the anti-deviation system of vehicle does not move, the value before compensation torque keeps.The t of the chart that it is equivalent to illustrate among Fig. 3
2Interval.
Subsequently; Based on reasons such as bus or train route line changes; If the road surface that vehicle goes shown in the right side of Fig. 2 to the right and to rise and fall, compensation torque continues the right direction effect to vehicle, cause the driver in order to keep the craspedodrome state to the left driver's steering torque of applying of direction increase.
That is, the driver need apply the more driver's steering torque of the situation of comparing a that does not implement torque compensation, could keep the craspedodrome state.The t of the chart that it is equivalent to illustrate among Fig. 3
3Interval.
Thus, the direction through judging driver's steering torque and compensation torque whether inconsistent, the change of judging the running out the way direction is whether.
In addition, if the direction of driver's steering torque and compensation torque is inconsistent, torque control portion 125 compares the gap and the basic torque of compensation torque and driver's steering torque.
At this moment, torque control portion 125 can compare the gap and the basic torque of compensation torque and driver's steering torque with second learning time.
If the gap of compensation torque and driver's steering torque is above second learning time of state continuance of basic torque, torque control portion 125 releasing compensation torque as shown in Figure 3.
Specifically, it is 0 that the compensation torque that calculates in the torque compensation portion 123 is removed by torque control portion 125, and sends MDPS logical one 24 to.
At this moment, second learning time was to be used to judge whether the gap of compensation torque and driver's steering torque is continuously the above time of basic torque, can diversely select according to the configuration of the system of designer's intention and employing.Second learning time is long more, and the reliability of judgement is high more.
As stated, torque control portion 125 is through removing compensation torque, prevents that compensation torque hinders turning to of driver under the situation that the direction of transverse force changes.
In addition, first learning time under the situation of second learning time of state continuance more than the basic torque, also can shorten in torque control portion 125.
That is, first learning time as the time of the aviation value that is used to calculate driver's steering torque shortens in torque control portion 125, thereby promptly calculates the compensation torque for the driver's steering torque that changes through torque compensation portion 123.
And second learning time if the direction of compensation torque and driver's steering torque is inconsistent, also can shorten in torque control portion 125 before gap and basic torque comparison with compensation torque and driver's steering torque.
The direction of driver's steering torque changes if the direction of transverse force changes, and the gap of compensation torque and driver's steering torque will increase sharp, therefore, even shortened for second learning time, also can not cause big influence to the reliability of judging.
At this moment, base ratio can be multiply by in first learning time and second learning time in torque control portion 125, shortens the corresponding time, and base ratio can diversely be selected in the value of intention between 0 and 1 according to the designer.
As stated, torque control portion 125 is through shortening first learning time or second learning time, improves the responsibility of compensation torque under the situation that the direction of transverse force changes.
Fig. 4 is the diagram of circuit of expression according to the motion flow of the compensation torque control method of the anti-deviation system of vehicle of one embodiment of the invention.
Torque control portion 125 judges whether the addition compensation torque and carries out S10 in the compensation of driver's steering torque, if in the compensation, judge whether vehicle is in craspedodrome state S20.
In compensation, torque control portion 125 directly sends the compensation torque that calculates in the torque compensation portion 123 to MDPS logical one 24.
In addition, if vehicle is in the craspedodrome state, whether opposite torque control portion 125 judge the direction of compensation torque and driver's steering torque S30.
Under the situation in the opposite direction that is judged as compensation torque and driver's steering torque; Torque control portion 125 judges whether the gap of compensation torque and driver's steering torque is the above S40 of basic torque; If more than the basic torque; Shorten learning time (first learning time or second learning time) S50, remove compensation torque S60.
If compensation torque is identical with the direction of driver's steering torque; Even or direction is different; The gap of compensation torque and driver's steering torque is in the basic torque, and torque control portion 125 directly sends the compensation torque that calculates in the torque compensation portion 123 to MDPS logical one 24.
As stated; The compensation torque control method of the anti-deviation system of vehicle according to the invention; At the direction flip-flop of transverse force and compensation torque to the situation of driver's steering torque opposite sense addition under; Remove compensation torque or shorten the required time of compensation torque calculating, improve the responsibility of compensation torque, prevent that compensation torque from hindering turning to of driver.
The present invention is illustrated with reference to the embodiment that illustrates, but this only belongs to the embodiment of exemplary, and the those skilled in the art under the present invention can therefrom realize various deformation and other impartial embodiment.
Claims (3)
1. the compensation torque control method of the anti-deviation system of vehicle is characterized in that, comprising:
Torque control portion changes according to the sideslip of vehicle causes under the craspedodrome state running environment, judges the direction inconsistent step whether of direction and driver's steering torque of compensation torque;
If the direction of the direction of said compensation torque and said driver's steering torque is inconsistent, whether the gap that said compensation torque and said driver's steering torque are judged by said torque control portion is with the step of second learning time of the state continuance more than the basic torque; And
If the gap of said compensation torque and said driver's steering torque is with the state continuance more than the basic torque said second learning time, said torque control portion removes the step of said compensation torque.
2. the compensation torque control method of the anti-deviation system of vehicle according to claim 1 is characterized in that, in removing the step of said compensation torque, said torque control portion shortens and is used to calculate first required learning time of said compensation torque.
3. the compensation torque control method of the anti-deviation system of vehicle according to claim 1; It is characterized in that; In the gap of judging said compensation torque and said driver's steering torque whether in the step with the predefined setting-up time of state continuance more than the basic torque; If the direction of said compensation torque and said driver's steering torque is inconsistent, said second learning time shortens in said torque control portion.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020110048749A KR20120130652A (en) | 2011-05-23 | 2011-05-23 | Method for controlling compensation torque of system for preventing steering pull for vehicle |
| KR10-2011-0048749 | 2011-05-23 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102795263A true CN102795263A (en) | 2012-11-28 |
| CN102795263B CN102795263B (en) | 2015-09-30 |
Family
ID=47194631
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210103593.5A Active CN102795263B (en) | 2011-05-23 | 2012-04-10 | The compensation torque control method of the anti-deviation system of vehicle |
Country Status (2)
| Country | Link |
|---|---|
| KR (1) | KR20120130652A (en) |
| CN (1) | CN102795263B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106553692A (en) * | 2015-09-29 | 2017-04-05 | 通用汽车环球科技运作有限责任公司 | For performing the method and system for turning to alignment physical examination |
| CN106740869A (en) * | 2017-02-06 | 2017-05-31 | 福建省汽车工业集团云度新能源汽车股份有限公司 | A kind of anti-deviation method and system of automobile |
| CN108394409A (en) * | 2018-02-27 | 2018-08-14 | 北京汽车股份有限公司 | Vehicle and the method and apparatus and electric boosting steering system for correcting its sideslip |
| CN109470390A (en) * | 2017-09-08 | 2019-03-15 | 上海汽车集团股份有限公司 | A kind of method and device evaded automobile and accelerate sideslip |
| CN109515517A (en) * | 2018-12-11 | 2019-03-26 | 芜湖伯特利汽车安全系统股份有限公司 | A kind of running out the way identifying system and method |
| CN110203206A (en) * | 2019-06-05 | 2019-09-06 | 北京经纬恒润科技有限公司 | A kind of automobile driving running deviation detection method and device |
| CN114074706A (en) * | 2020-08-19 | 2022-02-22 | 蜂巢智能转向系统(江苏)有限公司保定分公司 | Electric power steering system, deviation compensation arbitration method and equipment |
| CN115871782A (en) * | 2022-12-12 | 2023-03-31 | 中国第一汽车股份有限公司 | Vehicle deviation compensation method, device, terminal and storage medium |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113335375A (en) * | 2021-06-23 | 2021-09-03 | 陕西万方汽车零部件有限公司 | Self-learning method for neutral position in driving of commercial vehicle |
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| JP2007237837A (en) * | 2006-03-07 | 2007-09-20 | Nissan Motor Co Ltd | Steering controlling device, automobile, and steering controlling method |
| CN101134471A (en) * | 2006-08-28 | 2008-03-05 | 丰田自动车株式会社 | Electric power steering device, and control method thereof |
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2011
- 2011-05-23 KR KR1020110048749A patent/KR20120130652A/en not_active Application Discontinuation
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2012
- 2012-04-10 CN CN201210103593.5A patent/CN102795263B/en active Active
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| CN106553692A (en) * | 2015-09-29 | 2017-04-05 | 通用汽车环球科技运作有限责任公司 | For performing the method and system for turning to alignment physical examination |
| CN106740869A (en) * | 2017-02-06 | 2017-05-31 | 福建省汽车工业集团云度新能源汽车股份有限公司 | A kind of anti-deviation method and system of automobile |
| CN109470390A (en) * | 2017-09-08 | 2019-03-15 | 上海汽车集团股份有限公司 | A kind of method and device evaded automobile and accelerate sideslip |
| CN109470390B (en) * | 2017-09-08 | 2020-11-03 | 上海汽车集团股份有限公司 | Method and device for avoiding accelerated deviation of automobile |
| CN108394409A (en) * | 2018-02-27 | 2018-08-14 | 北京汽车股份有限公司 | Vehicle and the method and apparatus and electric boosting steering system for correcting its sideslip |
| CN108394409B (en) * | 2018-02-27 | 2020-02-28 | 北京汽车股份有限公司 | Vehicle, method and device for correcting deviation of vehicle and electric power steering system |
| CN109515517A (en) * | 2018-12-11 | 2019-03-26 | 芜湖伯特利汽车安全系统股份有限公司 | A kind of running out the way identifying system and method |
| CN110203206A (en) * | 2019-06-05 | 2019-09-06 | 北京经纬恒润科技有限公司 | A kind of automobile driving running deviation detection method and device |
| CN114074706A (en) * | 2020-08-19 | 2022-02-22 | 蜂巢智能转向系统(江苏)有限公司保定分公司 | Electric power steering system, deviation compensation arbitration method and equipment |
| CN115871782A (en) * | 2022-12-12 | 2023-03-31 | 中国第一汽车股份有限公司 | Vehicle deviation compensation method, device, terminal and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102795263B (en) | 2015-09-30 |
| KR20120130652A (en) | 2012-12-03 |
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