CN105667574B - Self-adapting steering control system and its control method based on driving style - Google Patents
Self-adapting steering control system and its control method based on driving style Download PDFInfo
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- CN105667574B CN105667574B CN201510927733.4A CN201510927733A CN105667574B CN 105667574 B CN105667574 B CN 105667574B CN 201510927733 A CN201510927733 A CN 201510927733A CN 105667574 B CN105667574 B CN 105667574B
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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
- B62D5/046—Controlling the motor
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Abstract
The invention discloses a kind of self-adapting steering control system based on driving style, including：Use the engine rotational speed signal in CAN bus, accelerator pedal signal, steering wheel angle signal, steering wheel torque signal, speed signal, yaw rate signal and master cylinder pressure signal；The required course changing control strategy of current driving style is calculated, and real time control command is sent to EPS motor by EPS ECU so that three power-assisted, Hui Zheng, damping functions obtain optimal motor-assisted torque；Wherein, independent at the same time three power-assisted, Hui Zheng, damping sub- control strategy modules can be calculated in EPS ECU, ensures that steering disclosure satisfy that different driving style demands.
Description
Technical field
The present invention relates to wheel steering system field, is controlled more particularly to a kind of self-adapting steering based on driving style
System and its control method.
Background technology
In traditional EPS system work, its power-assisted ability is mainly reflected in three aspects, i.e.,：Assist function, return positive work
Energy, damping function.In EPS development processes, the power-assisted ability of steering is all responsible for evaluation via main engine plants related personnel, and
By specified engineering staff's curing system parameter, then it is integrated into vehicle and is supplied to terminal consumer；Since each vehicle is most
Using default a set of EPS tuning parameters, therefore power-assisted, Hui Zheng, damping function can not 100% driving for meeting different consumers
Manipulation request.
Continued to develop with the demand in market, starting gradually configuration on some high-end cars has the function of model selection
EPS, driver can select required steering manipulation style by mode button.But this preset type model selection mode is big
Majority can only support 3 kinds of driving models, and can not automatically adjust and switch according to real-time driving style, extra switch
Button can increase the complexity of development cost and man-machine interface.
A kind of automotive self-adaptive intelligent steering system is disclosed in patent document CN101875370B, by controlling center
ECU extracts yaw rate signal, steering wheel angle signal and speed signal from CAN bus and is calculated, to determine that angle passes
Dynamic ratio；Meanwhile the output torque of assist motor is adjusted dependent on steering wheel pressure sensor.But in the patent for
The selection of different driving models is also to rely on exploitation triggering, after manipulation style that can not be completely to driver judges
Distribute rational power-assisted strategy.
Still further aspect, the electronic system equipment of vehicle rank is more and more perfect, and various sensors are by widely
Apply on automobile components at different levels, the various dynamic changes of vehicle can be monitored, the popularization of CAN communication technology greatly improves vehicle letter
The transmission efficiency of breath, the also exploitation for the new function of steering provide strong condition.
Therefore, based on the configuration of existing Vehicular system and steering function platform, the auxiliary of high added value can be developed
Function, can further lift the practicality of EPS products.
The content of the invention
The invention mainly solves the technical problem of providing a kind of self-adapting steering control system based on driving style and
Its control method, have unfailing performance height, registration, compact-sized, indexable speed is fast, noise is small, it is cheap the advantages that,
There are extensive market prospects in the application and popularization of miniature numerical control lathe at the same time.
In order to solve the above technical problems, one aspect of the present invention is：
A kind of self-adapting steering control system based on driving style is provided, it includes：
Power-assisted strategic control module：Receive engine rotational speed signal, accelerator pedal signal, speed signal, yaw velocity
Signal, master cylinder pressure signal, steering wheel angle signal and steering wheel torque signal, then the docking collection of letters number are located respectively
Reason, and according to weight COMPREHENSIVE CALCULATING driving style coefficient, distribute rational Power assisted control policy information；
Return positive strategic control module：Speed signal, yaw rate signal and steering wheel angle signal are received, based on defeated
Enter the analysis of signal, distribute rational rotary transform tensor policy information；
Damp strategic control module：Receive speed signal, yaw rate signal and steering wheel angle signal, steering wheel
Torque signal, analyzes above input signal, distributes rational damping control strategy information；
Performance unit module：Quick response can be made to the control instruction of EPS ECU and export the moment of torsion of needs；Electricity
Dynamic booster steering system controller receives and calculates respectively power-assisted strategic control module, returns positive strategic control module and damps strategy
The policy information of control module, obtains final control strategy information after integrated, passes through EPS motor in control execution unit module
Operating current voltage realizes control strategy.
In a preferred embodiment of the present invention, the power-assisted strategic control module, described time positive strategic control module and
The damping strategic control module is each individually received into row information and information calculates.
In a preferred embodiment of the present invention, above-mentioned performance unit module includes EPS motor.
A kind of control method of the self-adapting steering control system based on driving style, its step include：
By defining static driving, acceleration drives, braking drives, steering driving cycles collection driving style coefficient, and
Obtain finally judging the factor by weight COMPREHENSIVE CALCULATING, and then distribute corresponding control strategy；
By setting the rotation amplitude of speed and steering wheel, monitoring yaw rate change, judges driving for driver
Sailing lattice, and be stored in electric booster steering system controller；
By defining speed, yaw velocity, the thresholding of steering wheel angle and the processing method of steering wheel torque signal, sentence
The steering style of disconnected driver；
According to the power-assisted of acquisition, Hui Zheng, the decision-making distribution for damping policy control pattern, the final control strategies of EPS are obtained,
And it is sent to EPS motor execution.
In a preferred embodiment of the present invention, in power-assisted strategic control module, power-assisted strategic control module receives CAN
Engine rotational speed signal, accelerator pedal signal, speed signal, yaw rate signal, master cylinder pressure signal in bus,
Steering wheel angle signal and steering wheel torque signal, are respectively processed according to the docking collection of letters number of the drive manner of definition, and
According to weight COMPREHENSIVE CALCULATING, current driving style information is obtained：
(1.1) static drive manner calculates, i.e. during speed signal V=0：
(1.1.1) steering wheel angle signal, steering wheel angle signal accelerationAnd steering wheel is turned round
Square sensor signal | T |≤t1, then static drive manner score is 0；
(1.1.2) steering wheel angle signal, the acceleration of steering wheel angle signalAnd steering wheel is turned round
Square sensor signal | T | ＞ t2, then static drive manner score is 1；
Under the conditions of (1.1.3) is other, static drive manner score is 0.5；
Wherein, θ 1, θ 2, a1, a2, t1 and t2 are systemic presupposition value, whenever steering wheel angle signalWhen complete one
Secondary score cycle, the score of static drive manner are the average value S of 20 history score；
(1.2) drive manner is accelerated to calculate, changes in vehicle speed is expressed as, whenWhen：
(1.2.1) engine speed n≤n1 and during accelerator pedal signal P≤p1, then it is 0 to accelerate drive manner score；
(1.2.2) engine speed n ＞ n2 and during accelerator pedal signal P ＞ p2, then it is 1 to accelerate drive manner score；
Under the conditions of (1.2.3) is other, it is 0.5 to accelerate drive manner score；
Wherein, n1, p1, n2, p2 are systemic presupposition value, whenever changes in vehicle speed fromChange toShi Wei
Completion is once scored the cycle, accelerates the score of drive manner as the average value G of 100 history score；
(1.3) brake drive manner to calculate, master cylinder pressure signal F ＞ 0, master cylinder rate of pressure change are expressed asWhen：
(1.3.1)When, braking drive manner score is 0；
(1.3.2)When, braking drive manner score is 1；
Under the conditions of (1.3.3) is other, braking drive manner score is 0.5；
Wherein, f1, f2 are systemic presupposition value, complete once to score the cycle whenever F=0, brake the final of drive manner
Score as the average value Z of 100 history score；
(1.4) turn to drive manner to calculate, i.e. speed signal V ＞ 0, and steering wheel angle signal absolute value
When：
(1.4.1) yaw rate signal | γ | ＜ r0, and steering wheel angle signal intensity speedWhen, turn to
Drive manner score is 0；
(1.4.2) yaw rate signal | γ | ＞ r1, and steering wheel angle signal intensity speedWhen, turn to
Drive manner score is 1；
Under the conditions of (1.4.3) is other, it is 0.5 to turn to drive manner score；
Wherein, r0, r1, θ 3 and θ 4 is systemic presupposition value, wheneverWhen complete once score the cycle, turn to driving side
The average value Y that the score of formula is scored for 200 history；
(1.5) final power-assisted strategic control module judges that factors A ssist_Base is calculated according to following weight equation：
Assist_Base=0.1 × S+0.3 × G+0.2 × Z+0.4 × Y.
In positive strategic control module is returned, it is fast to return speed signal, yaw angle that positive strategic control module is received in CAN bus
Signal and steering wheel angle signal are spent, according to the analysis to above input signal, selects suitable rotary transform tensor strategy：
(2.1) low speed returns skipper's mode and calculates：
Speed signal V≤V0, and steering wheel angle signal absolute value condition meetsWhen, that is, enter back positive wait
Pattern, steering wheel return just during, when the absolute value of steering wheel angle signal drops toWhen, start following calculating：
Such as the absolute value of yaw rate | γ | ＜ r2, then return skipper's mode and score as 0；
Such as the absolute value of yaw rate | γ | ＞ r3, then return skipper's mode and score as 1；
Under the conditions of remaining, return skipper's mode and score as 0.5；
(2.2) skipper's mode is returned at a high speed to calculate：
As speed signal V ＞ V0, and steering wheel angle signal absolute value condition meetsWhen, that is, enter back just etc.
Treat pattern, steering wheel return just during, when the absolute value of steering wheel angle signal drops toWhen, start following meter
Calculate：
Such as the absolute value of yaw rate | γ | ＜ r4, then return skipper's mode and score as 0；
Such as the absolute value of yaw rate | γ | ＞ r5, then return skipper's mode and score as 1；
Under the conditions of remaining, return skipper's mode and score as 0.5；
Wherein, V0, θ 5, θ 6, θ 7, θ 8, r4, r5, r2 and r3 are systemic presupposition value, enter standby mode to side from steering wheel
Point midway is returned to disk once to score the cycle, that returns skipper's mode calculates average value R of the score value for 50 history score,
Judge the factor as positive strategic control module is returned.
In a preferred embodiment of the present invention, in strategic control module is damped, damping strategic control module needs to connect
Receive CAN bus on speed signal, yaw rate signal and steering wheel angle signal and steering wheel torque signal, and to
The analysis of upper input signal, selects suitable damping control strategy：
Drive manner monitoring is damped, i.e. speed signal V1, and yaw rate signal | γ | during ＞ r6, steering wheel angle letter
NumberWhen：
If steering wheel torque signal | T | ＜ t3, driver rely more on the stability of EPS system itself, and damping is driven
The mode of sailing is scored as 1；
If steering wheel torque signal | T | ＞ t4, driver are more accustomed to itself operation, and damping drive manner score is 0；
During other conditions, damping drive manner score is 0.5；
Wherein, V1, t3, t4, θ 7, θ 9, r6 for can calibration value, from meeting that signal conditioning proceeds by accumulative timing, damp
The score of drive manner is meets the average value D of the lower 500 seconds history score of design conditions, and average value D is as damping policy control
Module judges the factor.
In a preferred embodiment of the present invention, in power-assisted strategic control module, the judgement factors A ssist_Base
Real-time storage is in electric booster steering system controller；
Numerical value according to the factor is judged actively carries out in the first power-assisted strategy, the second power-assisted strategy, the 3rd power-assisted strategy
Switching：Work as Assist_Base>When 0.8, the 3rd power-assisted strategy of power-assisted strategy is assigned as；Work as Assist_Base<When 0.2, distribution
For power-assisted strategy the second power-assisted strategy；As 0.2≤Assist_Base≤0.8.
In a preferred embodiment of the present invention, in positive strategic control module is returned, judge factor R real-time storage electronic
In booster steering system controller；According to judge the numerical value of the factor actively first time positive strategy, second time positive strategy, the 3rd time
Switched in positive strategy：Work as R>When 0.7, second time positive strategy is assigned as,；Work as R<When 0.3, the 3rd time positive strategy is assigned as；
As 0.3≤R≤0.7, first time positive strategy is assigned as.
In a preferred embodiment of the present invention, in strategic control module is damped, judge factor D real-time storage electronic
In booster steering system controller；Numerical value according to the factor is judged actively damps strategy, the 3rd resistance in the first damping strategy, second
Switched in Buddhist nun's strategy：Work as D>When 0.7, the second damping strategy is assigned as；Work as D<When 0.3, the 3rd damping strategy is assigned as；When
During 0.3≤D≤0.7, the first damping strategy is assigned as.
The beneficial effects of the invention are as follows：Can be according to real-time vehicle dynamic and driver's operation, in power-assisted, Hui Zheng, resistance
Operated independently from three function modules of Buddhist nun, adjust control strategy on one's own initiative, and final output is realized to the output mechanism of EPS
The optimization of course changing control.
Brief description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, wherein：
Fig. 1 is the principal sketches of self-adapting steering control method and system based on driving style；
Fig. 2 is the schematic diagram of power-assisted strategic control module；
Fig. 3 is back the schematic diagram of positive strategic control module；
Fig. 4 is the schematic diagram of damping strategic control module；
Fig. 5 is the schematic diagram for being ultimately steering to control strategy.
Embodiment
The technical solution in the embodiment of the present invention will be clearly and completely described below, it is clear that described implementation
Example is only the part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this area is common
All other embodiment that technical staff is obtained without making creative work, belongs to the model that the present invention protects
Enclose.
- 5 are please referred to Fig.1, the embodiment of the present invention includes：
A kind of self-adapting steering control system based on driving style, it includes：
Power-assisted strategic control module：Receive engine rotational speed signal, accelerator pedal signal, speed signal, yaw velocity
Signal, master cylinder pressure signal, steering wheel angle signal and steering wheel torque signal, then the docking collection of letters number are located respectively
Reason, and according to weight COMPREHENSIVE CALCULATING driving style coefficient, distribute rational Power assisted control policy information；
Return positive strategic control module：Speed signal, yaw rate signal and steering wheel angle signal are received, based on defeated
Enter the analysis of signal, distribute rational rotary transform tensor policy information；
Damp strategic control module：Receive speed signal, yaw rate signal and steering wheel angle signal, steering wheel
Torque signal, analyzes above input signal, distributes rational damping control strategy information；
Performance unit module includes EPS motor：Quick response can be made to the control instruction of EPS ECU and is exported needs
The moment of torsion wanted；
Electric booster steering system controller receives and calculates respectively power-assisted strategic control module, returns positive strategic control module
With the policy information of damping strategic control module, final control strategy information is obtained after integrated, passes through control execution unit module
The operating current voltage of middle EPS motor realizes control strategy.
The power-assisted strategic control module, described time positive strategic control module and the damping strategic control module are each single
Solely received into row information and information calculates.
A kind of control method of the self-adapting steering control system based on driving style, its step include：
By defining static driving, acceleration drives, braking drives, steering driving cycles collection driving style coefficient, and
Obtain finally judging the factor by weight COMPREHENSIVE CALCULATING, and then distribute corresponding control strategy；
By setting the rotation amplitude of speed and steering wheel, monitoring yaw rate change, judges driving for driver
Sailing lattice, and be stored in electric booster steering system controller；
By defining speed, yaw velocity, the thresholding of steering wheel angle and the processing method of steering wheel torque signal, sentence
The steering style of disconnected driver；
According to the power-assisted of acquisition, Hui Zheng, the decision-making distribution for damping policy control pattern, the final control strategies of EPS are obtained,
And it is sent to EPS motor execution.
One, power-assisted strategic control modules
In power-assisted strategic control module, power-assisted strategic control module receives engine rotational speed signal, oil in CAN bus
Door pedal signal, speed signal, yaw rate signal, master cylinder pressure signal, steering wheel angle signal and steering wheel are turned round
Square signal, is respectively processed according to the docking collection of letters number of the drive manner of definition, and according to weight COMPREHENSIVE CALCULATING, obtains current
Driving style information：
(1.1) static drive manner calculates, i.e. during speed signal V=0：
(1.1.1) steering wheel angle signal, steering wheel angle signal accelerationAnd steering wheel is turned round
Square sensor signal | T | ＜ t1, then static drive manner score is 0；
(1.1.2) steering wheel angle signal, the acceleration of steering wheel angle signalAnd steering wheel is turned round
Square sensor signal | T | ＞ t2, then static drive manner score is 1；
Under the conditions of (1.1.3) is other, static drive manner score is 0.5；
Wherein, θ 1, θ 2, a1, a2, t1 and t2 are systemic presupposition value, whenever steering wheel angle signalWhen complete one
Secondary score cycle, the score of static drive manner are the average value S of 20 history score；
(1.2) drive manner is accelerated to calculate, changes in vehicle speed is expressed as, whenWhen：
(1.2.1) engine speed n≤n1 and during accelerator pedal signal P≤p1, then it is 0 to accelerate drive manner score；
(1.2.2) engine speed n ＞ n2 and during accelerator pedal signal P ＞ p2, then it is 1 to accelerate drive manner score；
Under the conditions of (1.2.3) is other, it is 0.5 to accelerate drive manner score；
Wherein, n1, p1, n2, p2 are systemic presupposition value, whenever changes in vehicle speed fromChange toShi Wei
Completion is once scored the cycle, accelerates the score of drive manner as the average value G of 100 history score；
(1.3) brake drive manner to calculate, master cylinder pressure signal F ＞ 0, master cylinder rate of pressure change are expressed asWhen：
(1.3.1)When, braking drive manner score is 0；
(1.3.2)When, braking drive manner score is 1；
Under the conditions of (1.3.3) is other, braking drive manner score is 0.5.
Wherein, f1, f2 are systemic presupposition value, complete once to score the cycle whenever F=0, brake the final of drive manner
Score as the average value Z of 100 history score；
(1.4) turn to drive manner to calculate, i.e. speed signal V ＞ 0, and steering wheel angle signal absolute value
When：
(1.4.1) yaw rate signal | γ | ＞ r0, and steering wheel angle signal intensity speedWhen, turn to
Drive manner score is 0；
(1.4.2) yaw rate signal | γ | ＞ r1, and steering wheel angle signal intensity speed, steering drives
The mode of sailing is scored as 1；
Under the conditions of (1.4.3) is other, it is 0.5 to turn to drive manner score；
Wherein, r0, r1, θ 3 and θ 4 is systemic presupposition value, wheneverWhen complete once score the cycle, turn to driving side
The average value Y that the score of formula is scored for 200 history；
(1.5) final power-assisted strategic control module judges that factors A ssist_Base is calculated according to following weight equation：
Assist_Base=0.1 × S+0.3 × G+0.2 × Z+0.4 × Y.
In power-assisted strategic control module, the judgement factors A ssist_Base real-time storages are in electric power steering system
In system controller, and actively helped according to the numerical value for judging the factor in the first power-assisted strategy A1, second
Switched in power strategy A2, the 3rd power-assisted strategy A3.
Two, return positive strategic control module
In positive strategic control module is returned, it is fast to return speed signal, yaw angle that positive strategic control module is received in CAN bus
Signal and steering wheel angle signal are spent, according to the analysis to above input signal, selects suitable rotary transform tensor strategy：
(2.1) low speed returns skipper's mode and calculates：
Speed signal V≤V0, and steering wheel angle signal absolute value condition meetsWhen, that is, enter back positive wait
Pattern, steering wheel return just during, when the absolute value of steering wheel angle signal drops toWhen, start following calculating：
Such as the absolute value of yaw rate | γ | ＜ r2, then return skipper's mode and score as 0；
Such as the absolute value of yaw rate | γ | ＞ r3, then return skipper's mode and score as 1；
Under the conditions of remaining, return skipper's mode and score as 0.5；
(2.2) skipper's mode is returned at a high speed to calculate：
As speed signal V ＞ V0, and steering wheel angle signal absolute value condition meetsWhen, that is, enter back just etc.
Treat pattern, steering wheel return just during, when the absolute value of steering wheel angle signal drops toWhen, start following meter
Calculate：
Such as the absolute value of yaw rate | γ | ＜ r4, then return skipper's mode and score as 0；
Such as the absolute value of yaw rate | γ | ＞ r5, then return skipper's mode and score as 1；
Under the conditions of remaining, return skipper's mode and score as 0.5；
Wherein, V0, θ 5, θ 6, θ 7, θ 8, r4, r5, r2 and r3 are systemic presupposition value, enter standby mode to side from steering wheel
Point midway is returned to disk once to score the cycle, that returns skipper's mode calculates average value R of the score value for 50 history score,
Judge the factor as positive strategic control module is returned.
In positive strategic control module is returned, factor R real-time storage is judged in electric booster steering system controller, and
Numerical value according to the factor is judged actively is cut in first time positive strategy B1, second time positive strategy B2, the 3rd time positive strategy B3
Change.
Three, damp strategic control module
In strategic control module is damped, damping strategic control module need receive CAN bus on speed signal, yaw
Angular velocity signal and steering wheel angle signal and steering wheel torque signal, and it is suitable to the analysis of above input signal, selection
Damping control strategy：
Drive manner monitoring is damped, i.e. speed signal V ＞ V1, and yaw rate signal | γ | during ＜ r6, steering wheel turns
Angle signalWhen：
If steering wheel torque signal | T | ＜ t3, driver rely more on the stability of EPS system itself, and damping is driven
The mode of sailing is scored as 1；
If steering wheel torque signal | T | ＞ t4, driver are more accustomed to itself operation, and damping drive manner score is 0；
During other conditions, damping drive manner score is 0.5；
Wherein, V1, t3, t4, θ 7, θ 9, r6 for can calibration value, from meeting that signal conditioning proceeds by accumulative timing, damp
The average value D that the score of drive manner is scored for 500 seconds history in real time, average value D as damping strategic control module judge because
Son.
In strategic control module is damped, factor D real-time storage is judged in electric booster steering system controller, and
Numerical value according to the factor is judged actively is cut in the first damping strategy C1, the second damping strategy C2, the 3rd damping strategy C3
Change.
Specific embodiment one
In the automobile of actual use, there is hybrid power, also there is a pure electric vehicle, in the present invention only using internal-combustion engines vehicle as
Example is described in detail, but the present invention is not intended to be limited to this.
As shown in Figure 1, self-adapting steering control method and system based on driving style, EPS ECU 2 are by controlling EPS
The voltage and current of motor 1 completes the transmission of control instruction, engine rotational speed signal 3 and accelerator pedal signal 4 from hair
Motivation control system, speed signal 7, yaw rate signal 8 and master cylinder pressure signal 9 come from ESC system, pass through
CAN bus sends to EPS ECU 2, steering wheel angle signal 5 and steering wheel torque signal 6 and comes from EPS system.
Wherein EPS ECU 2 believe according to engine rotational speed signal 3, accelerator pedal signal 4, speed signal 7, yaw velocity
Numbers 8, master cylinder pressure signal 9, steering wheel angle signal 5, steering wheel torque signal 6 calculate and the driving wind of memory of driving person
Lattice, and the control strategy of EPS is adjusted according to driving style in real time, and by controlling the operating current voltage of EPS motor 1 to realize
Assist torque exports.
In addition, EPS ECU 2 have the function of that power down automatically saves, the purpose is to stop working or EPS ECU 2 are disconnected in driver
After electricity, the calculating factor of driver style can preserve, and when EPS ECU 2 rework, can call driver's wind immediately
Lattice information is as adjustment in real time.
As shown in Fig. 2, power-assisted strategic control module A is according to engine rotational speed signal 3, accelerator pedal signal 4, speed signal
7th, yaw rate signal 8, master cylinder pressure signal 9, steering wheel angle signal 5, steering wheel torque signal 6 distribution three in real time
Kind power-assisted strategy.
In stationary vehicle, i.e., when speed signal 7 is 0, the size and acceleration of monitoring direction disk angular signal 5, Yi Jifang
To the amplitude of disk torque signal 6, with driving style of the driver of judgement under vehicle static, and to three in a manner of score
The different driving styles of kind distinguish, and real-time score value is expressed as S.
Equally, in vehicle acceleration, i.e. the derivative of speed signal 7Need to 3 He of engine rotational speed signal
Accelerator pedal signal 4 carries out processing calculating, to characterize behavioral characteristic of the driver in driving procedure, to calculate score G classification
Driving style.
When driver implements braking, according to the pace of change of master cylinder pressure signal 9, for different driver behavior meters
Divide and conclude, real-time score value is denoted as Z.
When turning to driving, the threshold value of direction initialization disk angular signal 5, can filter out big go to action, supervise at the same time
The rate of change of yaw rate signal 8 and steering wheel angle signal 5 is controlled, can conclude and calculate driver in dynamic steering
Driving style, with Y value score sort out.
Final power-assisted strategy needs the weight of comprehensive S, G, Z, Y, finally calculates power-assisted strategy factor Assist_Base
Value, and be stored in real time in power-assisted strategic control module A；
Work as Assist_Base>When 0.8, power-assisted strategy A3 is assigned as, power-assisted is less than normal, prominent road feel, most direct to driver
Steering feel；
Work as Assist_Base<When 0.2, power-assisted strategy A2 is assigned as, power-assisted is maximum, and it is slim and graceful to turn to feel；
As 0.2≤Assist_Base≤0.8, power-assisted strategy A1 is assigned as, power-assisted is moderate, disclosure satisfy that most of drive
The requirement for the person of sailing.
Believed as shown in figure 3, returning positive strategic control module B according to speed signal 7, yaw rate signal 8, steering wheel angle
Numbers 5 calculate driving style different during vehicle returns just, and provide three kinds and return positive strategy.
Return skipper's monitoring and be divided into the big steering angle of low speed and high speed two kinds of situations of small steering angle, in speed signal 7 not
Under low-speed situations more than setting threshold value, after steering wheel angle signal 5 is more than given threshold, according to the positive process of steering wheel return
In, the amplitude of vehicle body yaw rate signal 8 judges the driving style of driver, and different drive manner systems is calculated
Number.
When threshold value of the speed signal 7 higher than setting, the steering angle of driver can be reduced accordingly, therefore returned positive monitoring and calculated
The thresholding of steering wheel angle signal 5 is also required to turn down in method, also according to steering wheel return just during vehicle body yaw velocity
Size, manipulation style to driver carries out score value evaluation.
The coefficient for returning skipper's style is the average value R of multiple driver behavior, it is necessary to which real-time storage is returning positive policy control
In module B：
Work as R>When 0.7, positive strategy B2 is assigned as back, it is rapid to return positive feedback；
Work as R<When 0.3, positive strategy B3 is assigned as back, it is relatively sluggish to return positive feedback；
As 0.3≤R≤0.7, positive strategy B1 is assigned as back, the response of time positive feedback is moderate.
As shown in figure 4, damping strategic control module C believes according to speed signal 7, yaw rate signal 8, steering wheel angle
Numbers 5, the three kinds of different damping control strategies of distribution in due course of steering wheel torque signal 6.
The monitoring needs speed of damping operating mode driving style exceedes certain threshold value, and 5 He of steering wheel angle signal
Yaw rate signal 8 is maintained in setting range, then damps the width of strategic control module C record steering wheel torques signal 6
Value, and desirability that driver damps EPS is judged with this, and calculate style coefficient and be stored in damping strategic control module
In C, the final operating mode driving style coefficient that damps is denoted as D：Work as D>When 0.7, be assigned as damping tactful C2, the damping output of EPS compared with
Greatly, it is not necessary to which excessive driver's intervention just can obtain intact stability；
Work as D<When 0.3, it is assigned as damping tactful C3, the damping output of EPS is smaller, and driver needs to fit in driving procedure
When the movement of control direction disk, to obtain vehicle steady-state performance；
As 0.3≤D≤0.7, it is assigned as damping tactful C1, damping output is moderate.
As shown in figure 4, final control strategy D is that power-assisted strategy, time just tactful, damping strategy logic are connected and integrated,
Wherein power-assisted strategy includes power-assisted strategy A1, power-assisted strategy A2, power-assisted strategy A3；Returning positive strategy includes back positive strategy B1, Hui Zheng
Tactful B2, returns positive strategy B3；Damping strategy includes damping strategy C1, damping strategy C2, damping strategy C3.
Final control strategy D includes 27 kinds of EPS control strategies, and is automatically switched according to the style of driver.
The beneficial effect of self-adapting steering control system of the present invention based on driving style and its control method is：Can be according to
According to real-time vehicle dynamic and driver's operation, operated independently from three power-assisted, Hui Zheng, damping function modules, on one's own initiative
Control strategy is adjusted, and final output realizes the optimization of course changing control to the output mechanism of EPS.
The foregoing is merely the embodiment of the present invention, is not intended to limit the scope of the invention, every to utilize this hair
The equivalent structure or equivalent flow shift that bright description is made, is directly or indirectly used in other relevant technology necks
Domain, is included within the scope of the present invention.
Claims (9)
1. a kind of control method of the self-adapting steering control system based on driving style, it is characterised in that step includes：
By defining static driving, acceleration drives, braking drives, steering driving cycles collection driving style coefficient, and passes through
Weight COMPREHENSIVE CALCULATING obtains finally judging the factor, and then distributes corresponding control strategy；
By setting the rotation amplitude of speed and steering wheel, monitoring yaw rate changes, and judges the driving wind of driver
Lattice, and be stored in electric booster steering system controller；
By defining speed, yaw velocity, the thresholding of steering wheel angle and the processing method of steering wheel torque signal, judge to drive
The steering style for the person of sailing；
According to the power-assisted of acquisition, Hui Zheng, the decision-making distribution for damping policy control pattern, the final control strategies of EPS are obtained, concurrently
Give EPS motor execution；
In power-assisted strategic control module, engine rotational speed signal, throttle that power-assisted strategic control module is received in CAN bus are stepped on
Partitioned signal, speed signal, yaw rate signal, master cylinder pressure signal, steering wheel angle signal and steering wheel torque letter
Number, it is respectively processed according to the docking collection of letters number of the drive manner of definition, and according to weight COMPREHENSIVE CALCULATING, obtain current drive
Sail style information：
(1.1) static drive manner calculates, i.e. during speed signal V=0：
(1.1.1) steering wheel angle signalThe acceleration of steering wheel angle signalAnd steering wheel torque
Sensor signal | T |≤t1, then static drive manner score is 0；
(1.1.2) steering wheel angle signalThe acceleration of steering wheel angle signalAnd steering wheel torque
Sensor signal | T | ＞ t2, then static drive manner score is 1；
Under the conditions of (1.1.3) is other, static drive manner score is 0.5；
Wherein, θ 1, θ 2, a1, a2, t1 and t2 are systemic presupposition value, are defined according to vehicle feature, whenever steering wheel angle signalWhen complete once to score the cycle, the score of static drive manner for the score of 20 history average value S；
(1.2) drive manner is accelerated to calculate, changes in vehicle speed is expressed asWhenWhen：
(1.2.1) engine speed n≤n1 and during accelerator pedal signal P≤p1, then it is 0 to accelerate drive manner score；
(1.2.2) engine speed n ＞ n2 and during accelerator pedal signal P ＞ p2, then it is 1 to accelerate drive manner score；
Under the conditions of (1.2.3) is other, it is 0.5 to accelerate drive manner score；
Wherein, n1, p1, n2, p2 are systemic presupposition value, whenever changes in vehicle speed fromChange toWhen for complete
Once score the cycle, accelerate the score of drive manner as the average value G of 100 history score；
(1.3) brake drive manner to calculate, master cylinder pressure signal F ＞ 0, master cylinder rate of pressure change are expressed asWhen：
(1.3.1)When, braking drive manner score is 0；
(1.3.2)When, braking drive manner score is 1；
Under the conditions of (1.3.3) is other, braking drive manner score is 0.5；
Wherein, f1, f2 are systemic presupposition value, complete once to score the cycle whenever F=0, brake the final score of drive manner
For the average value Z of 100 history score；
(1.4) turn to drive manner to calculate, i.e. speed signal V ＞ 0, and steering wheel angle signal absolute valueWhen：
(1.4.1) yaw rate signal | γ | ＜ r0, and steering wheel angle signal intensity speedWhen, turn to and drive
Mode is scored as 0；
(1.4.2) yaw rate signal | γ | ＞ r1, and steering wheel angle signal intensity speedWhen, turn to and drive
Mode is scored as 1；
Under the conditions of (1.4.3) is other, it is 0.5 to turn to drive manner score；
Wherein, r0, r1, θ 3 and θ 4 is systemic presupposition value, wheneverWhen complete once score the cycle, turn to drive manner
Score for the score of 200 history average value Y；
(1.5) final power-assisted strategic control module judges that factors A ssist_Base is calculated according to following weight equation：
Assist_Base=0.1 × S+0.3 × G+0.2 × Z+0.4 × Y.
2. the control method of the self-adapting steering control system according to claim 1 based on driving style, its feature exist
In, in positive strategic control module is returned, speed signal, yaw velocity letter in time positive strategic control module reception CAN bus
Number and steering wheel angle signal, according to the analysis to above input signal, select suitable rotary transform tensor strategy：
(2.1) low speed returns skipper's mode and calculates：
Speed signal V≤V0, and steering wheel angle signal absolute value condition meetsWhen, that is, enter back positive wait mould
Formula, steering wheel return just during, when the absolute value of steering wheel angle signal drops toWhen, start following calculating：
Such as the absolute value of yaw rate | γ | ＜ r2, then return skipper's mode and score as 0；
Such as the absolute value of yaw rate | γ | ＞ r3, then return skipper's mode and score as 1；
Under the conditions of remaining, return skipper's mode and score as 0.5；
(2.2) skipper's mode is returned at a high speed to calculate：
As speed signal V ＞ V0, and steering wheel angle signal absolute value condition meetsWhen, that is, enter back positive wait mould
Formula, steering wheel return just during, when the absolute value of steering wheel angle signal drops toWhen, start following calculating：
Such as the absolute value of yaw rate | γ | ＜ r4, then return skipper's mode and score as 0；
Such as the absolute value of yaw rate | γ | ＞ r5, then return skipper's mode and score as 1；
Under the conditions of remaining, return skipper's mode and score as 0.5；
Wherein, V0, θ 5, θ 6, θ 7, θ 8, r4, r5, r2 and r3 are systemic presupposition value, enter standby mode to steering wheel from steering wheel
Point midway is returned to once to score the cycle, that returns skipper's mode calculates average value R of the score value for 50 history score, as
Return positive strategic control module and judge the factor.
3. the control method of the self-adapting steering control system according to claim 2 based on driving style, its feature exist
In in strategic control module is damped, damping strategic control module needs to receive speed signal, yaw angle speed in CAN bus
Signal and steering wheel angle signal and steering wheel torque signal are spent, and to the analysis of above input signal, selects suitable resistance
Buddhist nun's control strategy：
Drive manner monitoring is damped, i.e. speed signal V ＞ V1, and yaw rate signal | γ | during ＜ r6, steering wheel angle letter
NumberWhen：
If steering wheel torque signal | T | ＞ t3, driver rely more on the stability of EPS system itself, damp driving side
Formula score is 1；
If steering wheel torque signal | T | ＞ t4, driver are more accustomed to itself operation, and damping drive manner score is 0；
During other conditions, damping drive manner score is 0.5；
Wherein, V1, t3, t4, θ 7, θ 9, r6 for system can calibration value, calculated since being met signal conditioning, damp drive manner
Score to meet that the average value D of design conditions lower 500 seconds history score, average value D judge as damping strategic control module
The factor.
4. the control method of the self-adapting steering control system according to claim 1 based on driving style, its feature exist
In in power-assisted strategic control module, the judgement factors A ssist_Base real-time storages are controlled in electric boosting steering system
In device；
Numerical value according to the factor is judged actively switches in the first power-assisted strategy, the second power-assisted strategy, the 3rd power-assisted strategy：
Work as Assist_Base>When 0.8, the 3rd power-assisted strategy of power-assisted strategy is assigned as；Work as Assist_Base<When 0.2, power-assisted is assigned as
Tactful second power-assisted strategy；As 0.2≤Assist_Base≤0.8, power-assisted strategy the first power-assisted strategy is assigned as.
5. the control method of the self-adapting steering control system according to claim 2 based on driving style, its feature exist
In, return positive strategic control module in, judge factor R real-time storage in electric booster steering system controller；According to judgement
The numerical value of the factor actively switches in first time positive strategy, second time positive strategy, the 3rd time positive strategy：Work as R>When 0.7, point
With positive tactful for second time；Work as R<When 0.3, the 3rd time positive strategy is assigned as；As 0.3≤R≤0.7, first time is being assigned as just
Strategy.
6. the control method of the self-adapting steering control system according to claim 3 based on driving style, its feature exist
In in strategic control module is damped, judging factor D real-time storage in electric booster steering system controller；According to judgement
The numerical value of the factor actively switches in the first damping strategy, the second damping strategy, the 3rd damping strategy：Work as D>When 0.7, point
It is tactful with being damped for second；Work as D<When 0.3, the 3rd damping strategy is assigned as；As 0.3≤D≤0.7, the first damping is assigned as
Strategy.
7. the control method of the self-adapting steering control system according to claim 1 based on driving style, its feature exist
In, including：The one self-adapting steering control system based on driving style, the self-adapting steering control system based on driving style
System includes：
Power-assisted strategic control module：Receive engine rotational speed signal, accelerator pedal signal, speed signal, yaw rate signal,
Master cylinder pressure signal, steering wheel angle signal and steering wheel torque signal, then the docking collection of letters number are respectively processed, and
And according to weight COMPREHENSIVE CALCULATING driving style coefficient, distribute rational Power assisted control policy information；
Return positive strategic control module：Speed signal, yaw rate signal and steering wheel angle signal are received, is believed based on input
Number analysis, distribute rational rotary transform tensor policy information；
Damp strategic control module：Receive speed signal, yaw rate signal and steering wheel angle signal, steering wheel torque
Signal, analyzes above input signal, distributes rational damping control strategy information；
Performance unit module：Quick response can be made to the control instruction of EPS ECU and export the moment of torsion of needs；
Electric booster steering system controller receives and calculates respectively power-assisted strategic control module, returns positive strategic control module and resistance
The policy information of Buddhist nun's strategic control module, obtains final control strategy information after integrated, passes through EPS in control execution unit module
The operating current voltage of motor realizes control strategy.
8. the control method of the self-adapting steering control system according to claim 7 based on driving style, its feature exist
In, the power-assisted strategic control module, described time positive strategic control module and the damping strategic control module each individually into
Row information receives and information calculates.
9. the control method of the self-adapting steering control system according to claim 7 based on driving style, its feature exist
In above-mentioned performance unit module includes EPS motor.
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