CN106740869A - A kind of anti-deviation method and system of automobile - Google Patents
A kind of anti-deviation method and system of automobile Download PDFInfo
- Publication number
- CN106740869A CN106740869A CN201710066195.3A CN201710066195A CN106740869A CN 106740869 A CN106740869 A CN 106740869A CN 201710066195 A CN201710066195 A CN 201710066195A CN 106740869 A CN106740869 A CN 106740869A
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- China
- Prior art keywords
- vehicle
- wheel
- deflection angle
- wheel speed
- sideslip
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Classifications
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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
- 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
- B60W40/10—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 vehicle motion
- B60W40/114—Yaw movement
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
-
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention relates to automotive field, more particularly to a kind of anti-deviation method and system of automobile.A kind of Vehicle Driving Wandering method, comprises the following steps：Obtain roadway sign, and judge vehicle whether in straight travel state according to the roadway sign, if the vehicle is in straight travel state, obtain the front-wheel wheel speed signal of the vehicle two or two trailing wheel wheel speed signals and steering wheel angle signal, the vehicle actual deflection angle is obtained according to the front-wheel wheel speed signal of the vehicle two or two trailing wheel wheel speed signal of change, the vehicle program deflection angle according to the steering wheel angle signal acquisition, judge that whether the vehicle actual deflection angle is poor with the vehicle program deflection angle more than preset value, if being more than preset value, adjust the wheel of vehicle deflection angle.By obtaining wheel speed signal, roadway sign and steering wheel angle signal, and judge whether vehicle occurs sideslip according to these, if there is sideslip, the deviation phenomenon of adjustment prevention in time occurs, and whole process is simple and convenient.
Description
Technical field
The present invention relates to automotive field, more particularly to a kind of anti-deviation method and system of automobile.
Background technology
Huge numbers of families are come into recently as automobile, in the market Vehicle Driving Wandering problem is more and more.Vehicle Driving Wandering refers to vapour
When normal straight is travelled, steering wheel is freely placed in centre position to car by driver, and vehicle traveling direction is always regular
Ground to the right or is deviated to the left the phenomenon of automobile axis direction.Sideslip can increase the labour intensity of driver, operation difficulty, cause car
Tire eccentric wear, if traveling can produce very big potential safety hazard on a highway, easily causes traffic accident.
Currently for sideslip, most common method is exactly four-wheel aligner or dynamic balancing.Four-wheel aligner is in structure to whole
Car steering is corrected, and the method is mainly corrected due to during long run, frame distortion, front axle displacement, have it is negative before
Beam and plumbing arm, two Front Leaf Spring shell fragments are different, the sideslip that also horizontal stroke, Drag link ball stud looseness etc. are caused.And four-wheel
Deviation phenomenon can not be at all eliminated after positioning.It is both inconvenient and dynamic balancing needs to special 4S shops to be operated, also increase
Vehicle running cost.
The content of the invention
For this reason, it may be necessary to provide a kind of automobile anti-deviation method and system, it is used to solve the problems, such as Vehicle Driving Wandering.
To achieve the above object, a kind of anti-deviation method of automobile is inventor provided, specific technical scheme is as follows：
A kind of anti-deviation method of automobile, comprises the following steps：Roadway sign is obtained, and car is judged according to the roadway sign
Whether straight travel state is in, if the vehicle is in straight travel state, obtains the front-wheel wheel speed signal of vehicle two
Or two trailing wheel wheel speed signal and steering wheel angle signal, according to the front-wheel wheel speed signal of the vehicle two or two trailing wheel wheel speed signal meters
The vehicle actual deflection angle is calculated to obtain, the vehicle program deflection angle according to the steering wheel angle signal acquisition judges
Whether the vehicle actual deflection angle is poor with the vehicle program deflection angle is more than preset value, if being more than preset value, adjustment
The wheel of vehicle deflection angle.
Further, step " the adjustment wheel of vehicle deflection angle ", also including step：The vehicle is according to steering wheel
Angular signal applies to give the front-wheel of the vehicle two or two trailing wheels with the front-wheel wheel speed signal of the vehicle two or two trailing wheel wheel speed signals
One power reversely and with wheel speed changed toward sideslip direction.
Further, by wheel of vehicle described in electronic power assist steering system call interception toward sideslip direction backward going.
Further, also including step：Steering wheel receives driver's force, if the force is more than the adjustment vehicle car
The power of wheel angle degree, the then power for adjusting the wheel of vehicle deflection angle stops.
To achieve the above object, a kind of anti-deviation system of automobile is inventor provided, specific technical scheme is as follows：
A kind of anti-deviation system of automobile, including：Roadway sign acquisition module, wheel speed signal acquisition module, steering wheel angle
Signal acquisition module and sideslip processing module；The roadway sign acquisition module is used for：Roadway sign is obtained, and according to the road
Whether road signal judges vehicle in straight travel state, if the vehicle is in straight travel state；The wheel speed signal is obtained
Modulus block is used for：Obtain the front-wheel wheel speed signal of the vehicle two or two trailing wheel wheel speed signals and steering wheel angle signal；The side
It is used for disk angular signal acquisition module：The vehicle program deflection angle according to the steering wheel angle signal acquisition；It is described
Sideslip processing module is used for：The vehicle reality is obtained according to the front-wheel wheel speed signal of the vehicle two or two trailing wheel wheel speed signal of change
Deflection angle；Judge that whether the vehicle actual deflection angle is poor with the vehicle program deflection angle more than preset value, if greatly
In preset value, the wheel of vehicle deflection angle is adjusted.
Further, the sideslip processing module is additionally operable to：The vehicle is according to steering wheel angle signal and the vehicle
Two front-wheel wheel speed signals or two trailing wheel wheel speed signals apply to give the front-wheel of the vehicle two or two trailing wheels one reverse toward sideslip direction
And the power changed with wheel speed.
Further, the sideslip processing module is additionally operable to：By wheel of vehicle described in electronic power assist steering system call interception
Toward sideslip direction backward going.
Further, the sideslip processing module is used for：Steering wheel receives driver's force, if the force is more than adjustment
The power of the wheel of vehicle deflection angle, the then power for adjusting the wheel of vehicle deflection angle stops.
The beneficial effects of the invention are as follows：By obtaining wheel speed signal, roadway sign and steering wheel angle signal, and according to this
Judge whether vehicle occurs sideslip a bit, if there is sideslip, the deviation phenomenon of adjustment prevention in time occurs, and whole process is simple and convenient,
Vehicle both facilitated without can just make car by straight-line travelling when 4S shops carry out four-wheel aligner, also saves vehicle and travels into
This.
Brief description of the drawings
Fig. 1 is the flow chart of a kind of anti-deviation method of automobile described in specific embodiment；
Fig. 2 is a kind of module map of the anti-deviation system of automobile described in specific embodiment.
Description of reference numerals：
200th, the anti-deviation system of automobile,
201st, roadway sign acquisition module,
202nd, wheel speed signal acquisition module,
203rd, steering wheel angle signal acquisition module,
204th, sideslip processing module.
Specific embodiment
To describe technology contents, structural feature, the objects and the effects of technical scheme in detail, below in conjunction with specific reality
Apply example and coordinate accompanying drawing to be explained in detail.
Fig. 1 is referred to, in the present embodiment, a kind of anti-deviation method of automobile can be applied to a kind of anti-deviation system of automobile
On, the anti-deviation system of automobile obtains roadway sign by sensor sensing link change；By wheel speed sensors vehicle wheel
Fast signal and steering wheel angle signal.And this method mainly for straight-line travelling in the case of it is anti-deviation, for turning situation, drive
The person of sailing understands oneself vehicle is controlled consciously.
Step S101：Obtain roadway sign.It is specific as follows：Surface conditions are obtained by sensor.Step S102：According to institute
Whether state roadway sign judges vehicle in straight travel state.Judge vehicle whether in straight-line travelling shape by surface conditions
State.It is specific as follows：In actual life, vehicle can be opened on different roads, and driver also can give vehicle different instructions
Operation, such as turning etc., or vehicle oneself is on a road for out-of-flatness, then be likely to cause vehicle
Secundly is travelled, if carrying out sideslip adjustment this when, it is not necessary that, driver's operation is disturbed on the contrary, threaten, at this
In implementation method, make various judgements by obtaining roadway sign, judge the vehicle whether straight-line travelling, if not directly
Line is travelled, and be will turn into radar sound and is reminded driver.And if in straight travel state, performing step S103：Obtain the car
Two front-wheel wheel speed signals or two trailing wheel wheel speed signals and steering wheel angle signal, according to the front-wheel wheel speed signal of the vehicle two or
Two trailing wheel wheel speed signal of change obtain the vehicle actual deflection angle.
Step S104：The vehicle program deflection angle according to the steering wheel angle signal acquisition.Step S105：Judge
Whether the vehicle actual deflection angle is poor with the vehicle program deflection angle is more than preset value.If being more than preset value, hold
Row step S106：Adjust the wheel of vehicle deflection angle.It is specific as follows：The wheel of vehicle will be by one and sideslip direction
The effect of opposite force, makes wheel be rotated toward sideslip direction in opposite direction, until vehicle straight-line travelling, now steering wheel position
Used as middle position, vehicle is by straight-line travelling.After driver is to steering wheel, vehicle will be travelled or turned to according to artificial will.
After turning or other situations occur every time, the last steering wheel middle position of acquiescence, if in the case that sideslip angle is big, will differentiate again
Identification steering wheel middle position.
By obtaining wheel speed signal, roadway sign and steering wheel angle signal, and judge whether vehicle occurs according to these
Sideslip, if there is sideslip, the deviation phenomenon of adjustment prevention in time occurs, and whole process is simple and convenient, and vehicle in 4S shops without carrying out
Can just make car by straight-line travelling when four-wheel aligner, both facilitate, also save vehicle running cost.
In the present embodiment, in order to ensure vehicle safety, according to the specific travel situations of vehicle, sideslip tune is reasonably carried out
It is whole, adopt the following technical scheme that：The vehicle is according to after steering wheel angle signal and the front-wheel wheel speed signal of the vehicle two or two
Wheel wheel speed signal applies to give one power reversely and with wheel speed changed toward sideslip direction of the front-wheel of the vehicle two or two trailing wheels.Wherein
Bestowed wheel and sideslip power in opposite direction are not the constant power of a value, but can be changed with wheel speed, if now
Wheel speed by accelerating slowly, then force value also could be made that correspondence change, in case wheel speed quickly when, still with the power of same value, cause car
Accident.
In the present embodiment, by wheel of vehicle described in electronic power assist steering system call interception toward the reverse row in sideslip direction
Sail.Wherein newest Power Electronic Technique and high performance electric machines control technology are applied to automobile turn by electronic power assist steering system
To system, automobile dynamic performance and static properties can be significantly improved, the comfortableness of driver and security, reduction in travelling is improved
Pollution of environment etc..
In the present embodiment, in order to occur when sideslip, when carrying out sideslip adjustment, there is any situation, driver can
Oneself operating and controlling vehicle again, adopts the following technical scheme that：Steering wheel receives driver's force, if the force is described more than adjustment
The power of wheel of vehicle deflection angle, the then power for adjusting the wheel of vehicle deflection angle stops.Driver passes through toward on steering wheel
The power more than adjustment sideslip is bestowed, steering wheel just can be again administered, and adjust the power disappearance of sideslip, it can be ensured that such as in racing
When curved, but driver oneself by steering wheel come control direction, it is ensured that safety.
Fig. 2 is referred to, in the present embodiment, a kind of specific implementation of the anti-deviation system of automobile is as follows：
A kind of anti-deviation system of automobile, including：Roadway sign acquisition module, wheel speed signal acquisition module, steering wheel angle
Signal acquisition module and sideslip processing module；The roadway sign acquisition module is used for：Roadway sign is obtained, and according to the road
Whether road signal judges vehicle in straight travel state, if the vehicle is in straight travel state；The wheel speed signal is obtained
Modulus block is used for：Obtain the front-wheel wheel speed signal of the vehicle two or two trailing wheel wheel speed signals and steering wheel angle signal；The side
It is used for disk angular signal acquisition module：The vehicle program deflection angle according to the steering wheel angle signal acquisition；It is described
Sideslip processing module is used for：The vehicle reality is obtained according to the front-wheel wheel speed signal of the vehicle two or two trailing wheel wheel speed signal of change
Deflection angle；Judge that whether the vehicle actual deflection angle is poor with the vehicle program deflection angle more than preset value, if greatly
In preset value, the wheel of vehicle deflection angle is adjusted.
Wheel speed signal, roadway sign acquisition module are obtained by wheel speed signal acquisition module and obtains roadway sign and steering wheel
Angular signal obtains steering wheel angle signal, and the sideslip processing module simultaneously judges whether vehicle occurs sideslip according to these, if
Generation sideslip, the deviation phenomenon of adjustment prevention in time occurs, and whole process is simple and convenient, and vehicle in 4S shops without carrying out four-wheel aligner
When can just make car by straight-line travelling, both facilitated, also save vehicle running cost.
In the present embodiment, in order to ensure vehicle safety, according to the specific travel situations of vehicle, sideslip tune is reasonably carried out
It is whole, adopt the following technical scheme that：The sideslip processing module is additionally operable to：The vehicle is according to steering wheel angle signal and the car
Two front-wheel wheel speed signals or two trailing wheel wheel speed signals apply to give the front-wheel of the vehicle two or two trailing wheels one anti-toward sideslip direction
The power changed to and with wheel speed.
In the present embodiment, the sideslip processing module is additionally operable to：By car described in electronic power assist steering system call interception
Wheel is toward sideslip direction backward going.Wherein electronic power assist steering system is by newest Power Electronic Technique and high performance electricity
Machine control technology is applied to automobile steering system, can significantly improve automobile dynamic performance and static properties, improve driving in traveling
The comfortableness and security of member, the pollution for reducing environment etc..
In the present embodiment, in order to occur when sideslip, when carrying out sideslip adjustment, there is any situation, driver can
Oneself operating and controlling vehicle again, adopts the following technical scheme that：The sideslip processing module is used for：Steering wheel receives driver's force,
If the force is stopped more than the power of the adjustment wheel of vehicle deflection angle, the power for adjusting the wheel of vehicle deflection angle
Only.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or deposited between operating
In any this actual relation or order.And, term " including ", "comprising" or its any other variant be intended to
Nonexcludability is included, so that process, method, article or terminal device including a series of key elements not only include those
Key element, but also other key elements including being not expressly set out, or also include being this process, method, article or end
The intrinsic key element of end equipment.In the absence of more restrictions, limited by sentence " including ... " or " including ... "
Key element, it is not excluded that also there is other key element in the process including the key element, method, article or terminal device.This
Outward, herein, " it is more than ", " being less than ", " exceeding " etc. are interpreted as not including this number；" more than ", " below ", " within " etc. understand
It is to include this number.
Although being described to the various embodiments described above, those skilled in the art once know basic wound
The property made concept, then can make other change and modification to these embodiments, so embodiments of the invention are the foregoing is only,
Not thereby scope of patent protection of the invention, the equivalent structure that every utilization description of the invention and accompanying drawing content are made are limited
Or equivalent flow conversion, or other related technical fields are directly or indirectly used in, similarly it is included in patent of the invention
Within protection domain.
Claims (8)
1. a kind of anti-deviation method of automobile, it is characterised in that comprise the following steps：
Roadway sign is obtained, and whether vehicle is judged in straight travel state according to the roadway sign, if at the vehicle
In straight travel state,
The front-wheel wheel speed signal of the vehicle two or two trailing wheel wheel speed signals and steering wheel angle signal are obtained, according to the vehicle two
Front-wheel wheel speed signal or two trailing wheel wheel speed signal of change obtain the vehicle actual deflection angle, according to the steering wheel angle signal
Obtain the vehicle program deflection angle, judge the vehicle actual deflection angle it is poor with the vehicle program deflection angle whether
More than preset value, if being more than preset value, the wheel of vehicle deflection angle is adjusted.
2. a kind of anti-deviation method of automobile according to claim 1, it is characterised in that step " the adjustment wheel of vehicle
Deflection angle ", also including step：
The vehicle applies to give according to steering wheel angle signal with the front-wheel wheel speed signal of the vehicle two or two trailing wheel wheel speed signals
One power reversely and with wheel speed changed toward sideslip direction of the front-wheel of the vehicle two or two trailing wheels.
3. a kind of anti-deviation method of automobile according to claim 1 and 2, it is characterised in that
By wheel of vehicle described in electronic power assist steering system call interception toward sideslip direction backward going.
4. a kind of anti-deviation method of automobile according to claim 1, it is characterised in that also including step：
Steering wheel receives driver's force, if the force adjusts institute more than the power of the adjustment wheel of vehicle deflection angle
The power for stating wheel of vehicle deflection angle stops.
5. the anti-deviation system of a kind of automobile, it is characterised in that including：Roadway sign acquisition module, wheel speed signal acquisition module, side
To disk angular signal acquisition module and sideslip processing module；
The roadway sign acquisition module is used for：Roadway sign is obtained, and judges whether vehicle is according to the roadway sign
Straight travel state, if the vehicle is in straight travel state；
The wheel speed signal acquisition module is used for：Obtain the front-wheel wheel speed signal of the vehicle two or two trailing wheel wheel speed signals and direction
Disk angular signal；
The steering wheel angle signal acquisition module is used for：The vehicle program deflection according to the steering wheel angle signal acquisition
Angle；
The sideslip processing module is used for：According to the front-wheel wheel speed signal of the vehicle two or two trailing wheel wheel speed signal of change are obtained
Vehicle actual deflection angle；Judge that whether the vehicle actual deflection angle is poor with the vehicle program deflection angle more than default
Value, if being more than preset value, adjusts the wheel of vehicle deflection angle.
6. the anti-deviation system of a kind of automobile according to claim 5, it is characterised in that
The sideslip processing module is additionally operable to：The vehicle is according to steering wheel angle signal and the front-wheel wheel speed signal of the vehicle two
Or two trailing wheel wheel speed signal apply to give what the front-wheel of the vehicle two or two trailing wheels one reversely and with wheel speed changed toward sideslip direction
Power.
7. the anti-deviation system of a kind of automobile according to claim 5 or 6, it is characterised in that
The sideslip processing module is additionally operable to：It is reverse toward sideslip direction by wheel of vehicle described in electronic power assist steering system call interception
Traveling.
8. the anti-deviation system of a kind of automobile according to claim 5, it is characterised in that the sideslip processing module is used for：
Steering wheel receives driver's force, if the force adjusts the car more than the power of the adjustment wheel of vehicle deflection angle
The power of wheel deflection angle stops.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710066195.3A CN106740869A (en) | 2017-02-06 | 2017-02-06 | A kind of anti-deviation method and system of automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710066195.3A CN106740869A (en) | 2017-02-06 | 2017-02-06 | A kind of anti-deviation method and system of automobile |
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| Publication Number | Publication Date |
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| CN106740869A true CN106740869A (en) | 2017-05-31 |
Family
ID=58956503
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|---|---|---|---|
| CN201710066195.3A Pending CN106740869A (en) | 2017-02-06 | 2017-02-06 | A kind of anti-deviation method and system of automobile |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110949495A (en) * | 2019-10-25 | 2020-04-03 | 浙江吉利汽车研究院有限公司 | Steering wheel angle correction method and device |
| CN112693448A (en) * | 2021-01-06 | 2021-04-23 | 恒大新能源汽车投资控股集团有限公司 | Automobile torque steering control method and electronic equipment |
| CN112918482A (en) * | 2021-03-25 | 2021-06-08 | 东风汽车集团股份有限公司 | Method and system for detecting and analyzing vehicle deviation degree and storage medium |
| CN113734275A (en) * | 2020-05-28 | 2021-12-03 | 上海汽车集团股份有限公司 | Torque compensation method, power steering system and automobile |
| CN113830089A (en) * | 2020-06-23 | 2021-12-24 | 上海汽车集团股份有限公司 | Rear wheel steering angle control method, device, equipment and storage medium |
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| CN110949495A (en) * | 2019-10-25 | 2020-04-03 | 浙江吉利汽车研究院有限公司 | Steering wheel angle correction method and device |
| CN113734275A (en) * | 2020-05-28 | 2021-12-03 | 上海汽车集团股份有限公司 | Torque compensation method, power steering system and automobile |
| CN113830089A (en) * | 2020-06-23 | 2021-12-24 | 上海汽车集团股份有限公司 | Rear wheel steering angle control method, device, equipment and storage medium |
| CN113830089B (en) * | 2020-06-23 | 2022-07-26 | 上海汽车集团股份有限公司 | Rear wheel steering angle control method, device, equipment and storage medium |
| CN112693448A (en) * | 2021-01-06 | 2021-04-23 | 恒大新能源汽车投资控股集团有限公司 | Automobile torque steering control method and electronic equipment |
| CN112918482A (en) * | 2021-03-25 | 2021-06-08 | 东风汽车集团股份有限公司 | Method and system for detecting and analyzing vehicle deviation degree and storage medium |
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Application publication date: 20170531 |
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