CN107161206A - Vehicle and its steering reversal control device, method - Google Patents
Vehicle and its steering reversal control device, method Download PDFInfo
- Publication number
- CN107161206A CN107161206A CN201710278464.2A CN201710278464A CN107161206A CN 107161206 A CN107161206 A CN 107161206A CN 201710278464 A CN201710278464 A CN 201710278464A CN 107161206 A CN107161206 A CN 107161206A
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- Prior art keywords
- wheel
- steering
- vehicle
- parameter
- detection components
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- 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
- B62D5/0466—Controlling the motor for returning the steering wheel to neutral position
-
- 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
Abstract
The invention discloses a kind of vehicle and its steering reversal control device, method, the device includes：First position detection components, it is arranged at wheel steering section, and it is used for the space position parameter for detecting wheel steering section；Second place detection components, it is arranged on swing arm bulb, and it is used for the positional information for detecting swing arm bulb；Angular velocity detection component, it is used to detect wheel stub yaw velocity；Parameter detecting component, it is used to detect motor power-assisted affecting parameters；Control unit; it is connected with foregoing four detection components respectively; it is used to obtain wheel alignment information according to the space position parameter of wheel steering section and the positional information of swing arm bulb; and positive signal is obtained back according to the location information of wheel, motor power-assisted affecting parameters and wheel stub yaw velocity; to carry out rotary transform tensor to the assist motor of vehicle according to time positive signal; comfortable, rotary transform tensor exactly can be achieved, it is ensured that return plus effect.
Description
Technical field
The present invention relates to technical field of vehicle, the steering reversal control device of more particularly to a kind of vehicle, a kind of vehicle and
A kind of steering reversal control method of vehicle.
Background technology
Wheel steering system in correlation technique, increases typically by increase rotary angle transmitter or on vehicle booster motor
Plus motor angle position sensor, the rotational angle of real-time measurement direction disk, to ensure steering wheel return just.But, what it was present
Problem is that the degree of accuracy of rotary transform tensor is relatively low, there is remaining angle, user satisfaction is relatively low.
The content of the invention
It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.Therefore, the present invention
First purpose is the steering reversal control device for proposing a kind of vehicle, comfortable, rotary transform tensor exactly can be achieved, it is ensured that return
Plus effect.
Second object of the present invention is to propose a kind of vehicle.Third object of the present invention is to propose a kind of vehicle
Steering reversal control method.
To reach above-mentioned purpose, first aspect present invention embodiment proposes a kind of steering reversal control device of vehicle,
Including：First position detection components, first position detection components are arranged at the knuckle of wheel, the first position detection group
Part is used for the space position parameter for detecting wheel steering section；Second place detection components, the second place detection components are set
In swing arm bulb, the second place detection components are used for the positional information for detecting the swing arm bulb；Angular velocity detection component,
The angular velocity detection component is used to detect wheel stub yaw velocity；Parameter detecting component, the parameter detecting component is used
In detection motor power-assisted affecting parameters；Control unit, described control unit respectively with least one described wheel position detection group
Part, the swing arm bulb position detection components are connected with the parameter detecting component, and described control unit is used for according to the car
Take turns the space position parameter of knuckle and the positional information of the swing arm bulb obtains the location information of the wheel, and according to institute
Location information, the motor power-assisted affecting parameters and the wheel stub yaw velocity for stating wheel obtain back positive signal, with
Rotary transform tensor is carried out to the assist motor of the vehicle according to described time positive signal.
The steering reversal control device of the vehicle proposed according to embodiments of the present invention, control unit is detected according to first position
The positional information of space position parameter and the second place detection components detection swing arm bulb of component detection wheel steering section is obtained
The location information of wheel, and according to the location information of wheel, parameter detecting component detection motor power-assisted affecting parameters and angular speed
Detection components detection wheel stub yaw velocity obtains back positive signal, to be carried out according to time positive signal to the assist motor of vehicle
Rotary transform tensor, so as to carry out rotary transform tensor according to the information of wheel of vehicle, it is ensured that vehicle after steering return positive process it is accurate,
It is smooth, without remaining angle, it is ensured that return plus effect, Driving is lifted, user's request is met.
In addition, the steering reversal control device of vehicle according to the above embodiment of the present invention can also have what is added as follows
Technical characteristic：
According to one embodiment of present invention, the first position detection components can be two, two first positions
Detection components set the near front wheel and off-front wheel of the vehicle respectively.
According to one embodiment of present invention, the first position detection components include first position sensor, second
Sensor and the 3rd position sensor are put, the first position sensor is used to detect the wheel steering section in a first direction
Location parameter, second place sensor be used for detect the location parameter of the wheel steering section in a second direction, the 3rd
Putting sensor is used to detect location parameter of the wheel steering section on third direction.
According to one embodiment of present invention, the motor power-assisted affecting parameters include assistant mode, the car of the vehicle
At least one in speed, traffic information, wind speed, driver information, front axle load and engine condition.
According to one embodiment of present invention, described control unit is further used for obtaining the turn around parameters of steering wheel, and
According to the turn around parameters of the steering wheel and time positive signal described in preset back positive model adjustment, with according to time positive signal after adjustment
Rotary transform tensor is carried out to the assist motor of the vehicle, wherein, the turn around parameters of the steering wheel include steering-wheel torque, turned to
Disk direction and steering wheel rotating speed.
To reach above-mentioned purpose, second aspect of the present invention embodiment proposes a kind of vehicle, described including described vehicle
Steering reversal control device.
The vehicle proposed according to embodiments of the present invention, ensure that time positive process of the vehicle after steering is accurate, smooth, nothing
Remaining angle, it is ensured that return plus effect, lifts Driving, meets user's request.
To reach above-mentioned purpose, third aspect present invention embodiment proposes a kind of steering reversal control method of vehicle,
Comprise the following steps：Detect space position parameter, the positional information of swing arm bulb, wheel stub the yaw angle speed of wheel steering section
Degree and motor power-assisted affecting parameters；Institute is obtained according to the space position parameter of the wheel and the positional information of the swing arm bulb
State the location information of wheel；It is horizontal according to the location information of the wheel, the motor power-assisted affecting parameters and the wheel stub
Pivot angle speed obtains back positive signal；Rotary transform tensor is carried out to the assist motor of the vehicle according to described time positive signal.
The steering reversal control method of the vehicle proposed according to embodiments of the present invention, detects the space of wheel steering section first
Location parameter, the positional information of swing arm bulb, wheel stub yaw velocity and motor power-assisted affecting parameters, then according to wheel
Space position parameter and swing arm bulb positional information obtain wheel location information, and then according to the location information of wheel,
Motor power-assisted affecting parameters and wheel stub yaw velocity obtain back positive signal, then according to power-assisted of time positive signal to vehicle
Motor carries out rotary transform tensor, so as to carry out rotary transform tensor according to the information of wheel of vehicle, it is ensured that vehicle returning just after steering
Process is accurate, smooth, without remaining angle, it is ensured that return plus effect, lifts Driving, meets user's request.
According to one embodiment of present invention, the space position parameter of the detection wheel steering section, including：Detect respectively
The space position parameter of the near front wheel and off-front wheel, wherein, the space position parameter includes the wheel steering section in first party
Upward location parameter, the wheel steering section location parameter in a second direction and the wheel steering section are in third direction
On location parameter.
According to one embodiment of present invention, the motor power-assisted affecting parameters include assistant mode, the car of the vehicle
At least one in speed, traffic information, wind speed, driver information, front axle load and engine condition.
According to one embodiment of present invention, the steering reversal control method of the vehicle also includes：Obtain steering wheel
Turn around parameters, wherein, the turn around parameters of the steering wheel include steering-wheel torque, steering wheel direction and steering wheel rotating speed；According to
The turn around parameters of the steering wheel adjust described time positive signal with positive model is preset back；Positive signal is returned to described according to after adjustment
The assist motor of vehicle carries out rotary transform tensor.
Brief description of the drawings
Fig. 1 is the block diagram of the steering reversal control device of vehicle according to embodiments of the present invention；
Fig. 2 is the structural representation of the steering reversal control device of vehicle according to an embodiment of the invention；
Fig. 3 is the block diagram of the steering reversal control device of the vehicle according to a specific embodiment of the invention；
Fig. 4 is the block diagram of vehicle according to embodiments of the present invention；
Fig. 5 is the flow chart of the steering reversal control method of vehicle according to embodiments of the present invention；And
Fig. 6 is the flow chart of the steering reversal control method of vehicle according to an embodiment of the invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
Below in conjunction with the accompanying drawings come describe the embodiment of the present invention vehicle and its steering reversal control device, method.Wherein,
The steering reversal control device of the vehicle of the embodiment of the present invention can (Electric Power Steering, electronics be helped based on EPS
Power is turned to) control system realization.
Fig. 1 is the block diagram of the steering reversal control device of vehicle according to embodiments of the present invention.As shown in figure 1,
The steering reversal control device 100 of the vehicle includes：First position detection components 10, second place detection components 20, angular speed
Detection components 30, parameter detecting component 40 and control unit 50.Wherein, control unit 50 can be EPS controllers.
Wherein, first position detection components 10 are arranged at the knuckle of wheel, and first position detection components 10 are used to examine
The space position parameter of wheel steering section is surveyed, second place detection components 20 are arranged on swing arm bulb, second place detection components
20 positional information for detecting swing arm bulb, angular velocity detection component 30 is used to detect wheel stub yaw velocity, parameter
Detection components 40 are used to detect motor power-assisted affecting parameters, control unit 50 respectively with first position detection components 10, second
Put detection components 20, angular velocity detection component 30 with parameter detecting component 40 to be connected, control unit 50 is used for according to wheel steering
The space position parameter of section and the positional information of swing arm bulb obtain the location information of wheel, and according to the location information of wheel,
Motor power-assisted affecting parameters and wheel stub yaw velocity obtain back positive signal, with electric to the power-assisted of vehicle according to positive signal is returned
Machine carries out rotary transform tensor.
It should be appreciated that during Vehicular turn traveling, wheel is returned just can be by wheel alignment information, motor power-assisted
The influence of affecting parameters and wheel stub yaw velocity.Wherein, first position detection components 10 can obtain wheel steering section
Positional information, second place detection components 20 can obtain the positional information of swing arm bulb, and the He of first position detection components 10
Second place detection components 20 send the positional information of the wheel steering section of detection and swing arm bulb to control unit 50, and then
Control unit 50 according to the positional information of wheel steering section and swing arm bulb obtain wheel location information such as castor,
The wheel alignment parameters such as kingpin inclination, toe-in of front wheel, camber angle.
Wherein, the castor in wheel alignment parameter can form back positive stabilizing moment, and kingpin inclination, which has, makes car
The effect of self-aligning is taken turns, stub is the straight line (as shown in Figure 2) that point A and lower point B is connected on stub.Thus, can root
The position of stub, i.e. wheel alignment parameter are determined according to upper and lower point A, the B of stub coordinate.
Specifically, point A coordinate is fixed value such as (X1, Y1, Z1) on stub, and control unit 50 can be pre-stored in advance
In, point B coordinate is variable such as (X2, Y2, Z2) under stub, can be continually changing with the motion of vehicle, wherein, point B under stub
Coordinate is determined by the positional information of wheel steering section and swing arm bulb, that is, is sayed in embodiments of the present invention, can be according to first position
The positional information of detection components 10 and the detection wheel steering section of second place detection components 20 and swing arm bulb, and then determine stub
Lower point B coordinate (X2, Y2, Z2), is then sent the coordinate of point B under stub to control unit 50 by CAN, control is single
Member 50 can be calculated by formula tan α=(X1-X2)/(Z1-Z2) according to the coordinate information of A, B point and obtain castor parameter
α values, and can be calculated by formula tan β=(Y1-Y2)/(Z1-Z2) and obtain kingpin inclination parameter β value.
Thus, wheel alignment information can be obtained by castor α and the value of consult volume of Kingpin inclination angle beta.
Further, control unit 50 obtains motor power-assisted affecting parameters by parameter detecting component 40, and passes through angle speed
Spend detection components 30 and obtain wheel stub yaw velocity.Thus, in an embodiment of the present invention, first position detection components
10th, second place detection components 20, angular velocity detection component 30 and parameter detecting component 40 send the information of the wheel of detection
To control unit 50, control unit 50 carries out rotary transform tensor according to the information of the wheel of foregoing detection to assist motor, so, can
Rotary transform tensor is carried out according to the information of wheel of vehicle, it is ensured that time positive process of the vehicle after steering is accurate, smooth, without remaining angle,
Ensure back plus effect, lift Driving.Also, first position detection components 10, second place inspection in the embodiment of the present invention
Survey component 20, the parameter information that angular velocity detection component 30 and parameter detecting component 40 are obtained can also be provided by CAN to
Assembly, implements steering for vehicle vehicle and provides relevant information, improve the precision of vehicle performance, saved cost, it is ensured that EPS
Return function and ESP (Electronic Stability Program, body electronics systems stabilisation) normal operation, meet
User's request.
According to one embodiment of present invention, first position detection components 10 can be two, two first position detection groups
Part 10 can be separately positioned on the near front wheel and off-front wheel of vehicle.
That is, the near front wheel and off-front wheel of vehicle are the steered wheel of vehicle, it is left during Vehicular turn traveling
The first position detection components 10 of front-wheel and the first position detection components 10 of off-front wheel respectively in real time detection vehicle the near front wheel and
The space position parameter of the knuckle of off-front wheel.
Further, first position detection components 10 include first position sensor, second place sensor and the 3rd
Put sensor, first position sensor is used to detecting wheel steering section location parameter in a first direction, second place sensing
Device is used to detect the location parameter of wheel steering section in a second direction, and the 3rd position sensor is used to detect that wheel steering section exists
Location parameter on third direction.
For example, using the center of knuckle as origin O, with knuckle spindle to along for X-axis, with parallel to ground and hang down
It is straight in X-axis and to cross the line of origin be Y-axis, using by origin and perpendicular to X/Y plane line as Z axis, set up rectangular space coordinate
System, wherein, direction can be that first direction, second direction can be directions along Y-axis along X-axis, and third direction can be Z axis
Direction, YZ planes are the mounting plane of knuckle along the line.It should be appreciated that three position sensors can be identical, nothing is appointed
What is distinguished, and merely just in order to describe that three position sensors clearly are entered into line label, three position sensors are obtained respectively to be turned
Location parameter on three directions of section.
According to one embodiment of present invention, the positional information that second place detection components 20 obtain swing arm bulb is stub
The upper end position information of damping before lower client information and left and right.Wherein, second place detection components 20 or two, two the
Two position detection components 20 can also set the near front wheel and off-front wheel of vehicle respectively.
Thus, in embodiments of the present invention, three position sensors that vehicle the near front wheel and off-front wheel are respectively mounted can be real
When the space position parameter of the near front wheel knuckle and off-front wheel knuckle is sent to control unit 50, and the near front wheel and it is right before
Second place detection components 20 on wheel can send the upper end position information of damping before client information under stub and left and right to control
Unit 50 processed so that control unit 50 according to foregoing wheel information to vehicle the near front wheel and the positional parameter and wheel of off-front wheel
Corner is analyzed, and then obtains the location information of wheel.
According to one embodiment of present invention, motor power-assisted affecting parameters include assistant mode, speed, the road conditions letter of vehicle
At least one in breath, wind speed, driver information, front axle load and engine condition.
Wherein, as shown in figure 3, parameter detecting component 40 includes：Assistant mode selecting module 60, EPS wheel speeds module 70, ring
Environment information module 80, wind speed module 90, driver information module 101, front axle load information module 102, engine status signal mould
Block 103.
Specifically, by assistant mode selecting module 60 assistant mode of vehicle can be selected for example to move, it is common and comfortable
Three kinds, vehicle speed can be obtained by EPS wheel speeds module 70, traffic information such as city can be obtained by environmental information module 80
City, mountain area and fastlink etc., wind speed such as three kinds of horizontal, radial direction and vertical velocity can be detected by wind speed module 90, can be led to
Cross driver information module 101 and obtain driver information such as body weight, sex, can be obtained by front axle load information module 102
Automobile front-axle lotus information and can by engine status signal module 103 obtain vehicle motor state so that parameter detecting
Component 40 can obtain in above-mentioned motor power-assisted affecting parameters at least one sent by CAN to control unit 50.
Thus, the steering reversal control device of the vehicle of the embodiment of the present invention can be detected by first position detection components 10
The positional information of space position parameter and second place detection components 20 the detection swing arm bulb of wheel steering section obtains wheel
Location information, and wheel stub yaw velocity, and comprehensive parameters detection components 40 are detected by angular velocity detection component 30
The parameters such as road conditions, wind speed, speed, vehicle front axle load, the driver's body weight of detection, are sent to control unit 50 by CAN,
Control unit 50 controls assist motor 107 to give and returns positive current accordingly according to aforementioned information.
According to one embodiment of present invention, control unit 50 is further used for obtaining the turn around parameters of steering wheel, and root
According to steering wheel turn around parameters and back preset positive model and adjust back positive signal, to be helped according to time positive signal after adjustment vehicle
Force motor carries out rotary transform tensor, wherein, the turn around parameters of steering wheel turn including steering-wheel torque, steering wheel direction and steering wheel
Speed.
That is, presetting back positive model can be pre-stored in control unit 50 in advance, in control unit 50 according to wheel
Information parameter be wheel alignment information, wheel return positive speed and motor power-assisted affecting parameters obtain it is actual return positive signal it
Afterwards, control unit 50 is contrasted actual positive signal of returning with presetting back positive model, after being calculated by core algorithm, control
Unit 50 is according to the turn around parameters of the steering wheel of acquisition and preset back the information parameter that positive model adjusts wheel, and then adjustment is actually
What is obtained returns positive signal, so as to be controlled according to the positive signal of returning after adjustment to assist motor 107, to ensure power-assisted steering system
Conjunction driver under unified central planning, which provides, preferably returns positive force curve, reaches and preferably returns plus effect.
Further, as shown in figure 3, control unit 50 also includes：Data analysis subelement 105, assist motor control
Unit 106, core algorithm subelement 109, with fast course changing control subelement 110, provide preset back positive model subelement 111.
Specifically, detect the space position parameter of wheel steering section by first position detection components 10, pass through second
Put the positional information of the detection swing arm bulb of detection components 20, wheel stub yaw velocity is detected by angular velocity detection component 30
And motor power-assisted affecting parameters are obtained by parameter detecting component 40, power-assisted is obtained by assist motor temperature sensor 108
The temperature of motor 107, the data message that each foregoing detection components are detected is sent to control unit 50 by CAN.Its
In, the data message that the data analysis subelement 105 in control unit 50 is sent to each foregoing detection components analyzed, whole
Conjunction and early stage processing etc., and the data message after processing is sent to core algorithm subelement 109, core algorithm subelement
After 109 receive the data message after processing, it can be believed according to the position of the space position parameter of wheel steering section, swing arm bulb
Breath obtains wheel alignment information, and combines the temperature of wheel stub yaw velocity, motor power-assisted affecting parameters and assist motor
Positive signal is obtained back, assist motor controls time positive current that subelement 106 just believes signal of change assist motor 107 according to returning, with
Control assist motor 107 is given returns positive current accordingly, and then EPS executing agencies are controlled, to control wheel of vehicle to return
Just.
More specifically, steering-wheel torque signal during being returned just with the collection vehicle wheel of fast course changing control subelement 110,
Steering wheel direction signal and steering wheel tach signal, and with provide preset back positive model subelement 111 preset back positive model pair
Than analysis, and the result after comparative analysis is fed back into core algorithm subelement 109, calculated by core algorithm subelement 109
Afterwards, the control of control unit 50 assist motor 107 is given returns positive current accordingly.
Thus, by being set with the continuous adjusting parameter of fast course changing control subelement 110, enter with the positive model of presetting back of setting
Row comparative analysis, it is ensured that EPS cooperation drivers, which provide, preferably returns positive force curve, while core algorithm subelement 109 is with providing
Preset back positive model subelement 111 uninterruptedly carry out data transmission, logic judgment and self-regeneration, complete self study process.
Therefore, in an embodiment of the present invention, the position that control unit 50 is installed according to the preceding revolver and front right wheel in vehicle
Put the positional information of the wheel steering section of sensor detection, the position letter for the swing arm bulb that second place detection components 20 are detected
Wheel stub yaw velocity and the motor power-assisted shadow of parameter detecting component detection 40 that breath, angular velocity detection component 30 are detected
Ring parameter acquiring it is actually detected return positive signal, also, control unit 50 according to the steering-wheel torque of acquisition, steering wheel direction and
The steering wheel such as steering wheel rotating speed parameter adjusts actually detected time positive signal with positive model is preset back, to correct actually detected automatically
Return positive signal so that more precise control assist motor 107 export accordingly return positive current so that bogie car samsara plus effect
It is more satisfactory.In this process, control unit 50 controls actually detected positive signal of returning to be contrasted with presetting back positive model, and
And after core algorithm calculating, preferably return positive force curve by being obtained to the continuous adjustment of parameter setting, improve vehicle
The intelligence degree of steering reversal control device.
In summary, the steering reversal control device of the vehicle proposed according to embodiments of the present invention, control unit is according to
The space position parameter and second place detection components of one position detection components detection wheel steering section detect the position of swing arm bulb
The location information of acquisition of information wheel is put, and is joined according to the location information of wheel, the influence of parameter detecting component detection motor power-assisted
Number and angular velocity detection component detection wheel stub yaw velocity obtain back positive signal, to be helped according to time positive signal vehicle
Force motor carries out rotary transform tensor, so as to carry out rotary transform tensor according to the information of wheel of vehicle, it is ensured that vehicle returning after steering
Positive process is accurate, smooth, without remaining angle, it is ensured that return plus effect, lifts Driving, meets user's request.
Fig. 4 is the block diagram of vehicle according to embodiments of the present invention.As shown in figure 4, the vehicle 200 is including above-mentioned
The steering reversal control device 100 of vehicle.
In summary, the vehicle proposed according to embodiments of the present invention, ensure that vehicle returns positive process standard after steering
Really, it is smooth, without remaining angle, it is ensured that return plus effect, Driving is lifted, user's request is met.
Fig. 5 is the flow chart of the steering reversal control method of vehicle according to embodiments of the present invention.As shown in figure 5, the car
Steering reversal control method comprise the following steps：
S101：Detect space position parameter, the positional information of swing arm bulb, wheel stub the yaw angle speed of wheel steering section
Degree and motor power-assisted affecting parameters.
Wherein, first position detection components are arranged at the knuckle of wheel, and first position detection components are used to detect car
Take turns the space position parameter of knuckle.First position detection components can be two, and two first position detection components can be set respectively
Put the near front wheel and off-front wheel of vehicle.That is, the near front wheel and off-front wheel of vehicle are the steered wheel of vehicle, turn in vehicle
To during traveling, the first position detection components of the near front wheel and the first position detection components of off-front wheel detect car in real time respectively
The space position parameter of the near front wheel and off-front wheel knuckle.
Second place detection components are arranged on swing arm bulb, and second place detection components are used for the position for detecting swing arm bulb
Information, angular velocity detection component is used to detect wheel stub yaw velocity, and parameter detecting component is used to detect motor power-assisted shadow
Ring parameter.
S102：The positioning letter of wheel is obtained according to the space position parameter of wheel steering section and the positional information of swing arm bulb
Breath.
According to one embodiment of present invention, the space position parameter of wheel steering section is detected, including：Detect respectively left front
The space position parameter of wheel and off-front wheel, wherein, space position parameter includes the position ginseng of wheel steering section in a first direction
Number, the location parameter of location parameter and wheel steering section on third direction of wheel steering section in a second direction.
Further, first position sensor, second place sensor and the 3rd position can be installed at wheel steering section
Sensor, first position sensor is used to detect location parameter, the second place sensor of wheel steering section in a first direction
For detecting the location parameter of wheel steering section in a second direction, the 3rd position sensor is used to detecting wheel steering section the
The upward location parameter of tripartite.
For example, using the center of knuckle as origin O, with knuckle spindle to along for X-axis, with parallel to ground and hang down
The straight line in X-axis and mistake origin is Y-axis, by origin and perpendicular to X/Y plane line as Z axis, to set up rectangular coordinate system in space,
Wherein, direction can be that first direction, second direction can be that direction along Y-axis, third direction can be Z axis edges along X-axis
Line direction, YZ planes are the mounting plane of knuckle.It should be appreciated that by installing three positions on three directions of wheel
Sensor obtains the space position parameter on three directions of wheel steering section, and three position sensors can be identical, nothing
Any difference, merely just in order to describe that three position sensors clearly are entered into line label.
Also, the second detection components can obtain under the positional information i.e. stub of swing arm bulb damping before client information and left and right
Upper end position information.Wherein, second place detection components are alternatively two, and two second place detection components can also be set respectively
Put the near front wheel and off-front wheel of vehicle.
Thus, in embodiments of the present invention, three position sensors that vehicle the near front wheel and off-front wheel are respectively mounted can be real
When the space position parameter of the near front wheel knuckle and off-front wheel knuckle is sent to control unit, and the near front wheel and off-front wheel
On the second place detection components upper end position information of damping before client information under stub and left and right can be sent to single to control
Member, so that control unit is carried out according to foregoing wheel information to the positional parameter and wheel steering angle of vehicle the near front wheel and off-front wheel
Analysis, and then obtain the location information of wheel.
S103：Obtained back just according to the location information of wheel, motor power-assisted affecting parameters and wheel stub yaw velocity
Signal.
According to one embodiment of present invention, the assistant mode of above-mentioned motor power-assisted affecting parameters including vehicle, speed,
At least one in traffic information, wind speed, driver information, front axle load and engine condition.
Specifically, by assistant mode selecting module the assistant mode of vehicle can be selected for example to move, it is common and comfortable three
Kind, vehicle speed can be obtained by EPS wheel speeds module, traffic information such as city, mountain area can be obtained by environmental information module
With fastlink etc., can be detected by wind speed module wind speed for example laterally, three kinds of radial direction and vertical velocity, can be believed by driver
Cease module obtain driver information such as body weight, sex, can by front axle load information module obtain automobile front-axle lotus information with
And vehicle motor state can be obtained by engine status signal module, helped so that parameter detecting component can obtain above-mentioned motor
At least one in power affecting parameters is sent to control unit by CAN.
S104：Rotary transform tensor is carried out to the assist motor of vehicle according to positive signal is returned.
Thus, the steering reversal control device of the vehicle of the embodiment of the present invention can detect car by first position detection components
Take turns the space position parameter of knuckle and the positional information of second place detection components detection swing arm bulb obtains wheel alignment
Information, and by angular velocity detection component detection wheel stub yaw velocity, and the road of comprehensive parameters detection components detection
The parameters such as condition, wind speed, speed, vehicle front axle load, driver's body weight, are sent to control unit, control unit root by CAN
Given according to aforementioned information control assist motor and return positive current accordingly.
According to one embodiment of present invention, as shown in fig. 6, the steering reversal control method of above-mentioned vehicle also include with
Lower step：
S201：Obtain the turn around parameters of steering wheel.
Wherein, the turn around parameters of steering wheel include steering-wheel torque signal, steering wheel direction signal and steering wheel rotating speed letter
Number.
S202：According to the turn around parameters of steering wheel and preset back positive model and adjust back positive signal.
That is, presetting back positive model can prestore in a control unit in advance, in information of the control unit according to wheel
Parameter be wheel alignment information, wheel return positive speed and motor power-assisted affecting parameters obtain it is actual return after positive signal, control
Unit processed is contrasted actual positive signal of returning with presetting back positive model, after being calculated by core algorithm, control unit root
Turn around parameters and actual time obtained of information parameter and then adjustment for presetting back positive model adjustment wheel according to the steering wheel of acquisition
Positive signal, and then, assist motor is controlled according to the positive signal of returning after adjustment, to ensure that servo steering system coordinates driving
Member, which provides, preferably returns positive force curve, reaches and preferably returns plus effect.
Specifically, detect the space position parameter of wheel steering section by first position detection components, pass through the second place
The positional information of detection components detection swing arm bulb, pass through angular velocity detection component detection wheel stub yaw velocity and logical
Cross parameter detecting component and obtain motor power-assisted affecting parameters, the temperature of assist motor is obtained by assist motor temperature sensor,
The data message that each foregoing detection components are detected is sent to control unit by CAN.Wherein, the number in control unit
Analyzed, integrated and early stage is handled etc. according to the data message that is sent to each foregoing detection components of analysis subelement, and general
Data message after processing is sent to core algorithm subelement, core algorithm subelement receive processing after data message it
Afterwards, wheel alignment information can be obtained, and combines car according to space position parameter, the positional information of swing arm bulb of wheel steering section
The temperature of wheel stub yaw velocity, motor power-assisted affecting parameters and assist motor obtains back positive signal, assist motor control
Unit calculates time positive current of assist motor according to positive signal is returned, and positive current is returned accordingly to control assist motor to give, and then
EPS executing agencies are controlled, to control wheel of vehicle to return just.
More specifically, with fast course changing control subelement collection vehicle wheel return just during steering-wheel torque signal, turn
To disk direction signal and steering wheel tach signal, and with provide preset back positive model subelement preset back positive model to score
Analysis, and the result after comparative analysis is fed back into core algorithm subelement, after being calculated by core algorithm subelement, control is single
Member control assist motor gives returns positive current accordingly.
S203：Rotary transform tensor is carried out to the assist motor of vehicle according to the positive signal of returning after adjustment.
Thus, by being set with the continuous adjusting parameter of fast course changing control subelement, carried out with the positive model of presetting back of setting
Comparative analysis, it is ensured that EPS cooperation drivers, which provide, preferably returns positive force curve, while core algorithm subelement is preset back with providing
Positive model subelement uninterruptedly carries out data transmission, logic judgment and self-regeneration, completes self study process.
Therefore, in an embodiment of the present invention, the position that control unit is installed according to the preceding revolver and front right wheel in vehicle
The positional information of the wheel steering section of sensor detection, the positional information of the swing arm bulb of second place detection components detection, angle
The wheel stub yaw velocity of velocity measuring component detection and the motor power-assisted affecting parameters of parameter detecting component detection are obtained
Actually detected time positive signal is taken, also, control unit is according to the steering-wheel torque of acquisition, steering wheel direction and steering wheel rotating speed
Deng the steering wheel parameter time positive signal actually detected with positive model adjustment is preset back, to correct actually detected Hui Zhengxin automatically
Number, so that positive current is returned in the output of more precise control assist motor accordingly so that bogie car samsara plus effect is more satisfactory.At this
During individual, the actually detected positive signal of returning of wagon control is contrasted with presetting back positive model, and is calculated in core algorithm
Afterwards, positive force curve is preferably returned by being obtained to the continuous adjustment of parameter setting, improves the steering reversal control device of vehicle
Intelligence degree.
The steering reversal control method of the vehicle proposed according to embodiments of the present invention, detects the space of wheel steering section first
Location parameter, the positional information of swing arm bulb, wheel stub yaw velocity and motor power-assisted affecting parameters, then according to wheel
Space position parameter and swing arm bulb positional information obtain wheel location information, and then according to the location information of wheel,
Motor power-assisted affecting parameters and wheel stub yaw velocity obtain back positive signal, then according to power-assisted of time positive signal to vehicle
Motor carries out rotary transform tensor, so as to carry out rotary transform tensor according to the information of wheel of vehicle, it is ensured that vehicle returning just after steering
Process is accurate, smooth, without remaining angle, it is ensured that return plus effect, lifts Driving, meets user's request.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, is for only for ease of the description present invention and simplifies description, rather than indicate or imply that the device or element of meaning must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected to by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, unless otherwise clear and definite restriction.For one of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features are directly contacted, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described
Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the not be the same as Example or the feature of example and non-be the same as Example or example described in this specification
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (10)
1. a kind of steering reversal control device of vehicle, it is characterised in that including：
First position detection components, the first position detection components are arranged at the knuckle of wheel, the first position inspection
Survey the space position parameter that component is used to detect wheel steering section；
Second place detection components, the second place detection components are arranged on swing arm bulb, the second place detection components
Positional information for detecting the swing arm bulb；
Angular velocity detection component, the angular velocity detection component is used to detect wheel stub yaw velocity；
Parameter detecting component, the parameter detecting component is used to detect motor power-assisted affecting parameters；
Control unit, described control unit respectively with the first position detection components, second place detection components, described
Angular velocity detection component is connected with the parameter detecting component, and described control unit is used for the space according to the wheel steering section
The positional information of location parameter and the swing arm bulb obtains the location information of the wheel, and is believed according to the positioning of the wheel
Breath, the motor power-assisted affecting parameters and the wheel stub yaw velocity obtain back positive signal, with according to the Hui Zhengxin
Number rotary transform tensor is carried out to the assist motor of the vehicle.
2. the steering reversal control device of vehicle according to claim 1, it is characterised in that the first position detection group
Part is two, and two first position detection components set the near front wheel and off-front wheel of the vehicle respectively.
3. the steering reversal control device of vehicle according to claim 1 or 2, it is characterised in that the first position inspection
Surveying component includes first position sensor, second place sensor and the 3rd position sensor, and the first position sensor is used
It is used to detect the wheel steering in location parameter, the second place sensor of the detection wheel steering section in a first direction
The location parameter of section in a second direction, the 3rd position sensor is used to detect position of the wheel steering section on third direction
Put parameter.
4. the steering reversal control device of vehicle according to claim 1, it is characterised in that the motor power-assisted influence ginseng
Count in the assistant mode, speed, traffic information, wind speed, driver information, front axle load and the engine condition that include the vehicle extremely
It is few one.
5. the steering reversal control device of vehicle according to claim 1, it is characterised in that described control unit is further
Turn around parameters for obtaining steering wheel, and turn around parameters according to the steering wheel and preset back positive model adjust described in time just
Signal, to carry out rotary transform tensor to the assist motor of the vehicle according to the positive signal of returning after adjustment, wherein, the steering wheel
Turn around parameters include steering-wheel torque, steering wheel direction and steering wheel rotating speed.
6. a kind of vehicle, it is characterised in that the steering reversal control including the vehicle according to any one of claim 1-5
Device.
7. a kind of steering reversal control method of vehicle, it is characterised in that including：
Detect space position parameter, the positional information of swing arm bulb, wheel stub yaw velocity and the motor of wheel steering section
Power-assisted affecting parameters；
Determining for the wheel is obtained according to the space position parameter of the wheel steering section and the positional information of the swing arm bulb
Position information；
Obtained back according to the location information of the wheel, the motor power-assisted affecting parameters and the wheel stub yaw velocity
Positive signal；
Rotary transform tensor is carried out to the assist motor of the vehicle according to described time positive signal.
8. the steering reversal control method of vehicle according to claim 7, it is characterised in that the detection wheel steering section
Space position parameter, including：
The space position parameter of the near front wheel and off-front wheel is detected respectively, wherein, the space position parameter includes the wheel and turned
To location parameter, the location parameter and the wheel steering of the wheel steering section in a second direction of section in a first direction
Save the location parameter on third direction.
9. the steering reversal control method of vehicle according to claim 7, it is characterised in that the motor power-assisted influence ginseng
Count in the assistant mode, speed, traffic information, wind speed, driver information, front axle load and the engine condition that include the vehicle extremely
It is few one.
10. the steering reversal control method of vehicle according to claim 7, it is characterised in that also include：
Obtain the turn around parameters of steering wheel, wherein, the turn around parameters of the steering wheel include steering-wheel torque, steering wheel direction and
Steering wheel rotating speed；
According to the turn around parameters of the steering wheel and preset back positive model adjust described in time positive signal；
Rotary transform tensor is carried out to the assist motor of the vehicle according to the positive signal of returning after adjustment.
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| CN201710278464.2A CN107161206B (en) | 2017-04-25 | 2017-04-25 | Vehicle and its steering reversal control device, method |
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| CN201710278464.2A CN107161206B (en) | 2017-04-25 | 2017-04-25 | Vehicle and its steering reversal control device, method |
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| CN107161206A true CN107161206A (en) | 2017-09-15 |
| CN107161206B CN107161206B (en) | 2019-05-17 |
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| CN201710278464.2A Active CN107161206B (en) | 2017-04-25 | 2017-04-25 | Vehicle and its steering reversal control device, method |
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| CN108520129A (en) * | 2018-03-29 | 2018-09-11 | 江铃控股有限公司 | The analysis method and device at positive remaining angle are returned in motor turning |
| CN111169536A (en) * | 2018-11-09 | 2020-05-19 | 宝沃汽车（中国）有限公司 | Wheel control method, device, storage medium, vehicle, and wheel control system |
| CN111923903A (en) * | 2019-05-13 | 2020-11-13 | 大众汽车有限公司 | End of drive of motor vehicle on shoulder |
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| CN106394659A (en) * | 2016-11-29 | 2017-02-15 | 安徽江淮汽车集团股份有限公司 | Electric power steering system and method |
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| EP1052161A2 (en) * | 1999-05-11 | 2000-11-15 | Koyo Seiko Co., Ltd. | Steering system for motor vehicles |
| JP2000318632A (en) * | 1999-05-11 | 2000-11-21 | Koyo Seiko Co Ltd | Steering device for vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108520129A (en) * | 2018-03-29 | 2018-09-11 | 江铃控股有限公司 | The analysis method and device at positive remaining angle are returned in motor turning |
| CN111169536A (en) * | 2018-11-09 | 2020-05-19 | 宝沃汽车（中国）有限公司 | Wheel control method, device, storage medium, vehicle, and wheel control system |
| CN111923903A (en) * | 2019-05-13 | 2020-11-13 | 大众汽车有限公司 | End of drive of motor vehicle on shoulder |
| CN111923903B (en) * | 2019-05-13 | 2023-10-13 | 大众汽车有限公司 | End of road shoulder travel of motor vehicle |
| US11851056B2 (en) | 2019-05-13 | 2023-12-26 | Volkswagen Aktiengesellschaft | Method for ending a drive of a transportation vehicle |
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|---|---|
| CN107161206B (en) | 2019-05-17 |
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