CN108068880B - Vehicle steering control method and device and vehicle - Google Patents
Vehicle steering control method and device and vehicle Download PDFInfo
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- CN108068880B CN108068880B CN201611002205.9A CN201611002205A CN108068880B CN 108068880 B CN108068880 B CN 108068880B CN 201611002205 A CN201611002205 A CN 201611002205A CN 108068880 B CN108068880 B CN 108068880B
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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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- 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
- B62D5/0481—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 monitoring the steering system, e.g. failures
- B62D5/0484—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 monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The disclosure relates to a vehicle steering control method, a vehicle steering control device and a vehicle, and relates to the field of vehicles, wherein the method comprises the following steps: when a power-assisted steering system of the vehicle fails, acquiring a torque value applied to a steering wheel, the current speed of the vehicle, an accelerator signal of the vehicle and a steering signal of the steering wheel; and determining target torque values of the left wheel and the right wheel according to the torque value, the current vehicle speed, the throttle signal and the steering signal so as to control the steering of the vehicle according to the target torque values. By the aid of the control method and the control device, when the power-assisted steering system of the vehicle fails, steering of the vehicle can be controlled according to the intention of a driver.
Description
Technical Field
The disclosure relates to the field of vehicles, in particular to a vehicle steering control method and device and a vehicle.
Background
In the current vehicles, the common steering methods generally include single hydraulic power steering or electric power steering. When the power steering system of the vehicle fails, the driver cannot directly control the steering of the vehicle through the steering wheel, and there is no suitable technique to enable the vehicle to steer as intended by the driver.
Disclosure of Invention
An object of the present disclosure is to provide a vehicle steering control method, apparatus, and vehicle capable of controlling steering of the vehicle at the will of a driver when a power steering system of the vehicle fails.
In order to achieve the above object, the present disclosure provides a vehicle steering control method including:
when a power-assisted steering system of the vehicle fails, acquiring a torque value applied to a steering wheel, the current speed of the vehicle, an accelerator signal of the vehicle and a steering signal of the steering wheel;
and determining target torque values of the left wheel and the right wheel according to the torque value, the current vehicle speed, the throttle signal and the steering signal so as to control the steering of the vehicle according to the target torque values.
Optionally, the determining target torque values of left and right wheels according to the torque value, the current vehicle speed, the throttle signal and the steering signal comprises:
determining the torque difference of the left wheel and the right wheel according to the torque value and the current vehicle speed;
and determining target torque values of the left wheel and the right wheel according to the torque difference, the current vehicle speed, the accelerator signal and the steering signal.
Optionally, the determining the torque difference of the left and right wheels according to the torque value and the current vehicle speed comprises:
determining the torque difference in dependence on the range in which the torque value is located and the range in which the current vehicle speed is located.
Optionally, said determining said torque difference in dependence on a range in which said torque value is located and a range in which said current vehicle speed is located comprises:
when the torque value applied to the steering wheel and the current vehicle speed are within respective preset thresholds, calculating the torque difference according to the torque value applied to the steering wheel and the current vehicle speed according to a linear positive correlation relationship;
when the torque value applied to the steering wheel and/or the current vehicle speed are not within respective predetermined thresholds, calculating the torque difference according to the torque value applied to the steering wheel and the current vehicle speed according to a non-linear positive correlation relationship, wherein the torque difference is kept within a predetermined torque difference threshold.
Optionally, the method further includes acquiring a current actual turning angle of the steering wheel;
said calculating said torque difference as a function of said torque value applied to the steering wheel and said current vehicle speed comprises:
calculating to obtain a target steering wheel angle by taking the torque value and the current vehicle speed as input signals of a PID (proportion integration differentiation) regulation algorithm;
and calculating the torque difference by taking the difference value between the target steering wheel rotation angle and the current steering wheel actual rotation angle as an input signal of the PID regulating algorithm.
Optionally, said determining said torque difference in dependence on a range in which said torque value is located and a range in which said current vehicle speed is located further comprises:
determining the torque difference based on a correspondence between a range in which the torque value is located and the current vehicle speed and the torque difference preset value.
Optionally, the determining target torque values for the left and right wheels according to the torque difference, the current vehicle speed, the throttle signal, and the steering signal comprises:
determining a basic torque value required by the current vehicle steering according to the current vehicle speed and the throttle signal;
determining the inner wheels and the outer wheels of the left wheels and the right wheels in the steering process according to the steering signals;
controlling the target torque value of the inner wheel to be the base torque value, and controlling the target torque value of the outer wheel to be the sum of the base torque value and the torque difference.
According to another aspect of the present disclosure, there is also provided a vehicle steering control apparatus, including:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a torque value applied to a steering wheel, the current speed of the vehicle, an accelerator signal of the vehicle and a steering signal of the steering wheel when a power-assisted steering system of the vehicle fails;
and the control module is used for determining target torque values of the left wheel and the right wheel according to the torque value, the current vehicle speed, the accelerator signal and the steering signal so as to control the steering of the vehicle according to the target torque values.
Optionally, the control module comprises:
the torque difference determining submodule is used for determining the torque difference of the left wheel and the right wheel according to the torque value and the current vehicle speed;
and the control submodule is used for determining target torque values of the left wheel and the right wheel according to the torque difference, the current vehicle speed, the accelerator signal and the steering signal so as to control the steering of the vehicle according to the target torque values.
Optionally, the torque difference determination submodule is further configured to:
determining the torque difference in dependence on the range in which the torque value is located and the range in which the current vehicle speed is located.
Optionally, the torque difference determination submodule is further configured to:
when the torque value applied to the steering wheel and the current vehicle speed are within respective preset thresholds, calculating the torque difference according to the torque value applied to the steering wheel and the current vehicle speed according to a linear positive correlation relationship;
when the torque value applied to the steering wheel and/or the current vehicle speed are not within respective predetermined thresholds, calculating the torque difference according to the torque value applied to the steering wheel and the current vehicle speed according to a non-linear positive correlation relationship, wherein the torque difference is kept within a predetermined torque difference threshold.
Optionally, the obtaining module is further configured to obtain an actual turning angle of a current steering wheel;
the torque difference determination submodule is further configured to:
calculating to obtain a target steering wheel angle by taking the torque value and the current vehicle speed as input signals of a PID (proportion integration differentiation) regulation algorithm;
and calculating the torque difference by taking the difference value between the target steering wheel rotation angle and the current steering wheel actual rotation angle as an input signal of the PID regulating algorithm.
Optionally, the torque difference determination submodule is further configured to:
determining the torque difference based on a correspondence between a range in which the torque value is located and the current vehicle speed and the torque difference preset value.
Optionally, the control sub-module determining the target torque values of the left and right wheels according to the torque difference, the current vehicle speed, the throttle signal, and the steering signal comprises:
determining a basic torque value required by the current vehicle steering according to the current vehicle speed and the throttle signal;
determining the inner wheels and the outer wheels of the left wheels and the right wheels in the steering process according to the steering signals;
controlling the target torque value of the inner wheel to be the base torque value and controlling the target torque value of the outer wheel to be the sum of the base torque value and the torque difference.
According to another aspect of the present disclosure, there is also provided a vehicle including:
the control device according to the above;
the motor controller is used for receiving the target torque value sent by the control device so as to control the motor of the vehicle to work according to the target torque value to realize the steering of the vehicle;
and the motor is used for working under the control of the motor controller.
According to the technical scheme, when the power-assisted steering system of the vehicle fails, the torque difference of the left wheel and the right wheel is determined according to the torque value applied to the steering wheel and the current vehicle speed, and then the target torque values of the left wheel and the right wheel are determined according to the torque difference, the current vehicle speed, the accelerator signal and the steering signal, so that when the power-assisted steering system of the vehicle fails, the motor of the vehicle is controlled according to the determined target torque value, and the steering of the vehicle is controlled according to the intention of a driver.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a flowchart of a vehicle steering control method according to an embodiment of the present disclosure.
Fig. 2 is a flowchart of a vehicle steering control method according to another embodiment of the present disclosure.
Fig. 3 is a schematic block diagram of a vehicle steering control apparatus according to an embodiment of the present disclosure.
FIG. 4 is a schematic block diagram of a control module of a vehicle steering control apparatus according to one embodiment of the present disclosure.
FIG. 5 is a schematic block diagram of a vehicle according to one embodiment of the present disclosure.
Description of the reference numerals
100 control device 200 motor
110 acquisition module 120 control module
121 torque difference determination submodule 122 control submodule
300 motor controller
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a flowchart of a vehicle steering control method according to an embodiment of the present disclosure. As shown in fig. 1, the method may include steps S101 and S102.
In step S101, when the power steering system of the vehicle fails, a torque value applied to a steering wheel, a current vehicle speed of the vehicle, an accelerator signal of the vehicle, and a steering signal of the steering wheel are acquired.
Wherein the condition for determining whether the power steering system of the vehicle is disabled may include any one of: a signal sent by the power steering system to a Controller Area Network (CAN) of the vehicle is abnormal; and the vehicle controller of the vehicle cannot receive the CAN signal sent by the power-assisted steering system continuously for a period of time T. And when either of the two conditions is met, judging that the power steering system of the vehicle is failed.
Wherein the torque value applied to the steering wheel can be obtained by means of a torque sensor. In the case where the power steering system fails, the driver cannot control the vehicle to steer with the steering wheel, or it is difficult to control the vehicle to steer with the steering wheel, and therefore, the control of the vehicle to steer in the present disclosure can embody the driver's intention by acquiring the value of the torque applied to the steering wheel.
In addition, the current vehicle speed of the vehicle may be obtained by: the current wheel speed of each wheel is collected through a wheel speed sensor on each wheel, and then the current vehicle speed of the vehicle is obtained based on the current wheel speed of each wheel. Since how to obtain the current vehicle speed of the vehicle based on the current wheel speed of each wheel is well known to those skilled in the art, it is not described herein in detail.
In addition, the steering signal of the steering wheel may be obtained by a sensor that can sense steering. The turn signal may include a clockwise rotation of the steering wheel, a counterclockwise rotation, and the like.
In step S102, target torque values of left and right wheels are determined according to the torque value, the current vehicle speed, the throttle signal and the steering signal, so as to control steering of the vehicle according to the target torque values.
The target torque values of the left and right wheels may be target torque values of the left and right front wheels of the vehicle, or target torque values of the left front and rear wheels and the right front and rear wheels of the vehicle, and there may be different methods for different driving types of vehicles. For example, in a vehicle driven only by front wheels, the target torque values of the left and right wheels are the target torque values of the left and right front wheels of the vehicle, but in a vehicle driven by four wheels, the target torque values of the left and right wheels may be the target torque values of the left and right front wheels or the target torque values of the left and right front and rear wheels and the right front and rear wheels of the vehicle. All the meanings of the left and right wheels in this disclosure apply to the above explanations.
Through the scheme, under the condition that the power-assisted steering system of the vehicle fails, the corresponding reaction of a driver to the operation of the steering wheel can be quickly made, the torque value applied to the steering wheel, the current vehicle speed of the vehicle, the throttle signal of the vehicle and the steering signal of the steering wheel are obtained, and the target torque values of the left wheel and the right wheel are determined according to the torque value, the current vehicle speed, the throttle signal and the steering signal, so that the steering of the vehicle is controlled according to the target torque values, the steering of the vehicle can be controlled according to the intention of the driver when the power-assisted steering system of the vehicle fails, and the danger caused by the failure of the power-assisted steering system is avoided to a certain extent.
In a possible embodiment, step S102 can also be divided into two detailed steps. As shown in fig. 2, step S102 may include step S201 and step S202.
In step S201, a torque difference between the left and right wheels is determined according to the torque value and the current vehicle speed.
In step S202, target torque values of the left and right wheels are determined according to the torque difference, the current vehicle speed, the accelerator signal, and the steering signal.
Step S202 may be implemented by determining a base torque value required by the current vehicle according to the current vehicle speed and the throttle signal; determining the inner wheels and the outer wheels of the left wheels and the right wheels in the steering process according to the steering signals; controlling the target torque value of the inner wheel to be the base torque value and controlling the target torque value of the outer wheel to be the sum of the base torque value and the torque difference.
For example, let the base torque value required for the current vehicle steering determined by the current vehicle speed and the throttle signal be T0 and let the torque difference be T1. Then, the inner wheels and the outer wheels of the left wheels and the right wheels during steering are determined according to the steering signals. A common method is to determine the current steering wheel by judging whether the steering signal is positive or negative. For example, in general, when the steering signal is positive, the current steering direction of the steering wheel is counterclockwise, i.e., the vehicle needs to be steered to the left, and the right wheel is the outer wheel, so the target torque value for controlling the outer wheel, i.e., the right wheel, is T0+ T1, which is the sum of the base torque value and the torque difference, and the target torque value for controlling the inner wheel, i.e., the left wheel, is T0. The same is true when the turn signal is negative.
Through the technical scheme, when the vehicle is controlled to steer, the torque difference of the left wheel and the right wheel is determined according to the torque value on the steering wheel and the current speed, and then the target torque values of the left wheel and the right wheel are determined according to the torque difference, the current speed, the accelerator signal and the steering signal, so that the steering of the vehicle is controlled according to the target torque values, and the steering of the vehicle can be accurately controlled according to the intention of a driver when a power-assisted steering system of the vehicle fails.
In one possible embodiment, the determination of the torque difference between the left and right wheels in step S201 from the torque value and the current vehicle speed may be implemented by:
determining the torque difference in dependence on the range in which the torque value is located and the range in which the current vehicle speed is located.
The implementation manner of determining the torque difference according to the range of the torque value and the range of the current vehicle speed can be various. The following is an illustration of only two embodiments.
For example, a first implementation may be as follows.
When the torque value applied to the steering wheel and the current vehicle speed are within respective preset thresholds, calculating the torque difference according to the torque value applied to the steering wheel and the current vehicle speed according to a linear positive correlation relationship;
when the torque value applied to the steering wheel and/or the current vehicle speed are not within respective predetermined thresholds, calculating the torque difference according to the torque value applied to the steering wheel and the current vehicle speed according to a non-linear positive correlation relationship, wherein the torque difference is kept within a predetermined torque difference threshold.
In this first embodiment, in order to calculate the torque difference based on the torque value applied to the steering wheel and the current vehicle speed, it is necessary to acquire the current actual steering angle. Then calculating the torque value and the current vehicle speed as input signals of a PID (proportional-integral-derivative) regulation algorithm to obtain a target steering wheel angle; and calculating the torque difference by taking the difference value between the target steering wheel rotation angle and the current steering wheel actual rotation angle as an input signal of the PID regulating algorithm.
Through the technical scheme, when the power-assisted steering system of the vehicle fails and the steering of the vehicle is controlled, the torque difference is determined based on the two indexes of the torque value applied to the steering wheel and the current vehicle speed, and when the values of the two indexes of the torque value applied to the steering wheel and the current vehicle speed are not very large, the torque difference is controlled to increase along with the increase of the respective values of the two indexes and decrease along with the decrease of the respective values according to the linear positive correlation relationship; however, when any one of the indexes exceeds its respective predetermined threshold, the torque difference cannot be too large for safety reasons, and needs to be kept within the predetermined torque difference threshold, so that the torque difference needs to be calculated according to a non-linear positive correlation relationship, and thus although the torque difference increases with the increase of the torque value applied to the steering wheel and the current vehicle speed, the increase range is within a controllable range, so that when the power steering system of the vehicle fails, the steering of the vehicle can be controlled according to the intention of the driver, and the steering of the vehicle can be guaranteed not to be too violent to cause danger to some extent.
For another example, a second implementation of determining the torque difference based on the range of the torque value and the range of the current vehicle speed may be as follows, that is:
determining the torque difference based on a correspondence between a range in which the torque value is located and the current vehicle speed and the torque difference preset value.
For example, when the torque value is greater than T and the current vehicle speed is less than V, the torque difference is controlled to be a first value;
when the torque value is larger than T and the current vehicle speed is larger than V, controlling the torque difference to be a second numerical value;
when the torque value is smaller than T and the current vehicle speed is smaller than V, controlling the torque difference to be a third numerical value;
when the torque value is smaller than T and the current vehicle speed is larger than V, controlling the torque difference to be a fourth numerical value;
the first numerical value, the second numerical value, the third numerical value and the fourth numerical value are preset torque difference values and are fixed constants, and can be set according to actual experience conditions of vehicle steering.
Through the technical scheme, when the power-assisted steering system of the vehicle fails, the torque difference can be determined based on the corresponding relation between the range of the torque value and the range of the current vehicle speed and the preset torque difference value in the process of controlling the steering of the vehicle, the steering of the vehicle can be controlled according to the intention of a driver, the vehicle can be well controlled not to be oversteered, and possible danger is avoided.
It should be understood by those skilled in the art that the correspondence between the above listed ranges of torque values and the ranges of current vehicle speeds and the torque difference preset values are only examples, and the disclosed embodiments do not limit the correspondence. That is, for example, the torque value applied to the steering wheel may be divided into three ranges, the current vehicle speed may be divided into 4 ranges, and the combination between these ranges may also be various. After the range combinations are determined, the preset torque difference values corresponding to the respective range combinations are determined to obtain the corresponding relationship therebetween.
According to another aspect of the present disclosure, there is also provided a vehicle steering control apparatus 100, as shown in fig. 3, the control apparatus 100 may include:
an obtaining module 110, configured to obtain a torque value applied to a steering wheel, a current speed of the vehicle, an accelerator signal of the vehicle, and a steering signal of the steering wheel when a power steering system of the vehicle fails;
a control module 120 configured to determine target torque values for left and right wheels according to the torque value, the current vehicle speed, the throttle signal, and the steering signal, so as to control steering of the vehicle according to the target torque values.
Through the scheme, under the condition that the power-assisted steering system of the vehicle fails, corresponding reaction to the operation of the steering wheel by a driver can be quickly made, the torque value applied to the steering wheel, the current vehicle speed of the vehicle, the throttle signal of the vehicle and the steering signal of the steering wheel are firstly acquired by the acquisition module 110, and then the control module 120 determines the target torque values of the left wheel and the right wheel according to the torque value, the current vehicle speed, the throttle signal and the steering signal so as to control the steering of the vehicle according to the target torque values, so that the steering of the vehicle can be controlled according to the intention of the driver when the power-assisted steering system of the vehicle fails, and the danger caused by the failure of the power-assisted steering system is avoided to a certain extent.
Fig. 4 is a schematic block diagram of a control module 120 of the vehicle steering control apparatus 100 according to an embodiment of the present disclosure, and the control module 120 may include:
a torque difference determination submodule 121, configured to determine a torque difference between the left wheel and the right wheel according to the torque value and the current vehicle speed;
and the control submodule 122 is used for determining target torque values of the left wheel and the right wheel according to the torque difference, the current vehicle speed, the accelerator signal and the steering signal.
In one possible embodiment, the torque difference determination submodule 121 may be further configured to:
determining the torque difference in dependence on the range in which the torque value is located and the range in which the current vehicle speed is located.
In one possible embodiment, the torque difference determination submodule 121 may be further configured to:
when the torque value applied to the steering wheel and the current vehicle speed are within respective preset thresholds, calculating the torque difference according to the torque value applied to the steering wheel and the current vehicle speed according to a linear positive correlation relationship;
when the torque value applied to the steering wheel and/or the current vehicle speed are not within respective predetermined thresholds, calculating the torque difference according to the torque value applied to the steering wheel and the current vehicle speed according to a non-linear positive correlation relationship, wherein the torque difference is kept within a predetermined torque difference threshold.
In a possible implementation manner, the obtaining module 110 may be further configured to obtain a current actual turning angle of the steering wheel;
the torque difference determination submodule 121 may be further configured to:
calculating the torque value and the current vehicle speed as input signals of a PID (proportional-integral-derivative) regulation algorithm to obtain a target steering wheel angle;
and calculating the torque difference by taking the difference value between the target steering wheel rotation angle and the current steering wheel actual rotation angle as an input signal of the PID regulating algorithm.
In one possible embodiment, the torque difference determination submodule 121 may be further configured to:
determining the torque difference based on a correspondence between a range in which the torque value is located and the current vehicle speed and the torque difference preset value.
In one possible implementation, the control sub-module 122 determining the target torque values for the left and right wheels based on the torque difference, the current vehicle speed, the throttle signal, and the steering signal includes:
determining a basic torque value required by the current vehicle steering according to the current vehicle speed and the throttle signal;
determining the inner wheels and the outer wheels of the left wheels and the right wheels in the steering process according to the steering signals;
controlling the target torque value of the inner wheel to be the base torque value and controlling the target torque value of the outer wheel to be the sum of the base torque value and the torque difference.
The specific implementation manner of the operation performed by each module in the control device according to the embodiment of the present disclosure has been described in detail in the control method according to the embodiment of the present disclosure, and is not described herein again.
According to another aspect of the present disclosure, there is also provided a vehicle, as shown in fig. 5, which may include:
the control device 100 according to the above;
a motor controller 300, configured to receive the target torque value sent by the control device 100, so as to control a motor 200 of the vehicle to operate according to the target torque value to achieve steering of the vehicle;
a motor 200 for operating under the control of the motor controller 300.
Through the above technical solution, when the power steering system of the vehicle fails, the control device 100 can determine the target torque values of the left and right wheels and transmit the target torque values to the motor controller 300, and the motor controller 300 controls the operation of the motor 200 according to the target torque values, so that when the power steering system of the vehicle fails, the steering of the vehicle can be controlled according to the intention of the driver, thereby avoiding danger.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (9)
1. A vehicle steering control method, characterized by comprising:
when a power-assisted steering system of the vehicle fails, acquiring a torque value applied to a steering wheel, the current speed of the vehicle, an accelerator signal of the vehicle and a steering signal of the steering wheel;
determining target torque values of left and right wheels according to the torque value, the current vehicle speed, the throttle signal and the steering signal so as to control steering of the vehicle according to the target torque values;
wherein determining target torque values for left and right wheels based on the torque value, the current vehicle speed, the throttle signal, and the steering signal comprises: determining the torque difference of the left wheel and the right wheel according to the torque value and the current vehicle speed; determining target torque values of the left wheel and the right wheel according to the torque difference, the current vehicle speed, the accelerator signal and the steering signal;
wherein said determining a torque difference for the left and right wheels based on the torque value and the current vehicle speed comprises: determining the torque difference in dependence upon the range within which the torque value lies and the range within which the current vehicle speed lies;
wherein said determining said torque difference as a function of a range in which said torque value is located and a range in which said current vehicle speed is located comprises: when the torque value applied to the steering wheel and the current vehicle speed are within respective preset thresholds, calculating the torque difference according to the torque value applied to the steering wheel and the current vehicle speed according to a linear positive correlation relationship; when the torque value applied to the steering wheel and/or the current vehicle speed are not within respective predetermined thresholds, calculating the torque difference according to the torque value applied to the steering wheel and the current vehicle speed according to a non-linear positive correlation relationship, wherein the torque difference is kept within a predetermined torque difference threshold.
2. The method of claim 1, further comprising obtaining a current actual steering wheel angle;
said calculating said torque difference as a function of said torque value applied to the steering wheel and said current vehicle speed comprises:
calculating to obtain a target steering wheel angle by taking the torque value and the current vehicle speed as input signals of a PID (proportion integration differentiation) regulation algorithm;
and calculating the torque difference by taking the difference value between the target steering wheel rotation angle and the current steering wheel actual rotation angle as an input signal of the PID regulating algorithm.
3. The method of claim 1, wherein said determining the torque difference as a function of the range in which the torque value is located and the range in which the current vehicle speed is located comprises:
determining the torque difference based on a correspondence between a range in which the torque value is located and the current vehicle speed and the torque difference preset value.
4. The method of any one of claims 1-3, wherein said determining target torque values for the left and right wheels as a function of the torque difference, the current vehicle speed, the throttle signal, and the steering signal comprises:
determining a basic torque value required by the current vehicle steering according to the current vehicle speed and the throttle signal;
determining the inner wheels and the outer wheels of the left wheels and the right wheels in the steering process according to the steering signals;
controlling the target torque value of the inner wheel to be the base torque value, and controlling the target torque value of the outer wheel to be the sum of the base torque value and the torque difference.
5. A vehicle steering control apparatus, characterized by comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a torque value applied to a steering wheel, the current speed of the vehicle, an accelerator signal of the vehicle and a steering signal of the steering wheel when a power-assisted steering system of the vehicle fails;
the control module is used for determining target torque values of left and right wheels according to the torque value, the current vehicle speed, the throttle signal and the steering signal so as to control the steering of the vehicle according to the target torque values;
wherein the control module comprises: the torque difference determining submodule is used for determining the torque difference of the left wheel and the right wheel according to the torque value and the current vehicle speed; the control submodule is used for determining target torque values of the left wheel and the right wheel according to the torque difference, the current vehicle speed, the throttle signal and the steering signal so as to control the steering of the vehicle according to the target torque values;
wherein the torque difference determination submodule is further configured to: determining the torque difference in dependence upon the range within which the torque value lies and the range within which the current vehicle speed lies;
wherein the torque difference determination submodule is further configured to: when the torque value applied to the steering wheel and the current vehicle speed are within respective preset thresholds, calculating the torque difference according to the torque value applied to the steering wheel and the current vehicle speed according to a linear positive correlation relationship; when the torque value applied to the steering wheel and/or the current vehicle speed are not within respective predetermined thresholds, calculating the torque difference according to the torque value applied to the steering wheel and the current vehicle speed according to a non-linear positive correlation relationship, wherein the torque difference is kept within a predetermined torque difference threshold.
6. The device of claim 5, wherein the obtaining module is further configured to obtain a current actual turning angle of the steering wheel;
the torque difference determination submodule is further configured to:
calculating to obtain a target steering wheel angle by taking the torque value and the current vehicle speed as input signals of a PID (proportion integration differentiation) regulation algorithm;
and calculating the torque difference by taking the difference value between the target steering wheel rotation angle and the current steering wheel actual rotation angle as an input signal of the PID regulating algorithm.
7. The apparatus of claim 5, wherein the torque difference determination submodule is further configured to:
determining the torque difference based on a correspondence between a range in which the torque value is located and the current vehicle speed and the torque difference preset value.
8. The apparatus of any one of claims 5-7, wherein the control sub-module determining the target torque values for the left and right wheels based on the torque difference, the current vehicle speed, the throttle signal, and the steering signal comprises:
determining a basic torque value required by the current vehicle steering according to the current vehicle speed and the throttle signal;
determining the inner wheels and the outer wheels of the left wheels and the right wheels in the steering process according to the steering signals;
controlling the target torque value of the inner wheel to be the base torque value and controlling the target torque value of the outer wheel to be the sum of the base torque value and the torque difference.
9. A vehicle, characterized in that the vehicle comprises:
the control device according to any one of claims 5 to 8;
the motor controller is used for receiving the target torque value sent by the control device so as to control the motor of the vehicle to work according to the target torque value to realize the steering of the vehicle;
and the motor is used for working under the control of the motor controller.
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| CN109703551A (en) * | 2019-01-25 | 2019-05-03 | 安徽酷哇机器人有限公司 | The rotating direction control method and automatic driving vehicle of automatic driving vehicle |
| CN111605536B (en) * | 2019-02-22 | 2022-01-25 | 纳恩博（常州）科技有限公司 | Vehicle turning attitude control method and device |
| CN113353079B (en) * | 2020-03-05 | 2024-09-03 | 纳恩博（常州）科技有限公司 | Method and device for controlling turning gesture of vehicle and vehicle |
| CN111547131B (en) * | 2020-04-24 | 2021-08-31 | 中国第一汽车股份有限公司 | Vehicle steering parameter determination method and device, vehicle and storage medium |
| CN113859218B (en) * | 2020-06-29 | 2023-11-14 | 比亚迪股份有限公司 | Steering control method, vehicle, storage medium and vehicle controller |
| CN115257912B (en) * | 2021-04-29 | 2023-12-12 | 比亚迪股份有限公司 | Steering control method for vehicle, electronic control unit, system and vehicle |
| CN114919650B (en) * | 2022-06-16 | 2024-05-28 | 上汽通用五菱汽车股份有限公司 | Steering assist control method, apparatus, device, and computer-readable storage medium |
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