CN108327782A - A kind of control method of wheel steering system, device and vehicle - Google Patents
A kind of control method of wheel steering system, device and vehicle Download PDFInfo
- Publication number
- CN108327782A CN108327782A CN201810053478.9A CN201810053478A CN108327782A CN 108327782 A CN108327782 A CN 108327782A CN 201810053478 A CN201810053478 A CN 201810053478A CN 108327782 A CN108327782 A CN 108327782A
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- China
- Prior art keywords
- vehicle
- steering system
- wheel
- wheel steering
- deflection angle
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Classifications
-
- 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
-
- 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
Abstract
The invention discloses a kind of control method of wheel steering system, device and vehicles, wherein the method includes：It detects whether to get ignition signal；If getting ignition signal, wheel steering system startup is controlled；In the case where the wheel steering system starts, if detecting, vehicle completes lower electric treatment, controls the wheel steering system and is stopped after predetermined delay time.The present invention is avoided in the case where vehicle high-speed or normal road travel, when engine signal can not be received, it is likely to occur the problem of turning to non helping hand, and it avoids due to engine failure or does not receive engine signal, or the heavy phenomenon of steering wheel being likely to occur after electricity under vehicle, and then ensure the driving safety of vehicle, improve the security performance of vehicle.
Description
Technical field
The present invention relates to full-vehicle control technical field more particularly to a kind of control method of wheel steering system, device and
Vehicle.
Background technology
With the increase of vehicle population, user is also higher and higher to the safety of vehicle and the requirement of comfort.Currently,
Whether electric vehicle is started to work according to ignition signal and simulated engine signal determining electric power steering.Due to electronic vapour
For vehicle there may be that can not receive simulated engine signal, this may result in the problem of turning to non helping hand, be unfavorable for vehicle
The safety of traveling, in addition, in the case where the steering wheel of vehicle does not return electricity under timing is stopped, due to vehicle parking rear
It is fixed according to position when parking to disk position, it is likely to occur when being again started up vehicle deviates normally travel track in this way
Phenomenon is unfavorable for the comfort of vehicle traveling.And if steering wheel not centre position for a long time place when, cause suspension and
Tire is in stress for a long time, influences service life.
Invention content
It is in the prior art to solve the present invention provides a kind of control method of wheel steering system, device and vehicle
The control method of wheel steering system is unfavorable for the problem of safety and comfort of vehicle traveling.
In order to solve the above-mentioned technical problem, an embodiment of the present invention provides a kind of control method of wheel steering system, packets
It includes：
It detects whether to get ignition signal；
If getting ignition signal, wheel steering system startup is controlled；
In the case where the wheel steering system starts, if detecting, vehicle completes lower electric treatment, controls the vehicle
Steering is stopped after predetermined delay time.
Preferably, if described get ignition signal, after controlling the step of wheel steering system starts, the method
Further include：
Obtain deflection angle of the steering wheel of vehicle relative to precalculated position；
If the deflection angle is more than pre-determined threshold, and detects that vehicle completes lower electric treatment, then the vehicle is controlled
Steering wheel is adjusted from the position of the deflection angle to the precalculated position.
Preferably, the step of deflection angle for obtaining steering wheel for vehicle relative to precalculated position, including：
Steering wheel for vehicle that the rotary angle transmitter in the wheel steering system is acquired is obtained relative to precalculated position
Deflection angle.
Preferably, the steering wheel of the control vehicle is adjusted from the position of the deflection angle to the precalculated position
The step of, including：
The steering wheel of the vehicle is controlled from the deflection angle by the steering assist motor in the wheel steering system
The position of degree is adjusted to the precalculated position.
Preferably, the power supply in the wheel steering system is often to be electrically connected with the accumulator in vehicle.
The embodiment of the present invention additionally provides a kind of control device of wheel steering system, including：
Detection module, for detecting whether getting ignition signal；
If first control module controls wheel steering system startup for getting ignition signal；
Second control module, in the case where the wheel steering system starts, vehicle to complete lower electricity if detecting
Processing, then control the wheel steering system and be stopped after predetermined delay time.
Preferably, described device further includes：
Acquisition module, deflection angle of the steering wheel relative to precalculated position for obtaining vehicle；
Third control module if being more than pre-determined threshold for the deflection angle, and detects that vehicle completes lower electric treatment,
The steering wheel for then controlling the vehicle is adjusted from the position of the deflection angle to the precalculated position.
Preferably, the acquisition module includes：
Acquiring unit, it is opposite for obtaining the steering wheel for vehicle that the rotary angle transmitter in the wheel steering system is acquired
Deflection angle in precalculated position.
Preferably, the third control module includes：
Control unit, the steering wheel for controlling the vehicle by the steering assist motor in the wheel steering system
It is adjusted from the position of the deflection angle to the precalculated position.
Preferably, the power supply in the wheel steering system is often to be electrically connected with the accumulator in vehicle.
The embodiment of the present invention additionally provides a kind of vehicle, and the vehicle includes processor, and memory is stored in the storage
On device and the computer program that can run on the processor, the processor are realized as above when executing the computer program
The step of control method of the wheel steering system.
The embodiment of the present invention additionally provides a kind of computer readable storage medium, is deposited on the computer readable storage medium
Computer program is contained, the computer program realizes the controlling party of wheel steering system as described above when being executed by processor
The step of method.
The advantageous effect of the embodiment of the present invention is：
In said program, by the way that ignition signal to be used as to the exclusive signal for judging whether wheel steering system carries power-assisted,
To avoid vehicle high-speed or normal road traveling in the case of, when engine signal can not be received, in fact it could happen that turn to
The problem of non helping hand；And by stopping after setting predetermined delay time of the wheel steering system under vehicle completion after electric treatment
Work, can avoid vehicle when running at high speed or travelling in ordinary road, due to engine failure or not receive engine
The heavy phenomenon of steering wheel being likely to occur after electricity under signal or vehicle ensures that driver can smoothly park vehicle to pre-
Positioning is set, and then ensures the driving safety of vehicle, improves the security performance of vehicle.
Description of the drawings
Fig. 1 shows one of flow charts of control method of wheel steering system of the embodiment of the present invention；
Fig. 2 indicates the schematic diagram of the electronic control unit of the embodiment of the present invention；
Fig. 3 indicates the two of the flow chart of the control method of the wheel steering system of the embodiment of the present invention；
Fig. 4 indicates the three of the flow chart of the control method of the wheel steering system of the embodiment of the present invention；
Fig. 5 indicates the block diagram of the control device of the wheel steering system of the embodiment of the present invention.
Specific implementation mode
Exemplary embodiment of the present invention is more fully described below with reference to accompanying drawings.Although showing the present invention in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the present invention without should be by embodiments set forth here
It is limited.It is to be able to be best understood from the present invention on the contrary, providing these embodiments, and can be by the scope of the present invention
Completely it is communicated to those skilled in the art.
As shown in Figure 1, the embodiment provides a kind of control methods of wheel steering system, including：
Step 101, it detects whether to get ignition signal.
Such as Fig. 2, the schematic diagram of electronic control unit 201 (Electronic Control Unit, abbreviation ECU) is shown.
Wherein, first terminal CN1 powers for being connect with power supply for ECU；Second terminal CN2 for obtain cab signal (including igniting
Signal, CAN_H signals and CAN_L signals)；Third terminal CN3 is for obtaining the signal that torque angular transducer is sent out；4th end
Sub- CN4 is for obtaining rotor signal；5th terminal CN5 is used to power to motor.
In the embodiment, the ignition signal in the cab signal accessed by Second terminal CN2 by ECU is used as judgement
Whether wheel steering system carries the exclusive signal of power-assisted.
Step 102, if getting ignition signal, wheel steering system startup is controlled.
In the embodiment, using ignition signal as judging whether wheel steering system carries the exclusive signal of power-assisted, with
It avoids in the case where vehicle high-speed or normal road travel, when engine signal or vehicle Ready signals can not be received,
It is likely to occur the problem of turning to non helping hand, and then ensures that vehicle vehicle can drive safely, improves the security performance of vehicle.
Step 103, in the case where the wheel steering system starts, if detecting, vehicle completes lower electric treatment, controls
The wheel steering system is made to be stopped after predetermined delay time.
In the embodiment, power supply in wheel steering system is often to be electrically connected with the accumulator in vehicle, with real cars on hand
After completing lower electric treatment, which can be stopped after predetermined delay time.By setting Vehicular turn
System is stopped after the predetermined delay time under vehicle completion after electric treatment, and vehicle can be avoided to run at high speed or travelling
In ordinary road, due to engine failure or the steering wheel being likely to occur after electricity under engine signal or vehicle is not received
Heavy phenomenon ensures that driver can smoothly park vehicle to precalculated position, and then ensures the driving safety of vehicle.
Preferably, which can be set as 30s.Certainly it can also be set as 5s, 10s, 15s, 20s etc., this hair
It is bright to be not limited.
In said program, by the way that ignition signal to be used as to the exclusive signal for judging whether wheel steering system carries power-assisted,
To avoid vehicle high-speed or normal road traveling in the case of, when engine signal can not be received, in fact it could happen that turn to
The problem of non helping hand；And by stopping after setting predetermined delay time of the wheel steering system under vehicle completion after electric treatment
Work, can avoid vehicle when running at high speed or travelling in ordinary road, due to engine failure or not receive engine
The heavy phenomenon of steering wheel being likely to occur after electricity under signal or vehicle ensures that driver can smoothly park vehicle to pre-
Positioning is set, and then ensures the driving safety of vehicle, improves the security performance of vehicle.
As shown in figure 3, the embodiment of the present invention additionally provides a kind of control method of wheel steering system, wherein in vehicle
In the case that steering starts, if detecting, vehicle completes lower electric treatment, controls wheel steering system in predetermined delay
Between after be stopped.
Further, this method specifically includes：
Step 301, deflection angle of the steering wheel relative to precalculated position of vehicle is obtained.
Specifically, obtaining steering wheel for vehicle that the rotary angle transmitter in the wheel steering system is acquired relative to predetermined
The deflection angle of position.
In the embodiment, precalculated position refers to 0 degree of position that steering wheel does not deflect, or relative to 0 degree of position
The position of the angle deflected within a predetermined range, such as：The angle deflected relative to 0 degree of position is within the scope of 5 degree.
Step 302, it if the deflection angle is more than pre-determined threshold, and detects that vehicle completes lower electric treatment, then controls institute
The steering wheel for stating vehicle is adjusted from the position of the deflection angle to the precalculated position.
If specifically, the deflection angle is more than pre-determined threshold, and detects that vehicle completes lower electric treatment, then pass through described
The steering wheel that steering assist motor in wheel steering system controls the vehicle is adjusted from the position of the deflection angle to institute
State precalculated position.
As a kind of realization method, if detecting, the steering wheel of vehicle deflects M along clockwise direction relative to precalculated position
Deflection angle is then labeled as+M degree by degree；If detecting, the steering wheel of vehicle deflects M in the counterclockwise direction relative to precalculated position
Deflection angle is then labeled as-M degree by degree.Wherein, it is corresponding when deflection refers to that driver is in steering position along clockwise direction
In the clockwise direction of driver；When deflection refers to that driver is in steering position in the counterclockwise direction, correspond to driver's
Counterclockwise.
In this way, in the case where it is+M degree to detect the steering wheel of vehicle relative to the deflection angle in precalculated position, if the M
Degree is more than pre-determined threshold, and detects that vehicle completes lower electric treatment, then passes through the power steering electricity in the wheel steering system
The steering wheel that machine controls the vehicle is rotated in the counterclockwise direction M degree, to be adjusted from the position of the deflection angle to described pre-
Positioning is set.
In the case where it is-M degree to detect the steering wheel of vehicle relative to the deflection angle in precalculated position, if the M degree is big
It in pre-determined threshold, and detects that vehicle completes lower electric treatment, then passes through the steering assist motor control in the wheel steering system
The steering wheel for making the vehicle is rotated in a clockwise direction M degree, to be adjusted from the position of the deflection angle to the pre-determined bit
It sets.
In said program, by stopping after setting predetermined delay time of the wheel steering system under vehicle completion after electric treatment
It only works, vehicle can be avoided when running at high speed or travelling in ordinary road, since engine failure or do not receive is started
The heavy phenomenon of steering wheel being likely to occur after electricity under machine signal or vehicle, ensure driver vehicle can smoothly be parked to
Precalculated position, and then ensure the safety of vehicle drive.
Further, it is more than pre-determined threshold relative to the deflection angle in precalculated position in the steering wheel for detecting vehicle, and
Detect that vehicle completes lower electric treatment, then the steering wheel for controlling the vehicle is adjusted from the position of the deflection angle to described pre-
Positioning is set, and it relative to the deflection angle in precalculated position is more than pre-determined threshold to avoid the steering wheel of vehicle, and the situation for the lower electricity that stops
Under, normally travel track may be deviateed when being again started up vehicle, and if steering wheel is not or not centre position and places for a long time,
The problem of suspension and tire may be caused since long-time is in stress, influence service life, and be conducive to be promoted and drive
Comfort.
As shown in figure 4, the embodiment of the present invention additionally provides a kind of control method of wheel steering system, including：
Step 401, it detects whether to get ignition signal.
In the embodiment, the ignition signal in the cab signal accessed by Second terminal CN2 by ECU is used as judgement
Whether wheel steering system carries the exclusive signal of power-assisted.
Step 402, if getting ignition signal, wheel steering system startup is controlled.
In the embodiment, using ignition signal as judging whether wheel steering system carries the exclusive signal of power-assisted, with
It avoids in the case where vehicle high-speed or normal road travel, when engine signal (or vehicle Ready signals) can not be received
When, in fact it could happen that the problem of turning to non helping hand, and then ensure that vehicle vehicle can drive safely, improve the security performance of vehicle.
Step 403, in the case where the wheel steering system starts, the steering wheel of vehicle is obtained relative to precalculated position
Deflection angle.
Specifically, obtaining steering wheel for vehicle that the rotary angle transmitter in the wheel steering system is acquired relative to predetermined
The deflection angle of position.
In the embodiment, precalculated position refers to 0 degree of position that steering wheel does not deflect, or relative to 0 degree of position
The position of the angle deflected within a predetermined range, such as：The angle deflected relative to 0 degree of position is within the scope of 5 degree.
Step 404, in the case where the wheel steering system starts, whether detection vehicle completes lower electric treatment.
Specifically, get ignition signal control vehicle power on and control wheel steering system start in the case of,
ECU persistently detects ignition signal in such a way that poll detects ignition signal.If detecting, control vehicle carries out lower electric treatment
Lower electric signal, or ignition signal is not detected in polling cycle, then it controls vehicle and carries out lower electric treatment.
Step 405, in electric treatment under whether vehicle is completed, the wheel steering system is controlled after predetermined delay time
It is stopped, and if the deflection angle is more than pre-determined threshold, the steering wheel of the vehicle is controlled from the deflection angle
Position adjust to the precalculated position.
In the embodiment, by stopping after setting predetermined delay time of the wheel steering system under vehicle completion after electric treatment
It only works, vehicle can be avoided when running at high speed or travelling in ordinary road, since engine failure or do not receive is started
The heavy phenomenon of steering wheel being likely to occur after electricity under machine signal or vehicle, and then ensure the driving safety of vehicle, improve vehicle
Security performance.
In addition, in the case where wheel steering system has the precondition being stopped after predetermined delay time, if described inclined
Gyration is more than pre-determined threshold, then the steering wheel for controlling the vehicle is adjusted from the position of the deflection angle to the pre-determined bit
It sets.
If specifically, the deflection angle is more than pre-determined threshold, and detects that vehicle completes lower electric treatment, then pass through described
The steering wheel that steering assist motor in wheel steering system controls the vehicle is adjusted from the position of the deflection angle to institute
State precalculated position.
As a kind of realization method, if detecting, the steering wheel of vehicle deflects M along clockwise direction relative to precalculated position
Deflection angle is then labeled as+M degree by degree；If detecting, the steering wheel of vehicle deflects M in the counterclockwise direction relative to precalculated position
Deflection angle is then labeled as-M degree by degree.Wherein, it is corresponding when deflection refers to that driver is in steering position along clockwise direction
In the clockwise direction of driver；When deflection refers to that driver is in steering position in the counterclockwise direction, correspond to driver's
Counterclockwise.
In this way, in the case where it is+M degree to detect the steering wheel of vehicle relative to the deflection angle in precalculated position, if the M
Degree is more than pre-determined threshold, and detects that vehicle completes lower electric treatment, then passes through the power steering electricity in the wheel steering system
The steering wheel that machine controls the vehicle is rotated in the counterclockwise direction M degree, to be adjusted from the position of the deflection angle to described pre-
Positioning is set.
In the case where it is-M degree to detect the steering wheel of vehicle relative to the deflection angle in precalculated position, if the M degree is big
It in pre-determined threshold, and detects that vehicle completes lower electric treatment, then passes through the steering assist motor control in the wheel steering system
The steering wheel for making the vehicle is rotated in a clockwise direction M degree, to be adjusted from the position of the deflection angle to the pre-determined bit
It sets.
In said program, first aspect judges whether wheel steering system carries power-assisted only by the way that ignition signal to be used as
One signal, when that can not receive engine signal, may go out to avoid in the case of vehicle high-speed or normal road traveling
The problem of turning now to non helping hand.
Second aspect after setting predetermined delay time of the wheel steering system under vehicle completion after electric treatment by stopping
Work, can avoid vehicle when running at high speed or travelling in ordinary road, due to engine failure or not receive engine
The heavy phenomenon of steering wheel being likely to occur after electricity under signal or vehicle ensures that driver can smoothly park vehicle to pre-
Positioning is set, and then ensures the driving safety of vehicle.
The third aspect is more than pre-determined threshold by detecting the steering wheel of vehicle relative to the deflection angle in precalculated position, and
Detect that vehicle completes lower electric treatment, then the steering wheel for controlling the vehicle is adjusted from the position of the deflection angle to described pre-
Positioning is set, and it relative to the deflection angle in precalculated position is more than pre-determined threshold to avoid the steering wheel of vehicle, and the situation for the lower electricity that stops
Under, normally travel track may be deviateed when being again started up vehicle, and if steering wheel is not or not centre position and places for a long time,
The problem of suspension and tire may be caused since long-time is in stress, influence service life, and be conducive to be promoted and drive
Comfort.
As shown in figure 5, the embodiment of the present invention additionally provides a kind of control device of wheel steering system, including：
Detection module 510, for detecting whether getting ignition signal.
If first control module 520 controls wheel steering system startup for getting ignition signal.
Second control module 530 is used in the case where the wheel steering system starts, if under detecting that vehicle is completed
Electric treatment then controls the wheel steering system and is stopped after predetermined delay time.
Wherein, described device further includes：
Acquisition module, deflection angle of the steering wheel relative to precalculated position for obtaining vehicle.
Third control module if being more than pre-determined threshold for the deflection angle, and detects that vehicle completes lower electric treatment,
The steering wheel for then controlling the vehicle is adjusted from the position of the deflection angle to the precalculated position.
Wherein, the acquisition module includes：
Acquiring unit, it is opposite for obtaining the steering wheel for vehicle that the rotary angle transmitter in the wheel steering system is acquired
Deflection angle in precalculated position.
Wherein, the third control module includes：
Control unit, the steering wheel for controlling the vehicle by the steering assist motor in the wheel steering system
It is adjusted from the position of the deflection angle to the precalculated position.
Wherein, the power supply in the wheel steering system is often to be electrically connected with the accumulator in vehicle.
The transfer of vehicle control system in said program judges vehicle in first aspect by the way that ignition signal to be used as
Whether steering carries the exclusive signal of power-assisted, to avoid in the case of vehicle high-speed or normal road traveling, works as nothing
When method receives engine signal, in fact it could happen that the problem of turning to non helping hand.
Second aspect after setting predetermined delay time of the wheel steering system under vehicle completion after electric treatment by stopping
Work, can avoid vehicle when running at high speed or travelling in ordinary road, due to engine failure or not receive engine
The heavy phenomenon of steering wheel being likely to occur after electricity under signal or vehicle ensures that driver can smoothly park vehicle to pre-
Positioning is set, and then ensures the driving safety of vehicle.
The third aspect is more than pre-determined threshold by detecting the steering wheel of vehicle relative to the deflection angle in precalculated position, and
Detect that vehicle completes lower electric treatment, then the steering wheel for controlling the vehicle is adjusted from the angle position of the deflection to described pre-
Positioning is set, and it relative to the deflection angle in precalculated position is more than pre-determined threshold to avoid the steering wheel of vehicle, and the situation for the lower electricity that stops
Under, normally travel track may be deviateed when being again started up vehicle, and if steering wheel is not or not centre position and places for a long time,
The problem of suspension and tire may be caused since long-time is in stress, influence service life, and be conducive to be promoted and drive
Comfort.
In order to reach above-mentioned technique effect, the embodiment of the present invention additionally provides a kind of vehicle, and the vehicle includes processor,
Memory, is stored in the computer program that can be run on the memory and on the processor, and the processor executes institute
The step of control method of wheel steering system as described above is realized when stating computer program.The embodiment of the present invention additionally provides
A kind of computer readable storage medium is stored with computer program, the computer journey on the computer readable storage medium
The step of control method of wheel steering system as described above is realized when sequence is executed by processor.
Above-described is the preferred embodiment of the present invention, it should be pointed out that the ordinary person of the art is come
It says, can also make several improvements and retouch under the premise of not departing from principle of the present invention, these improvements and modifications also exist
In protection scope of the present invention.
Claims (12)
1. a kind of control method of wheel steering system, which is characterized in that including：
It detects whether to get ignition signal；
If getting ignition signal, wheel steering system startup is controlled；
In the case where the wheel steering system starts, if detecting, vehicle completes lower electric treatment, controls the vehicle and turns
It is stopped after predetermined delay time to system.
2. the control method of wheel steering system according to claim 1, which is characterized in that if described get igniting letter
Number, then after controlling the step of wheel steering system starts, the method further includes：
Obtain deflection angle of the steering wheel of vehicle relative to precalculated position；
If the deflection angle is more than pre-determined threshold, and detects that vehicle completes lower electric treatment, then the direction of the vehicle is controlled
Disk is adjusted from the position of the deflection angle to the precalculated position.
3. the control method of wheel steering system according to claim 2, which is characterized in that the acquisition steering wheel for vehicle
The step of deflection angle relative to precalculated position, including：
Obtain the deflection of steering wheel for vehicle that the rotary angle transmitter in the wheel steering system is acquired relative to precalculated position
Angle.
4. the control method of wheel steering system according to claim 2, which is characterized in that the control vehicle
The step of steering wheel is adjusted from the position of the deflection angle to the precalculated position, including：
The steering wheel of the vehicle is controlled from the deflection angle by the steering assist motor in the wheel steering system
Position is adjusted to the precalculated position.
5. the control method of wheel steering system according to claim 1, which is characterized in that in the wheel steering system
Power supply and the accumulator in vehicle be often to be electrically connected.
6. a kind of control device of wheel steering system, which is characterized in that including：
Detection module, for detecting whether getting ignition signal；
If first control module controls wheel steering system startup for getting ignition signal；
Second control module is used in the case where the wheel steering system starts, if detecting, vehicle completes lower electric treatment,
The wheel steering system is then controlled to be stopped after predetermined delay time.
7. the control device of wheel steering system according to claim 6, which is characterized in that described device further includes：
Acquisition module, deflection angle of the steering wheel relative to precalculated position for obtaining vehicle；
Third control module if being more than pre-determined threshold for the deflection angle, and detects that vehicle completes lower electric treatment, then controls
The steering wheel for making the vehicle is adjusted from the position of the deflection angle to the precalculated position.
8. the control device of wheel steering system according to claim 7, which is characterized in that the acquisition module includes：
Acquiring unit, for obtaining steering wheel for vehicle that the rotary angle transmitter in the wheel steering system is acquired relative to pre-
Position the deflection angle set.
9. the control device of wheel steering system according to claim 7, which is characterized in that the third control module packet
It includes：
Control unit, for controlling the steering wheel of the vehicle by the steering assist motor in the wheel steering system from institute
The position for stating deflection angle is adjusted to the precalculated position.
10. the control device of wheel steering system according to claim 6, which is characterized in that the wheel steering system
In power supply and the accumulator in vehicle be often to be electrically connected.
11. a kind of vehicle, which is characterized in that the vehicle includes processor, memory, is stored on the memory and can be
The computer program run on the processor, the processor realize such as claim 1 to 5 when executing the computer program
Any one of described in wheel steering system control method the step of.
12. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program realizes the wheel steering system as described in any one of claim 1 to 5 when the computer program is executed by processor
Control method the step of.
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| CN201810053478.9A CN108327782B (en) | 2018-01-19 | 2018-01-19 | Control method and device of vehicle steering system and vehicle |
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| CN201810053478.9A CN108327782B (en) | 2018-01-19 | 2018-01-19 | Control method and device of vehicle steering system and vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114162212A (en) * | 2020-09-10 | 2022-03-11 | 长城汽车股份有限公司 | Automatic steering correcting method and automobile |
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| CN102795262A (en) * | 2012-08-23 | 2012-11-28 | 浙江吉利汽车研究院有限公司杭州分公司 | Automatic aligning system for wheel |
| CN105292245A (en) * | 2015-11-13 | 2016-02-03 | 天津同捷汽车设计有限公司 | Automatic automobile wheel righting system |
| CN106080452A (en) * | 2016-07-29 | 2016-11-09 | 北京车和家信息技术有限责任公司 | The method of supplying power to of electronic control unit, electronic control unit and vehicle |
| CN106585712A (en) * | 2017-01-27 | 2017-04-26 | 丽水市飞天人机械设计有限公司 | Electronic hydraulic power steering pump suitable for electric car |
| CN107444485A (en) * | 2017-07-28 | 2017-12-08 | 安徽江淮汽车集团股份有限公司 | Electricity keeps the system and method for power-assisted steering under a kind of electric vehicle |
| CN107472169A (en) * | 2017-07-31 | 2017-12-15 | 北京新能源汽车股份有限公司 | The control system and automobile of electric automobile |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114162212A (en) * | 2020-09-10 | 2022-03-11 | 长城汽车股份有限公司 | Automatic steering correcting method and automobile |
| CN114162212B (en) * | 2020-09-10 | 2023-06-09 | 长城汽车股份有限公司 | Automatic steering return method and automobile |
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