CN109017979A - Rotating direction control method and system - Google Patents
Rotating direction control method and system Download PDFInfo
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- CN109017979A CN109017979A CN201810901863.4A CN201810901863A CN109017979A CN 109017979 A CN109017979 A CN 109017979A CN 201810901863 A CN201810901863 A CN 201810901863A CN 109017979 A CN109017979 A CN 109017979A
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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
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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
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
Abstract
The present invention provides a kind of rotating direction control methods, it include: the first course changing control information and the first driving pattern information that EPS module receives that BVCU is sent by CAN bus, and the first course changing control information is handled, obtain target shift torque, target diversion angle and target diversion speed, and according to target shift torque, target diversion angle and target diversion speed, operated；EPS module operating when, turning machine by EPS module operate when mechanical energy, pressure energy is converted into, to drive wheel to operate；Steering wheel control device is detected whether there are hand-power square, when there are hand-power square, sends hand moment information to EPS module；EPS module obtains vehicle current steering angle and the current steering moment of vehicle；Velocity sensor obtains the current turning velocity of vehicle；EPS module is judged.Steering angle and steering moment can be fed back, and course changing control precision is substantially increased, and be convenient for vehicle operating modes switching.
Description
Technical field
The present invention relates to control technology field more particularly to a kind of rotating direction control method and systems.
Background technique
With the rapid development of computer technology and artificial intelligence technology, intelligent robot technology has become both at home and abroad
The hot spot of numerous scholar's researchs.Wherein, service humanoid robot opens the frontier of robot application, services going out for humanoid robot
Now mainly has the tendency that following three aspects reason: in a first aspect, domestic labor cost has rising；Second aspect, population are aged
Change and improving for the social welfare system provides extensive market application prospect for service humanoid robot；The third aspect, the mankind think
Get rid of duplicate labour.
In order to more easily distinguish and define wire control technology, the classification of line traffic control is just at a major issue.Global Auto at present
Two generally acknowledged classifying systems of industry are by United States highways safety management bureau (abbreviation NHTSA) and international automatic machine work respectively
What teachers learn (abbreviation SAE) proposed.Wherein, the wire control technology of L4 and L5 rank can be known as complete wire control technology, arrive
This rank, automobile can carry out all driver behaviors under the case where intervening completely without driver, drive
Member such as works or rests in terms of attention can also be placed on to others.But the difference of the two is, the line traffic control of L4 rank
Suitable for typically referring in city or on highway under the scene of part.And L5 rank then requires line traffic control automobile any
It can accomplish to drive vehicle driving completely under scene.
Intelligentized automatic driving vehicle necessarily involves automatic Pilot technology, although automatic Pilot technology develops in recent years
Rapidly, but passenger car automatic Pilot is away from real commercialization also a certain distance, and for wheel steering in automatic driving vehicle
The control at angle, existing the relevant technologies are based on vehicle's current condition, the location point of prediction vehicle after a certain time.It is pre- according to institute
The ordinate of the location point of survey positions a source location, and further obtains predicted location point and source location and exist
Displacement difference in transverse direction.Next, the lateral displacement obtained accordingly is poor and the transitive relation of lateral displacement and wheel turning angle is anti-
It pushes away to obtain the steering angle of wheel that should apply in next step.
But in vehicle travel process, wheel turning angle constantly changes, and predicts down according to constant wheel turning angle
The location point of one period rear vehicle, there are large errors.When the location point based on this prediction carries out target position point location
When, the source location positioned is the position being unreachable in practice, when carrying out wheel turning angle control accordingly, wheel steering
The control precision at angle is difficult to ensure, and the above method carries out wheel with the displacement difference between predicted position point and source location
Steering angle control does not consider influence of the wheel turning angle to Vehicular turn characteristic.Moreover, not being related to vehicle operation mould
The problem of how formula switches.
Summary of the invention
The purpose of the embodiment of the present invention is that a kind of rotating direction control method and system are provided, to solve wheel in the prior art
Course changing control precision is not high and the problem of how switching without reference to vehicle operating modes.
To solve the above problems, in a first aspect, the present invention provides a kind of rotating direction control method, the rotating direction control method
Include:
It is total by controller local area network CAN that electric boosting steering system EPS module receives bottom vehicle control device BVCU
The the first course changing control information and the first driving pattern information that line is sent, and the first course changing control information is handled,
Target shift torque, target diversion angle and target diversion speed are obtained, and according to the target shift torque, target steering angle
Degree and target diversion speed, are operated；
In EPS module operating, mechanical energy when turning machine operates the EPS module is converted into pressure energy, with
Drive wheel operating；
Steering wheel control device is detected whether there are hand-power square, when there are hand-power square, sends hand-power to the EPS module
Square information；Wherein, the hand-power square information includes the second course changing control information；
EPS module obtains vehicle current steering angle and the current steering moment of vehicle；
Velocity sensor obtains the current turning velocity of vehicle；
The current steering angle and target diversion angle are compared by the EPS module, when the current steering angle
When the difference of degree and the target diversion angle is greater than preset first threshold, the first update information is generated, and by described first
Update information is sent to the BVCU；And be compared the current steering moment and target shift torque, work as when described
When front steering torque and the difference of target shift torque are greater than preset second threshold, the second update information is generated, and will be described
Second update information is sent to the BVCU；And be compared the current turning velocity and target diversion speed, work as institute
When stating the difference of current turning velocity and the target diversion speed greater than preset third threshold value, third update information is generated,
And the third update information is sent to the BVCU；Wherein, first update information includes current steering angle, described
Second update information includes current steering moment, and the third update information includes current turning velocity.
Preferably, described when vehicle is in the first driving mode, EPS module receives what BVCU was sent by CAN bus
First course changing control information, and the first course changing control information is handled, obtain target shift torque, target steering angle
Degree and target diversion speed, and according to the target shift torque, target diversion angle and target diversion speed, it is operated,
It specifically includes:
EPS controller receives the first course changing control information of the vehicle that the BVCU is sent, and turns to and control to described first
Information processed and preset turn around parameters list are handled, and target shift torque, target diversion angle and target diversion speed are obtained
Degree；
Motor is operated according to the target shift torque, target diversion angle and target diversion speed.
Preferably, the EPS module obtains vehicle current steering angle and the current steering moment of vehicle specifically includes:
Angular transducer measures vehicle current steering angle and current turning velocity, and the current turning velocity is sent
To the EPS controller；
Torque sensor measures the current steering moment of vehicle, and the current steering moment is sent to the EPS and is controlled
Device.
Preferably, the rotating direction control method further include:
The current steering angle and target diversion angle are compared by the EPS controller, work as front steering when described
When the difference of angle and the target diversion angle is greater than preset first threshold, the first update information is generated, and by described the
One update information is sent to the BVCU；And be compared the current steering moment and target shift torque, when described
When the difference of current steering moment and target shift torque is greater than preset second threshold, the second update information is generated, and by institute
It states the second update information and is sent to the BVCU；And be compared the current turning velocity and target diversion speed, when
When the difference of the current turning velocity and the target diversion speed is greater than preset third threshold value, third amendment letter is generated
Breath, and the third update information is sent to the BVCU；Wherein, first update information includes current steering angle,
Second update information includes current steering moment, and the third update information includes current turning velocity.
Preferably, the method also includes:
The EPS module obtains fault message code, and described in the fault message code is sent to by CAN bus
BVCU。
Second aspect, the present invention provides a kind of steering control system, the steering control system includes:
Electric boosting steering system EPS module passes through controller local area network for receiving bottom vehicle control device BVCU
The the first course changing control information and the first driving pattern information that CAN bus is sent, and the first course changing control information is carried out
Processing, obtains target shift torque, target diversion angle and target diversion speed, and according to the target shift torque, target
Steering angle and target diversion speed, are operated；
Turning machine is connected with the EPS module, in EPS module operating, the EPS module to be operated
When mechanical energy, pressure energy is converted into, to drive wheel to operate；
Steering wheel control device is connected with the EPS module, for detecting whether there are hand-power square, when there are hand-powers
When square, hand moment information is sent to the EPS module；Wherein, the hand-power square information includes the second course changing control information；
The EPS module is also used to, and obtains vehicle current steering angle and the current steering moment of vehicle；
Velocity sensor is connected with the EPS controller, works as obtaining the current turning velocity of vehicle, and by described in
Front steering speed is sent to the EPS module；
The EPS module is also used to, and the current steering angle and target diversion angle are compared, when described current
When the difference of steering angle and the target diversion angle is greater than preset first threshold, the first update information is generated, and by institute
It states the first update information and is sent to the BVCU；And be compared the current steering moment and target shift torque, when
When the difference of the current steering moment and target shift torque is greater than preset second threshold, the second update information is generated, and
Second update information is sent to the BVCU；And the current turning velocity and target diversion speed are compared
Compared with when the difference of the current turning velocity and the target diversion speed is greater than preset third threshold value, generation third is repaired
Positive information, and the third update information is sent to the BVCU；Wherein, first update information includes current steering angle
Degree, second update information includes current steering moment, and the third update information includes current turning velocity.
Preferably, the EPS module includes:
EPS controller is connected with the BVCU, for receiving the first course changing control letter for the vehicle that the BVCU is sent
Breath, and the first course changing control information and preset turn around parameters list are handled, obtain target shift torque, target
Steering angle and target diversion speed；
Motor is connected with the EPS controller, for according to the target shift torque, target diversion angle and mesh
Turning velocity is marked, is operated.
Preferably, the EPS module includes:
Angular transducer is connected with the EPS controller, for measuring vehicle current steering angle and when front steering speed
Degree, and the current turning velocity is sent to the EPS controller；
Torque sensor is connected with the EPS sensor, works as measuring the current steering moment of vehicle, and by described in
Front steering torque is sent to the EPS controller.
Preferably, the EPS controller is also used to, and the current steering angle and target diversion angle are compared,
When the difference of the current steering angle and the target diversion angle is greater than preset first threshold, the first amendment letter is generated
Breath, and first update information is sent to the BVCU；And by the current steering moment and target shift torque into
Row compares, and when the difference of the current steering moment and target shift torque is greater than preset second threshold, generates second and repairs
Positive information, and second update information is sent to the BVCU；And it is the current turning velocity and target diversion is fast
Degree is compared, raw when the difference of the current turning velocity and the target diversion speed is greater than preset third threshold value
The BVCU is sent at third update information, and by the third update information；Wherein, first update information includes working as
Front steering angle, second update information include current steering moment, and the third update information includes current turning velocity.
Preferably, the EPS module is also used to, and obtains fault message code, and the fault message code is passed through CAN bus
It is sent to the BVCU.
By applying rotating direction control method provided in an embodiment of the present invention and system, steering angle and steering moment can be into
Row feedback, substantially increases course changing control precision, and is convenient for vehicle operating modes switching.
Detailed description of the invention
Fig. 1 is steering control system structural schematic diagram provided in an embodiment of the present invention；
Fig. 2 is rotating direction control method flow diagram provided in an embodiment of the present invention.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that for just
Part relevant to related invention is illustrated only in description, attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
For more convenient understanding, the present embodiments relate to the rotating direction control methods provided, combine Fig. 1 to course changing control first
Steering control system employed in method is introduced.Fig. 1 is that steering control system structure provided in an embodiment of the present invention is shown
It is intended to.As shown in Figure 1, steering control system includes:
Electric boosting steering system (Electric Power Steering, EPS) module 1, turning machine 2, steering wheel manipulation
Device 3 and velocity sensor 4.
Specifically, velocity sensor 4 is installed at vehicle chassis wheel, for monitoring the speed of wheel, believed by speed
Number output interface output pulse signal, thus by pulse signal transmission to EPS module 1；EPS module 1 is Vehicular turn operation
Execution unit is driven, for exporting steering moment, steering angle and turning ring number according to steering controling signal；Turning machine 2 is EPS
Transmission parts between module 1 and wheel, for transmitting rotating torque and turnning circle, to realize the steering of wheel.
Wherein, EPS module 1 includes EPS controller 11, motor 12, angular transducer 13 and torque sensor 14.EPS control
Device 11 processed is the control unit in EPS module 1, for obtaining steering controling signal, and according to steering controling signal driving motor；
Motor 12 is the execution unit in EPS module 1, for exporting steering moment；Angular transducer 13 and torque sensor 14 are EPS
Signal feedback element in module 1 so that EPS module 1 also has self-diagnostic function, and can automatically adjust, specifically,
Angular transducer 13 is used to monitor the actual steering angle of wheel, and torque sensor 14 is used to monitor the output torque of motor 12.
Wherein, steering wheel control device 3 can carry out detecting whether there are user hand torque, when there are user hand torques
When, carry out vehicle operating modes switching.
Steering control system provided in an embodiment of the present invention, the steering mechanism combined using EPS module with turning machine are used
Turning machine replaces chain drive in the prior art, improves transmission accuracy and turns to precision, in addition, passing through angular transducer reality
When monitor wheel current steering angle, and at any time adjust motor turning ring number, to further ensure wheel turning angle
Control precision prevent from leading to power mistake since torque is excessive and by the size of torque sensor real-time monitoring steering torque
Greatly, it avoids increasing the service life of motor due to the excessive damage motor of electric current in circuit.And have and EPS module phase
The steering wheel control device of connection, for detecting whether when there are hand-power square, carrying out vehicle there are user hand torque and running mould
Formula switching.
Fig. 2 is rotating direction control method flow diagram provided in an embodiment of the present invention.As shown in Fig. 2, the method is answered
It is automatic driving vehicle with scene.It the described method comprises the following steps:
Step 110, it is logical to receive bottom vehicle control device (Bottom Vehicle Control Unit, BVCU) for EPS module
Cross the first course changing control information and first of controller local area network's (Controller Area Network, CAN) bus transmission
Driving pattern information, and the first course changing control information is handled, obtain target shift torque, target diversion angle and target
Turning velocity, and according to target shift torque, target diversion angle and target diversion speed, it is operated.
Wherein, the first course changing control information that BVCU is sent is calculated by control unit for vehicle.Vehicle control list
Member is automatic driving vehicle control unit (Automated Control Unit, AVCU), and AVCU goes out according to what server was sent
The environment sensing data of vehicle operating modes selection instruction and sensor acquisition that row mission bit stream, BVCU are sent, carry out road
Diameter planning, obtains the first course changing control information.
EPS module 1 can determine the target of wheel by extracting vehicle speed information and steering angle in course changing control information
Steering angle；According to vehicle speed information, the steering moment of motor 12 is determined；According to target diversion angle and steering moment, electricity is determined
The turnning circle of machine 12.
How the first course changing control information is obtained to AVCU below, is specifically described.
Vehicle has control panel, includes that the first control button, the second control button and third control are pressed on control panel
Button generates vehicle mode selection instruction when at least one of the first control button and the second control button are pressed.
Wherein, the first control button is crosswise joint switch, and the second control button is longitudinally controlled switch.By by voltage-controlled
Automatic Pilot switch on panel processed by pressing crosswise joint switch and/or longitudinally controlled is opened into automatic driving mode
It closes, can choose in which kind of automatic driving mode.For example, indicating to turn to automatic Pilot when only pressing crosswise joint switch
Mode, the i.e. steering of vehicle are automatic Pilot control, and the speed of vehicle is manual control.When only pressing longitudinally controlled switch,
Indicate speed automatic driving mode, i.e. steering people's manual control of vehicle, the speed of vehicle is automatic Pilot control.It is pressed when simultaneously
When both pressures, indicates fully automated driving mode, that is, turn to and speed is all automatic Pilot control.
BVCU receives the vehicle mode selection instruction that control panel 110 is sent.
AVCU is connected by CAN bus with bottom vehicle control device 120, for receiving the vehicle mode choosing of BVCU transmission
Select instruction；It is connected by wireless interface with server, for receiving the trip mission bit stream of server transmission；It passes through net
Network interface is connected with the first sensing module, for receiving the environment sensing data of the first sensing module transmission；Then to vehicle
Mode selection command, trip mission bit stream and environment sensing data are handled, and generate result of decision information, and to the result of decision
Information is handled, and torque control message and course changing control information is generated, finally to torque control message and course changing control information
(processing at this time, as long as stylistic conversion) is handled, the first course changing control information is obtained.
Wherein, trip mission bit stream may include departure place, destination, travel time, trip number etc..
AVCU and server can pass through forth generation mechanics of communication (the 4th Generation communication
System, 4G) technology, the 5th generation mechanics of communication (the 5th Generation communication system, 5G) technology
Or Wireless Fidelity (Wireless Fidelity, WI-FI) technology etc. is communicated.
Wherein, the first sensing module includes integrated navigation system, laser radar, ultrasonic radar and millimetre-wave radar.
Integrated navigation system includes Differential Global Positioning System (Differential Global Positioning
System, DGPS) chip and Inertial Measurement Unit (Inertial measurement unit, IMU).The DGPS chip is external
Main global positioning system (Principal Global Positioning System, PGPS) antenna and from global positioning system
(Subordinate Global Positioning System, SGPS) antenna, to get the location information and of vehicle
One velocity information.Inertial Measurement Unit is used to measure the angular speed and acceleration of mobile object.Therefore, first environment perception data
The angular speed and acceleration of mobile object in velocity information, location information and ambient enviroment including vehicle.
Example and it is non-limiting, the quantity of laser radar can be three, two 16 line laser radars, a 32 line laser thunders
It reaches, first 16 line laser radar is properly termed as first laser radar, and 32 line laser radars are properly termed as second laser radar, separately
One 16 line laser radar is properly termed as third laser radar.Two 16 line laser radars can be set in the left and right of vehicle two
Side, 32 line laser radars can be set in roof.Two 16 line laser radars and a 32 line laser radars, each has its right
The environment sensing data answered, are referred to as second environment perception data.It is worked together, is reduced by three laser radars as a result,
The blind area of laser scanning.
At this point, second environment perception data is the general designation for the perception data that three laser radars obtain.
Ultrasonic radar can measure the range information of barrier, which is properly termed as third environment sense
Primary data.
Wherein, example and it is non-limiting, the quantity of millimetre-wave radar can be two, the first millimetre-wave radar and second millimeter
Wave radar.First millimetre-wave radar can be set in the front of vehicle, and second laser radar can be set at the rear of vehicle.This
When, the 4th environment perception data is the general designation for the data that two millimetre-wave radars obtain.
Environment sensing data are the general designations of first to fourth environment sensing data.
By the common monitoring of the first sensing module, the precision of the environmental information of acquisition is improved, thus convenient for control pipe
Reason system carries out high-precision control to vehicle.
Specifically, step 110 specifically includes:
Step 111, EPS controller 11 receives the first course changing control information of the vehicle that BVCU is sent, and turns to first
Control information and preset turn around parameters list are handled, and target shift torque, target diversion angle and target diversion are obtained
Speed.
Step 112, motor 12 is operated according to target shift torque, target diversion angle and target diversion speed.
During one specific, EPS controller 11 is according to identified target diversion angle and corresponding steering force
Square, 12 operation of turning ring number driving motor control motor 12 according to steering moment and export corresponding power, and pass through transmission device
That is retarder band motor car wheel is rotated according to target diversion direction, and is rotated relatively according to the output shaft of turnning circle driving motor 12
The circle number answered, so that wheel executes steering operation according to target diversion angle.
Step 120, EPS module 1 operate when, turning machine 2 by EPS module 1 operate when mechanical energy, be converted into pressure
Can, to drive wheel to operate.
Step 130, steering wheel control device 3 is detected whether there are hand-power square, when there are hand-power square, is sent out to EPS module 1
Send hand moment information；Wherein, hand-power square information includes the second course changing control information.
After EPS module 1 receives the second course changing control information as a result, vehicle is switched to from automatic driving mode and is driven manually
Sail mode.
Step 140, EPS module 1 obtains vehicle current steering angle and the current steering moment of vehicle.
Specifically, step 140 the following steps are included:
Step 141,13 angular transducer 1314 of angular transducer measurement vehicle current steering angle and current turning velocity,
And current turning velocity is sent to EPS controller 11.
Step 142, torque sensor 14 measures the current steering moment of vehicle, and current steering moment is sent to EPS control
Device 11 processed.
Step 150, velocity sensor 4 obtains the current turning velocity of vehicle.
Specifically, for the control precision for guaranteeing steering angle of wheel, during wheel executes steering operation, EPS control
Device 11 processed needs to control the actual steering angle of 13 angular transducer of angular transducer, 1314 real-time monitoring wheel, and utilizes angle
13 angular transducer 1314 of sensor feeds back currently practical steering angle.
Step 160, current steering angle and target diversion angle are compared by EPS module 1, when current steering angle and
When the difference of target diversion angle is greater than preset first threshold, the first update information is generated, and the first update information is sent
To BVCU；And be compared current steering moment and target shift torque, when current steering moment and target shift torque
Difference when being greater than preset second threshold, generate the second update information, and the second update information be sent to BVCU；And
Current turning velocity and target diversion speed are compared, when the difference of current turning velocity and target diversion speed is greater than in advance
If third threshold value when, generate third update information, and third update information be sent to BVCU；Wherein, the first update information
Including current steering angle, the second update information includes current steering moment, and third update information includes current turning velocity.It
Afterwards, BVCU can be sent to AVCU for first to third update information, and AVCU handles the update information, to correct first
Course changing control information.Hereby it is achieved that the amendment to the first course changing control information, forms close loop control circuit, improves steering
The precision of control.
Specifically, the currently practical steering angle that EPS controller 11 feeds back 13 angular transducer 1314 of angular transducer
It is compared with target diversion angle, judges whether the differential seat angle between currently practical steering angle and target diversion angle is greater than
Preset first threshold value, the preset first threshold value can set differential seat angle preset threshold of corresponding size according to required precision is turned to,
The preset first threshold value the big, turns to that precision is lower, opposite, preset threshold is smaller, and it is higher to turn to precision.
If the difference between currently practical steering angle and target diversion angle is greater than preset threshold, illustrate wheel also not
Reach target diversion angle, then feeds back the current actual steering angle to BVCU, for BVCU by CAN bus, sending to AVCU should
Currently practical steering angle, so that AVCU corrects the first course changing control information according to currently practical steering angle.
Similarly, same as described above to the discussion of second threshold and third threshold value, details are not described herein again.
Further, method further include:
Step 170, EPS module 1 handles the second direction information, and according to processing result, is operated.
Specifically, can be carried out according to the pressing dynamics of hand moment information when EPS module 1 receives hand moment information
Artificial course changing control.To realize the switching of CAN bus control to manual control.And switching mode is simple, convenient for operation.
Further, method further include:
Step 180, EPS module 1 obtains fault message code, and fault message code is sent to BVCU by CAN bus.
By applying rotating direction control method provided in an embodiment of the present invention, combined using EPS module 1 with turning machine 2
Steering mechanism replaces chain drive in the prior art with turning machine 2, improves transmission accuracy and turns to precision, in addition, passing through
The current steering angle of 13 angular transducer of angular transducer, 1314 real-time monitoring wheel, and the turning ring of motor 12 is adjusted at any time
Number to further ensure the control precision of wheel turning angle, and passes through 14 real-time monitoring steering torque of torque sensor
Size prevents from causing power excessive since torque is excessive, avoids increasing electricity due to the excessive damage motor 12 of the electric current in circuit
The service life of machine 12.And there is the steering wheel control device 3 being connected with EPS module 1, for detecting whether there are users
Hand-power square carries out vehicle operating modes switching when there are hand-power square.
In the following, the steering control system is specifically described.
EPS module 1, the first course changing control information sent by CAN bus for receiving BVCU and the first driving mode
Information, and the first course changing control information is handled, obtain target shift torque, target diversion angle and target diversion speed
Degree, and according to target shift torque, target diversion angle and target diversion speed, it is operated.
Turning machine 2 is connected with EPS module 1, for the machinery when EPS module 1 operates, when EPS module 1 is operated
Can, it is converted into pressure energy, to drive wheel to operate.
Steering wheel control device 3 is connected with EPS module 1, for detecting whether there are hand-power square, when there are hand-power squares
When, hand moment information is sent to EPS module 1；Wherein, hand-power square information includes the second course changing control information.
Further, EPS module 1 includes:
EPS controller 11, is connected with BVCU, the first course changing control information of the vehicle for receiving BVCU transmission, and
First course changing control information and preset turn around parameters list are handled, target shift torque, target diversion angle are obtained
With target diversion speed；
Motor 12 is connected with EPS controller 11, for being turned according to target shift torque, target diversion angle and target
To speed, operated.
EPS module 1 is also used to, and obtains vehicle current steering angle and the current steering moment of vehicle.
Further, EPS module 1 further include:
13 angular transducer 1314 of angular transducer, for measuring vehicle current steering angle and current turning velocity, and
Current turning velocity is sent to EPS controller 11.
Torque sensor 14 is sent to EPS controller for measuring the current steering moment of vehicle, and by current steering moment
11。
Steering control system further include: velocity sensor 4；Velocity sensor 4 is connected with EPS controller 11, for obtaining
Pick-up current turning velocity, and current turning velocity is sent to EPS controller 11.
EPS controller 11 is also used to, and current steering angle and target diversion angle are compared, current steering angle is worked as
When being greater than preset first threshold with the difference of target diversion angle, the first update information is generated, and the first update information is sent out
Give BVCU；And be compared current steering moment and target shift torque, when current steering moment and target diversion power
When the difference of square is greater than preset second threshold, the second update information is generated, and the second update information is sent to BVCU；With
And be compared current turning velocity and target diversion speed, when the difference of current turning velocity and target diversion speed is big
When preset third threshold value, third update information is generated, and third update information is sent to BVCU；Wherein, the first amendment
Information includes current steering angle, and the second update information includes current steering moment, and third update information includes when front steering speed
Degree.
Further, EPS module 1 is also used to, and is handled the second direction information, and according to processing result, is transported
Turn.
Further, EPS module 1 is also used to, and obtains fault message code, and fault message code is sent by CAN bus
To BVCU.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
Above specific embodiment has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Illustrate, it should be understood that the above is only a specific embodiment of the invention, the protection model that is not intended to limit the present invention
It encloses, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (10)
1. a kind of rotating direction control method, which is characterized in that the rotating direction control method includes:
Electric boosting steering system EPS module receives bottom vehicle control device BVCU and is sent out by controller local area network's CAN bus
The the first course changing control information sent and the first driving pattern information, and the first course changing control information is handled, it obtains
Target shift torque, target diversion angle and target diversion speed, and according to the target shift torque, target diversion angle and
Target diversion speed, is operated；
In EPS module operating, mechanical energy when the EPS module operate by turning machine is converted into pressure energy, to drive
Wheel operating；
Steering wheel control device is detected whether there are hand-power square, when there are hand-power square, sends hand-power square letter to the EPS module
Breath；Wherein, the hand-power square information includes the second course changing control information；
EPS module obtains vehicle current steering angle and the current steering moment of vehicle；
Velocity sensor obtains the current turning velocity of vehicle；
The current steering angle and target diversion angle are compared by the EPS module, when the current steering angle and
When the difference of the target diversion angle is greater than preset first threshold, the first update information is generated, and described first is corrected
Information is sent to the BVCU；And be compared the current steering moment and target shift torque, work as forward when described
When being greater than preset second threshold to torque and the difference of target shift torque, the second update information is generated, and by described second
Update information is sent to the BVCU；And be compared the current turning velocity and target diversion speed, work as when described
When the difference of front steering speed and the target diversion speed is greater than preset third threshold value, third update information is generated, and will
The third update information is sent to the BVCU；Wherein, first update information includes current steering angle, and described second
Update information includes current steering moment, and the third update information includes current turning velocity.
2. rotating direction control method according to claim 1, which is characterized in that described to be in the first driving mode in vehicle
When, EPS module receives the first course changing control information that BVCU is sent by CAN bus, and to the first course changing control information
Handled, obtain target shift torque, target diversion angle and target diversion speed, and according to the target shift torque,
Target diversion angle and target diversion speed, are operated, are specifically included:
EPS controller receives the first course changing control information of the vehicle that the BVCU is sent, and believes first course changing control
Breath and preset turn around parameters list are handled, and target shift torque, target diversion angle and target diversion speed are obtained；
Motor is operated according to the target shift torque, target diversion angle and target diversion speed.
3. rotating direction control method according to claim 2, which is characterized in that the EPS module obtains vehicle and works as front steering
Angle and the current steering moment of vehicle specifically include:
Angular transducer measures vehicle current steering angle and current turning velocity, and the current turning velocity is sent to institute
State EPS controller；
Torque sensor measures the current steering moment of vehicle, and the current steering moment is sent to the EPS controller.
4. rotating direction control method according to claim 3, which is characterized in that the rotating direction control method further include:
The current steering angle and target diversion angle are compared by the EPS controller, when the current steering angle
When being greater than preset first threshold with the difference of the target diversion angle, the first update information is generated, and described first is repaired
Positive information is sent to the BVCU；And be compared the current steering moment and target shift torque, when described current
When the difference of steering moment and target shift torque is greater than preset second threshold, the second update information is generated, and by described the
Two update informations are sent to the BVCU；And be compared the current turning velocity and target diversion speed, when described
When the difference of current turning velocity and the target diversion speed is greater than preset third threshold value, third update information is generated, and
The third update information is sent to the BVCU；Wherein, first update information includes current steering angle, and described
Two update informations include current steering moment, and the third update information includes current turning velocity.
5. rotating direction control method according to claim 1, which is characterized in that the method also includes:
The EPS module obtains fault message code, and the fault message code is sent to the BVCU by CAN bus.
6. a kind of steering control system, which is characterized in that the steering control system includes:
Electric boosting steering system EPS module, it is total by controller local area network CAN for receiving bottom vehicle control device BVCU
The the first course changing control information and the first driving pattern information that line is sent, and the first course changing control information is handled,
Target shift torque, target diversion angle and target diversion speed are obtained, and according to the target shift torque, target steering angle
Degree and target diversion speed, are operated；
Turning machine is connected with the EPS module, is used in EPS module operating, when the EPS module is operated
Mechanical energy is converted into pressure energy, to drive wheel to operate；
Steering wheel control device is connected with the EPS module, for detecting whether there are hand-power square, when there are hand-power square,
Hand moment information is sent to the EPS module；Wherein, the hand-power square information includes the second course changing control information；
The EPS module is also used to, and obtains vehicle current steering angle and the current steering moment of vehicle；
Velocity sensor is connected with the EPS controller, for obtaining the current turning velocity of vehicle, and described will work as forward
The EPS module is sent to speed；
The EPS module is also used to, and the current steering angle and target diversion angle are compared, and works as front steering when described
When the difference of angle and the target diversion angle is greater than preset first threshold, the first update information is generated, and by described the
One update information is sent to the BVCU；And be compared the current steering moment and target shift torque, when described
When the difference of current steering moment and target shift torque is greater than preset second threshold, the second update information is generated, and by institute
It states the second update information and is sent to the BVCU；And be compared the current turning velocity and target diversion speed, when
When the difference of the current turning velocity and the target diversion speed is greater than preset third threshold value, third amendment letter is generated
Breath, and the third update information is sent to the BVCU；Wherein, first update information includes current steering angle,
Second update information includes current steering moment, and the third update information includes current turning velocity.
7. steering control system according to claim 6, which is characterized in that the EPS module includes:
EPS controller is connected with the BVCU, for receiving the first course changing control information of the vehicle that the BVCU is sent,
And the first course changing control information and preset turn around parameters list are handled, obtain target shift torque, target turns
To angle and target diversion speed；
Motor is connected with the EPS controller, for being turned according to the target shift torque, target diversion angle and target
To speed, operated.
8. steering control system according to claim 7, which is characterized in that the EPS module includes:
Angular transducer is connected with the EPS controller, for measuring vehicle current steering angle and current turning velocity,
And the current turning velocity is sent to the EPS controller；
Torque sensor is connected with the EPS sensor, for measuring the current steering moment of vehicle, and described will work as forward
The EPS controller is sent to torque.
9. steering control system according to claim 8, which is characterized in that the EPS controller is also used to, and is worked as by described in
Front steering angle and target diversion angle are compared, when the difference of the current steering angle and the target diversion angle is big
When preset first threshold, the first update information is generated, and first update information is sent to the BVCU；And
The current steering moment and target shift torque are compared, when the difference of the current steering moment and target shift torque
When value is greater than preset second threshold, the second update information is generated, and second update information is sent to the BVCU；With
And be compared the current turning velocity and target diversion speed, when the current turning velocity and the target diversion
When the difference of speed is greater than preset third threshold value, third update information is generated, and the third update information is sent to institute
State BVCU；Wherein, first update information includes current steering angle, and second update information includes current steering force
Square, the third update information include current turning velocity.
10. steering control system according to claim 6, which is characterized in that the EPS module is also used to, and obtains failure
Information code, and the fault message code is sent to the BVCU by CAN bus.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810901863.4A CN109017979A (en) | 2018-08-09 | 2018-08-09 | Rotating direction control method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810901863.4A CN109017979A (en) | 2018-08-09 | 2018-08-09 | Rotating direction control method and system |
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| CN113562064A (en) * | 2021-06-10 | 2021-10-29 | 北京汽车研究总院有限公司 | Autonomous vehicle, method and device for controlling same, storage medium, and electronic device |
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| CN115107858A (en) * | 2022-07-26 | 2022-09-27 | 山东临工工程机械有限公司 | Loader steering control method, device, equipment and storage medium |
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| CN111055913A (en) * | 2019-11-29 | 2020-04-24 | 徐州重型机械有限公司 | Crane getting-on operation control steering device and method |
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| CN115107858A (en) * | 2022-07-26 | 2022-09-27 | 山东临工工程机械有限公司 | Loader steering control method, device, equipment and storage medium |
| CN115107858B (en) * | 2022-07-26 | 2023-08-29 | 山东临工工程机械有限公司 | Loader steering control method, device, equipment and storage medium |
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Application publication date: 20181218 |