CN109367619B - EPS-based power steering mode switching system and method - Google Patents
EPS-based power steering mode switching system and method Download PDFInfo
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- CN109367619B CN109367619B CN201811367812.4A CN201811367812A CN109367619B CN 109367619 B CN109367619 B CN 109367619B CN 201811367812 A CN201811367812 A CN 201811367812A CN 109367619 B CN109367619 B CN 109367619B
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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
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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
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- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses a steering power-assisted mode switching system based on an EPS (electric power steering), which comprises an EPS electric power steering system and a display screen, wherein the display screen is in CAN (controller area network) communication with the EPS electric power steering system and is provided with a power-assisted mode selection module and a mode switching display module; a safety switching supervisory program is configured in the EPS electric power steering system; the safety switching supervisory program can feed back a steering power-assisted mode switching result of the EPS electric power-assisted steering system to the display screen; the power-assisted mode selection module is used for displaying the selectable power-assisted modes and sending a corresponding message to the EPS electric power-assisted steering system when a certain power-assisted mode is selected; and the mode switching display module is used for receiving the steering power-assisted mode switching result fed back by the safety switching supervisory program and displaying the corresponding switching result. The invention also discloses a steering power-assisted mode switching method based on the EPS, and the steering power-assisted mode switching system based on the EPS. The invention can improve the safety of the power-assisted steering switching.
Description
Technical Field
The invention relates to the field of automobiles, in particular to a steering power-assisted mode switching system and a steering power-assisted mode switching method.
Background
Eps (electric Power steering) refers to a Power steering system that provides assist torque by an electric motor, i.e., an electric Power steering system. Most of the current EPS systems only provide one steering force, but the steering force requirements of different drivers are different, and especially the steering force requirements of male drivers and female drivers are different obviously. Female drivers generally desire a lower steering force of the vehicle, while male drivers feel poor steering stability and lack driving confidence if the steering force is too small. Therefore, the single EPS steering power cannot meet the requirement, the EFPS is required to support the selectable power-assisted modes, the automobile can meet the power-assisted requirements of different crowds by switching the resistance characteristics of different driving modes, and the safety and the comfort during the steering of the whole automobile are ensured. Chinese patent "driving mode switching control method of electric power steering system (publication No. CN 106741149)" discloses a driving mode switching control method of electric power steering system, which makes an automobile adapt to the power-assisted requirements of different people by switching the power-assisted characteristics of different driving modes.
However, the CAN communication that adopts in the car receives the interference easily, leads to communication fault, will influence the security that helping hand mode switches like this, for example, helping hand mode switches and shows inconsistent with the display screen, CAN mislead the driver: the EPS has switched to a light mode (providing greater steering assist), but the display screen is shown in a sporty mode (providing less steering assist), such that the driver mistakenly believes that a greater force is required to turn the steering wheel, and the driver slams the steering wheel causing the desired steering angle to be exceeded, thereby causing a collision.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a steering power-assisted mode switching system based on an EPS (electric power steering), which solves the technical problem of potential safety hazards in the steering power-assisted switching process in the prior art and can improve the safety of the steering power-assisted switching.
In order to solve the technical problems, the invention adopts the following technical scheme: a power-assisted steering mode switching system based on an EPS (electric power steering) comprises an EPS electric power steering system configured with a power-assisted steering mode switching program and a display screen which is in CAN (controller area network) communication with the EPS electric power steering system, wherein the display screen is configured with a power-assisted mode selection module and a mode switching display module; a safety switching supervisory program is configured in the EPS electric power steering system; the safety switching supervisory program can feed back a steering power-assisted mode switching result of the EPS electric power-assisted steering system to the display screen; the power-assisted mode selection module is used for displaying the selectable power-assisted modes and sending corresponding messages to the EPS electric power-assisted steering system when a certain power-assisted mode is selected, wherein the messages are nonzero numbers; and the mode switching display module is used for receiving the steering power-assisted mode switching result fed back by the safety switching supervisory program and displaying the corresponding switching result.
Preferably, the safety switching supervisor can be executed by the EPS electric power steering system according to the following steps:
step 101: receiving a connection request sent by a display screen, judging whether continuous 3-frame effective frames are received or not, if so, assigning a connection state L to be 1 to indicate that the connection between the display screen and the EPS is successful, and entering step 102; if not, the connection state L is assigned to be 0, the steering power-assisted switching result R is assigned to be 0 to stop communication, and then the step 105 is skipped;
step 102: receiving a message of a corresponding power-assisted mode sent by a display screen;
step 103: judging whether the power-assisted mode can be switched currently or not according to the current vehicle condition, and if so, assigning a message of the corresponding power-assisted mode sent by a display screen to a steering power-assisted switching result R to show that the switching is successful; if not, the steering power-assisted switching result R is assigned to be 0, and switching failure is indicated;
step 104: and sending the steering power-assisted switching result R to a display screen.
Step 105: the routine is ended.
Further, after the power steering switching result R is sent to the display screen in step 104, the connection state L is also assigned to 0, and the power steering switching result R is assigned to 0 to stop communication, and then step 105 is executed.
The invention also provides an EPS-based power steering mode switching method, which adopts the EPS-based power steering mode switching system of claim 1, and comprises the following steps:
step 1: selecting a power-assisted mode through a power-assisted mode selection module on a display screen;
step 2: the display screen continuously sends a connection request to the EPS;
and step 3: the EPS receives a connection request sent by the display screen, judges whether continuous 3-frame effective frames are received or not, if yes, assigns a connection state L to be 1 to indicate that the connection between the display screen and the EPS is successful, and proceeds to step 4; if not, the connection state L is assigned to be 0, the steering power-assisted switching result R is assigned to be 0 to stop communication, and then the step 105 is skipped;
and 4, step 4: the display screen sends a message of a corresponding power-assisted mode to the EPS;
and 5: the EPS judges whether the power-assisted mode can be switched currently, if so, the message of the corresponding power-assisted mode sent by the display screen is assigned to a steering power-assisted switching result R, and the switching success is indicated; if not, the steering power-assisted switching result R is assigned to be 0, and switching failure is indicated;
step 6: the EPS sends a steering power-assisted switching result R to a display screen;
and 7: the EPS finishes the safety switching supervision program;
and 8: the display screen receives the steering power-assisted switching result R, and the mode switching display module displays the switching result according to the steering power-assisted switching result R: when R =0, the switching result is displayed as prohibiting switching; when R ≠ 0, the switching result shows that the switching is successful.
Preferably, after the steering power switching result R is sent to the display screen in step 6, the EPS assigns the connection state L to 0, assigns the steering power switching result R to 0, and then executes step 7.
Preferably, calibration variables corresponding to different power switching results R are prestored in the controller ECU of the EPS through a FLASH memory, wherein the calibration variables include power curves of various power modes, and the power curve of each power mode is used for respectively calibrating the torque of a steering wheel, the rotation angle of the steering wheel and the relationship between the vehicle speed and the output power of the ECU, so that different handfeels are realized; the ECU is also provided with a power assisting control module and a motor control module; in the step 5, if the EPS judges that the power-assisted mode can be switched currently, the EPS sends a steering power-assisted switching result R to the power-assisted control module; the power steering mode switching program is executed according to the following steps: after receiving the power-assisted switching result R, the power-assisted control module generates a torque instruction according to a calibration variable corresponding to the power-assisted switching result R; and the motor control module outputs corresponding power assistance according to the torque instruction.
Preferably, the EPS stores the latest power-assisted mode in the EEPROM memory in the power-off stage of the previous driving cycle, and reads the driving mode state from the EEPROM as the initial power-assisted mode of the current driving cycle in the power-on stage of the current driving cycle; at the time of shipment of the ECU, the assist mode in the EEPROM is defaulted to the comfort mode.
Compared with the prior art, the invention has the following beneficial effects:
1. the steering power-assisted mode switching system based on the EPS can select the power-assisted mode through the display screen and send the power-assisted mode to the EPS. The EPS is switched the supervisory program through the safety and is fed back the helping hand mode switching result to the display screen to let the driver know current true helping hand mode, avoid appearing the helping hand mode after the EPS switches and the inconsistent condition of the helping hand mode that the display screen shows, avoid causing the misleading to the driver, thereby improve the security that the helping hand mode switches.
2. The safety switching supervisory program firstly judges whether the display screen is successfully connected with the EPS before the EPS is switched to the power-assisted mode, then judges whether the power-assisted mode can be switched currently according to the vehicle condition, and allows the EPS to switch the power-assisted mode only on the premise that the current vehicle condition allows the normal communication between the display screen and the EPS, so that the safety of the power-assisted mode switching is greatly improved.
3. According to the invention, after the power-assisted mode is successfully switched, the connecting state L is assigned to be 0, and the steering power-assisted switching result R is assigned to be 0, so that the communication between the EPS and the display screen is stopped, and messy codes of the display screen are avoided when CAN communication is interfered.
4. The power-assisted mode at the power-off stage is stored in the EEPROM, so that the last power-assisted mode can be memorized when the power-on is carried out next time, and the use is more convenient.
Drawings
FIG. 1 is a schematic block diagram of an EPS-based steering assist mode switching system of the present invention;
fig. 2 is a flowchart of an EPS-based steering assist mode switching method of the present invention.
Detailed Description
As shown in fig. 1, the steering power-assisted mode switching system based on EPS of the present invention includes an EPS electric power-assisted steering system configured with a steering power-assisted mode switching program and a display screen in CAN communication with the EPS electric power-assisted steering system, wherein the display screen is configured with a power-assisted mode selection module and a mode switching display module; a safety switching supervisory program is configured in the EPS electric power steering system; the safety switching supervisory program can feed back a steering power-assisted mode switching result of the EPS electric power-assisted steering system to the display screen; the power-assisted mode selection module is used for displaying the selectable power-assisted modes and sending corresponding messages to the EPS electric power-assisted steering system when a certain power-assisted mode is selected, wherein the messages are nonzero numbers; and the mode switching display module is used for receiving the steering power-assisted mode switching result fed back by the safety switching supervisory program and displaying the corresponding switching result.
The steering power-assisted mode switching system based on the EPS can select the power-assisted mode through the display screen and send the power-assisted mode to the EPS. The EPS is switched the supervisory program through the safety and is fed back the helping hand mode switching result to the display screen to let the driver know current true helping hand mode, avoid appearing the helping hand mode after the EPS switches and the inconsistent condition of the helping hand mode that the display screen shows, avoid causing the misleading to the driver, thereby improve the security that the helping hand mode switches.
In this embodiment, the safety switching supervisor can be executed by the EPS electric power steering system according to the following steps:
step 101: receiving a connection request sent by a display screen, judging whether continuous 3-frame effective frames are received or not, if so, assigning a connection state L to be 1 to indicate that the connection between the display screen and the EPS is successful, and entering step 102; if not, the connection state L is assigned to be 0, the steering power switching result R is assigned to be 0 to stop communication, and then the step 105 is skipped.
Step 102: and receiving a message of the corresponding assistance mode sent by the display screen.
Step 103: judging whether the power-assisted mode can be switched currently or not according to the current vehicle condition, and if so, assigning a message of the corresponding power-assisted mode sent by a display screen to a steering power-assisted switching result R to show that the switching is successful; and if not, assigning the steering power-assisted switching result R as 0 to indicate that the switching fails.
Step 104: and sending the steering power-assisted switching result R to a display screen.
Step 105: the routine is ended.
In this embodiment, after the steering assist switching result R is sent to the display screen in step 104, the connection state L is also assigned to 0, and the steering assist switching result R is assigned to 0 to stop communication, and then step 105 is executed.
The safety switching supervisory program firstly judges whether the display screen is successfully connected with the EPS before the EPS is switched to the power-assisted mode, then judges whether the power-assisted mode can be switched currently according to the vehicle condition, and allows the EPS to switch the power-assisted mode only on the premise that the current vehicle condition allows the normal communication between the display screen and the EPS, so that the safety of the power-assisted mode switching is greatly improved. According to the invention, after the power-assisted mode is successfully switched, the connecting state L is assigned to be 0, and the steering power-assisted switching result R is assigned to be 0, so that the communication between the EPS and the display screen is stopped, and messy codes of the display screen are avoided when CAN communication is interfered.
In this embodiment, step 103 determines whether the assist mode can be switched by a safety control module disposed in the EPS, wherein the safety control module is configured to determine whether the assist mode can be switched according to whether the vehicle speed, the steering wheel angle, the steering wheel torque, the wheel rotation speed exceed corresponding thresholds, and whether the EPS is currently in failure.
In the specific embodiment, when the vehicle speed is less than or equal to 15km/h, the steering wheel rotation angle is less than or equal to +/-40 degrees, the steering wheel torque is less than or equal to +/-1 Nm, the wheel rotation speed is less than or equal to +/-40 degrees, and the EPS has no current fault, the safety control module makes a judgment that the power-assisted mode can be switched; otherwise, the safety control module makes a judgment that the power-assisted mode cannot be switched.
As shown in fig. 2, the method for switching the steering power-assisted mode based on the EPS of the present invention, which employs the above-mentioned system for switching the steering power-assisted mode based on the EPS, includes the following steps:
step 1: selecting a power-assisted mode through a power-assisted mode selection module on a display screen; the display screen adopts a touch screen, and the assisting mode is selected by clicking the assisting mode virtual button on the assisting mode selection mode.
Step 2: the display screen continuously sends connection requests to the EPS.
And step 3: the EPS receives a connection request sent by the display screen, judges whether continuous 3-frame effective frames are received or not, if yes, assigns a connection state L to be 1 to indicate that the connection between the display screen and the EPS is successful, and proceeds to step 4; and if not, assigning the connection state L to be 0, assigning the steering power-assisted switching result R to be 0 to stop communication, and then jumping to the step 7.
And 4, step 4: and the display screen sends a message corresponding to the power-assisted mode to the EPS.
And 5: the EPS judges whether the power-assisted mode can be switched currently, if so, the message of the corresponding power-assisted mode sent by the display screen is assigned to a steering power-assisted switching result R, and the switching success is indicated; and if not, assigning the steering power-assisted switching result R as 0 to indicate that the switching fails.
Step 6: after the steering power switching result R is sent to the display screen, the EPS assigns the connection state L to 0, and assigns the steering power switching result R to 0 to stop communication; when the power-assisted mode needs to be switched again, the power-assisted mode selection module selects the power-assisted mode again on the display screen, and then the communication connection between the display screen and the EPS can be reestablished.
And 7: the EPS ends the secure handover supervisor.
And 8: the display screen receives the steering power-assisted switching result R, and the mode switching display module displays the switching result according to the steering power-assisted switching result R: when R =0, the switching result is displayed as prohibiting switching; when R ≠ 0, the switching result shows that the switching is successful.
In this embodiment, calibration variables corresponding to different power switching results R are prestored in the controller ECU of the EPS through the FLASH memory, where the calibration variables include power curves of various power modes, and the power curve of each power mode is used to calibrate the steering wheel torque, the steering wheel rotation angle, and the relationship between the vehicle speed and the output power of the ECU, so as to achieve different hand feelings; the ECU is also provided with a power assisting control module and a motor control module; in the step 5, if the EPS judges that the power-assisted mode can be switched currently, the EPS sends a steering power-assisted switching result R to the power-assisted control module; the power steering mode switching program is executed according to the following steps: after receiving the power-assisted switching result R, the power-assisted control module generates a torque instruction according to a calibration variable corresponding to the power-assisted switching result R; and the motor control module outputs corresponding power assistance according to the torque instruction.
In this specific embodiment, the EPS stores the latest power-assisted mode in the EEPROM memory at the power-off stage of the previous driving cycle, and reads the driving mode state from the EEPROM as the initial power-assisted mode of the current driving cycle at the power-on stage of the current driving cycle; at the time of shipment of the ECU, the assist mode in the EEPROM is defaulted to the comfort mode. The power-assisted mode at the power-off stage is stored in the EEPROM, so that the last power-assisted mode can be memorized when the power-on is carried out next time, and the use is more convenient.
Claims (7)
1. The utility model provides a power assisted steering mode switching system based on EPS, includes the EPS electric power steering system who disposes power assisted steering mode switching program and carries out the display screen of CAN communication with EPS electric power steering system, its characterized in that: the display screen is provided with a power-assisted mode selection module and a mode switching display module; a safety switching supervisory program is configured in the EPS electric power steering system; the safety switching supervisory program can feed back a steering power-assisted mode switching result of the EPS electric power-assisted steering system to the display screen; the power-assisted mode selection module is used for displaying the selectable power-assisted modes and sending corresponding messages to the EPS electric power-assisted steering system when a certain power-assisted mode is selected, wherein the messages are nonzero numbers; the mode switching display module is used for receiving a steering power-assisted mode switching result fed back by the safety switching supervisory program and displaying a corresponding switching result;
the safety switching supervisor can be executed by the EPS electric power steering system according to the following steps:
step 101: receiving a connection request sent by a display screen, judging whether continuous 3-frame effective frames are received or not, if so, assigning a connection state L to be 1 to indicate that the connection between the display screen and the EPS is successful, and entering step 102; if not, the connection state L is assigned to be 0, the steering power-assisted switching result R is assigned to be 0 to stop communication, and then the step 105 is skipped;
step 102: receiving a message of a corresponding power-assisted mode sent by a display screen;
step 103: judging whether the power-assisted mode can be switched currently or not according to the current vehicle condition, and if so, assigning a message of the corresponding power-assisted mode sent by a display screen to a steering power-assisted switching result R to show that the switching is successful; if not, the steering power-assisted switching result R is assigned to be 0, and switching failure is indicated;
step 104: sending the steering power-assisted switching result R to a display screen;
step 105: ending the program;
103, judging whether the power-assisted mode can be switched or not through a safety control module configured in the EPS, wherein the safety control module is used for judging whether the power-assisted mode can be switched or not according to whether the vehicle speed, the steering wheel rotation angle, the steering wheel torque and the wheel rotation speed exceed corresponding thresholds or not and whether the EPS is in failure currently;
when the speed is less than or equal to 15km/h, the turning angle of a steering wheel is less than or equal to +/-40 degrees, the torque of the steering wheel is less than or equal to +/-1 Nm, the rotating speed of wheels is less than or equal to +/-40 degrees, and the EPS has no current fault, the safety control module makes a judgment that the power-assisted mode can be switched; otherwise, the safety control module makes a judgment that the power-assisted mode cannot be switched.
2. The EPS based steering assist mode switching system according to claim 1, characterized in that: after the power steering switching result R is sent to the display screen in step 104, the connection state L is also assigned to 0, and the power steering switching result R is assigned to 0 to stop communication, and then step 105 is executed.
3. The EPS based steering assist mode switching system according to claim 1, characterized in that: the power-assisted mode comprises a comfortable mode and a sport mode, wherein the message corresponding to the comfortable mode is 1, and the message corresponding to the sport mode is 2.
4. A steering power-assisted mode switching method based on EPS is characterized in that: the EPS-based power steering mode switching system according to claim 1, comprising the steps of:
step 1: selecting a power-assisted mode through a power-assisted mode selection module on a display screen;
step 2: the display screen continuously sends a connection request to the EPS;
and step 3: the EPS receives a connection request sent by the display screen, judges whether continuous 3-frame effective frames are received or not, if yes, assigns a connection state L to be 1 to indicate that the connection between the display screen and the EPS is successful, and proceeds to step 4; if not, the connection state L is assigned to be 0, the steering power-assisted switching result R is assigned to be 0 to stop communication, and then the step 7 is skipped;
and 4, step 4: the display screen sends a message of a corresponding power-assisted mode to the EPS;
and 5: the EPS judges whether the power-assisted mode can be switched currently, if so, the message of the corresponding power-assisted mode sent by the display screen is assigned to a steering power-assisted switching result R, and the switching success is indicated; if not, the steering power-assisted switching result R is assigned to be 0, and switching failure is indicated;
step 6: sending the steering power-assisted switching result R to a display screen;
and 7: the EPS finishes the safety switching supervision program;
and 8: the display screen receives the steering power-assisted switching result R, and the mode switching display module displays the switching result according to the steering power-assisted switching result R: when R is 0, the switching result is displayed as switching prohibition; when R ≠ 0, the switching result shows that the switching is successful.
5. The EPS-based power steering mode switching method according to claim 4, wherein: after the steering power switching result R is sent to the display screen in step 6, the EPS assigns the connection state L to 0, assigns the steering power switching result R to 0, and then executes step 7.
6. The EPS-based power steering mode switching method according to claim 4, wherein: calibration variables corresponding to different power switching results R are prestored in the controller ECU of the EPS through a FLASH memory, wherein the calibration variables comprise power curves of various power modes, and the power curve of each power mode is used for calibrating the torque of a steering wheel, the rotation angle of the steering wheel and the relationship between the vehicle speed and the power output by the ECU, so that different handfeels are realized; the ECU is also provided with a power assisting control module and a motor control module; in the step 5, if the EPS judges that the power-assisted mode can be switched currently, the EPS sends a steering power-assisted switching result R to the power-assisted control module; the power steering mode switching program is executed according to the following steps: after receiving the power-assisted switching result R, the power-assisted control module generates a torque instruction according to a calibration variable corresponding to the power-assisted switching result R; and the motor control module outputs corresponding power assistance according to the torque instruction.
7. The EPS-based steering assist mode switching method according to claim 6, characterized in that: the EPS saves the latest power-assisted mode in an EEPROM memory in the power-off stage of the previous driving cycle, and reads the driving mode state from the EEPROM as the initial power-assisted mode of the current driving cycle in the power-on stage of the current driving cycle; at the time of shipment of the ECU, the assist mode in the EEPROM is defaulted to the comfort mode.
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| CN110104063A (en) * | 2019-05-28 | 2019-08-09 | 爱驰汽车有限公司 | Automobile assisted power steering control method, system, equipment and storage medium |
| CN110435752B (en) * | 2019-06-28 | 2021-04-06 | 北京汽车集团有限公司 | Steering control method, device and system and vehicle |
| CN112498345B (en) * | 2019-08-26 | 2022-08-02 | 上海汽车集团股份有限公司 | Processing method and device |
| CN111422252B (en) | 2020-06-15 | 2020-10-13 | 赛格威科技有限公司 | Steering power assisting method and device, vehicle and computer storage medium |
| CN114162216B (en) * | 2022-01-12 | 2023-04-25 | 大运汽车股份有限公司 | Voice-assisted steering multi-mode switching control method |
| CN115158451B (en) * | 2022-07-25 | 2023-06-06 | 克诺尔制动系统（大连）有限公司 | Control device, steering system, vehicle, and steering control method |
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