CN109747706B - Steering power-assisted compensation method and system and vehicle - Google Patents
Steering power-assisted compensation method and system and vehicle Download PDFInfo
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- CN109747706B CN109747706B CN201910033837.9A CN201910033837A CN109747706B CN 109747706 B CN109747706 B CN 109747706B CN 201910033837 A CN201910033837 A CN 201910033837A CN 109747706 B CN109747706 B CN 109747706B
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Abstract
The invention discloses a method and a system for compensating steering assistance and a vehicle, wherein the method comprises the following steps: acquiring a first basic compensation moment corresponding to the left steering and a second basic compensation moment corresponding to the right steering; when the vehicle runs, determining a corresponding compensation coefficient according to the vehicle speed and the rotating speed of the steering wheel; and obtaining a compensation value of the steering assistance according to the compensation coefficient and the first basic compensation torque or the second basic compensation torque corresponding to the current steering wheel rotating direction. The method can realize the differential compensation of the left and right steering forces of the vehicle, and effectively improve the problem of uneven left and right steering forces, thereby improving the steering hand feeling and ensuring that a driver is more comfortable when driving.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a method and a system for compensating steering assistance and a vehicle.
Background
With the progress of electronic technology, electronic products are more and more popular for use in automobiles. The electric power steering system is widely applied due to the factors of compact structure, energy conservation, emission reduction, rich training function and the like. The demand of people for vehicle electric power steering systems has shifted from the beginning demand for steering function to the demand for comfort, such as: the functions of the electric power steering system such as power assisting along with speed, active aligning, active damping, terminal protection and the like appear, and even the functions of automatic parking, lane keeping assistance and the like are developed by combining intellectualization.
In the related art, a fixed steering force compensation standard is usually set when a vehicle leaves a factory, that is, a fixed compensation value is preset, but due to differences in manufacturing of parts and assembly of the whole vehicle, different vehicles have different left and right steering force differences, and the same steering force compensation standard is adopted, so that mismatching conditions may exist on different vehicles, differential compensation cannot be realized, and steering hand feeling is affected.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
To this end, a first object of the present invention is to provide a method of compensating for steering assist. The method can realize the differential compensation of the left and right steering forces of the vehicle, and effectively improve the problem of uneven left and right steering forces, thereby improving the steering hand feeling and ensuring that a driver is more comfortable when driving.
Another object of the present invention is to provide a compensation system for steering assist.
It is a further object of the invention to propose a vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention discloses a method for compensating for steering assist, including the steps of: acquiring a first basic compensation moment corresponding to the left steering and a second basic compensation moment corresponding to the right steering; when the vehicle runs, determining a corresponding compensation coefficient according to the vehicle speed and the rotating speed of the steering wheel; and obtaining a compensation value of the steering assistance according to the compensation coefficient and the first basic compensation torque or the second basic compensation torque corresponding to the current steering wheel rotating direction.
According to the compensation method of the steering assistance, the basic compensation torque of left and right steering can be obtained through measurement and calculation, the compensation coefficients under different conditions are determined by combining the vehicle speed and the rotating speed of the steering wheel, the compensation value of the steering assistance is further obtained, differential compensation of left and right steering forces of a vehicle is realized, the problem of uneven left and right steering forces is effectively solved, the steering hand feeling is improved, and a driver feels more comfortable during driving.
In one embodiment of the present invention, the obtaining a first base compensation torque corresponding to a left steering and a second base compensation torque corresponding to a right steering includes: the method comprises the following steps that a vehicle is static, and left steering torque and right steering torque when a steering wheel is controlled to rotate in two directions at a preset rotating speed are obtained; calculating an average value of the left steering torque and an average value of the right steering torque; and obtaining a first basic compensation torque corresponding to the left steering and a second basic compensation torque corresponding to the right steering according to the average value of the left steering torque and the average value of the right steering torque.
In one embodiment of the invention, the first base compensation moment MLeft of i＝[(MLeft side of+MRight side)/2]-MLeft side ofSaid second base compensation moment Mi Right side＝[(MLeft side of+MRight side)/2]-MRight sideWherein, said MLeft side ofIs the average value of the left steering torque, MRight sideThe average value of the right steering torque.
In one embodiment of the present invention, when the vehicle is running, determining the corresponding compensation coefficient according to the vehicle speed and the steering wheel rotating speed comprises: when the rotating speed of the steering wheel is less than or equal to the preset rotating speed and the vehicle speed is less than or equal to the preset vehicle speed, the compensation coefficient is 1; when the rotating speed of the steering wheel is greater than the preset rotating speed and the vehicle speed is less than or equal to the preset vehicle speed, the compensation coefficient is 0.95; when the rotating speed of the steering wheel is less than or equal to the preset rotating speed and the vehicle speed is greater than the preset vehicle speed, the compensation coefficient is 1.1; and when the rotating speed of the steering wheel is greater than the preset rotating speed and the vehicle speed is greater than the preset vehicle speed, the compensation coefficient is 1.05.
In one embodiment of the present invention, the compensation value of the steering assist is excessive by a difference algorithm when the condition is switched.
An embodiment of a second aspect of the present invention discloses a compensation system for power steering, including: the acquisition module is used for acquiring a first basic compensation moment corresponding to left steering and a second basic compensation moment corresponding to right steering; the compensation coefficient determining module is used for determining a corresponding compensation coefficient according to the vehicle speed and the rotating speed of the steering wheel when the vehicle runs; and the compensation module is used for obtaining a compensation value of the steering assistance according to the compensation coefficient and the first basic compensation torque or the second basic compensation torque corresponding to the current steering wheel rotating direction.
According to the compensation system of the steering assistance, the basic compensation torque of left and right steering can be obtained through measurement and calculation, the compensation coefficients under different conditions are determined by combining the vehicle speed and the rotating speed of the steering wheel, the compensation value of the steering assistance is further obtained, differential compensation of left and right steering forces of a vehicle is realized, the problem of uneven left and right steering forces is effectively solved, the steering hand feeling is improved, and a driver feels more comfortable during driving.
In an embodiment of the present invention, the obtaining module is configured to: the method comprises the following steps that a vehicle is static, and left steering torque and right steering torque when a steering wheel is controlled to rotate in two directions at a preset rotating speed are obtained; calculating an average value of the left steering torque and an average value of the right steering torque; and obtaining a first basic compensation torque corresponding to the left steering and a second basic compensation torque corresponding to the right steering according to the average value of the left steering torque and the average value of the right steering torque.
In one embodiment of the invention, the first base compensation moment MLeft of i＝[(MLeft side of+MRight side)/2]-MLeft side ofSaid second base compensation moment Mi Right side＝[(MLeft side of+MRight side)/2]-MRight sideWherein, said MLeft side ofIs the average value of the left steering torque, MRight sideThe average value of the right steering torque.
In one embodiment of the present invention, the compensation factor determination module is configured to: when the rotating speed of the steering wheel is less than or equal to the preset rotating speed and the vehicle speed is less than or equal to the preset vehicle speed, the compensation coefficient is 1; when the rotating speed of the steering wheel is greater than the preset rotating speed and the vehicle speed is less than or equal to the preset vehicle speed, the compensation coefficient is 0.95; when the rotating speed of the steering wheel is less than or equal to the preset rotating speed and the vehicle speed is greater than the preset vehicle speed, the compensation coefficient is 1.1; and when the rotating speed of the steering wheel is greater than the preset rotating speed and the vehicle speed is greater than the preset vehicle speed, the compensation coefficient is 1.05.
An embodiment of a third aspect of the invention discloses a vehicle, comprising: the compensation system for steering assist according to the second aspect of the embodiment described above. This vehicle can obtain the basic compensation moment of turning to about through measurement and calculation, combines the speed of a motor vehicle and steering wheel rotational speed to confirm the compensation coefficient under the different conditions again, and then obtains the compensation value of power assisted steering, realizes the differentiation compensation of turning to the power about the vehicle, effectively improves the uneven problem of turning to the power about to promote to turn to feel, make the driver more comfortable when driving.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of a method of compensating for steering assist in accordance with one embodiment of the present invention;
fig. 2 is a block diagram of a compensation system for steering assist according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a method and a system for compensating steering assist and an automobile according to an embodiment of the invention with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method of compensating for steering assist according to an embodiment of the present invention.
As shown in fig. 1, a method for compensating for steering assist according to an embodiment of the present invention includes the steps of:
s101: a first base compensation torque corresponding to a left steering and a second base compensation torque corresponding to a right steering are obtained.
The first basic compensation torque and the second basic compensation torque can be obtained through calibration in advance.
As a specific example, the compensation mode may be entered by inputting a command. When the vehicle is stationary, the steering wheel is controlled at a preset rotating speed, the left and right steering torques are measured, the basic compensation torque of the left and right steering is obtained through calculation, and the basic compensation torque is stored in the vehicle in advance.
And when the difference value of the basic compensation torque of the left and right steering is less than or equal to 0.1 N.m, the steering power-assisted compensation system is not started.
For example: setting the vehicle to be stationary, controlling the steering wheel to rotate in two directions at the steering wheel rotating speed of 180deg/s, measuring the steering torque from the left limit to the right limit, and calculating the average value M of the steering torque from the left limit to the right limitLeft side of(ii) a The steering torque from the right limit to the left limit is measured, and the average value M of the steering torque from the right limit to the left limit is calculatedRight side。
In the above description, going from the left limit to the right limit and going from the right limit to the left limit may be the full stroke of the steering wheel rotation, and of course, in order to avoid damage to the steering wheel caused by the turning to the limits, as one specific example of the present invention, going from the left limit to the right limit and going from the right limit to the left limit may select 95% of the stroke or the full rotation angle as the valid input.
It will be appreciated that a steering wheel speed of 180deg/s is merely exemplary and may be suitably adjusted according to particular needs.
The first base compensation torque corresponding to the left steering and the second base compensation torque corresponding to the right steering are obtained from an average value of the left steering torque and the right steering torque. Wherein the first basic compensation moment has a calculation formula of MLeft of i＝[(MLeft side of+MRight side)/2]-MLeft side ofThe second basic compensation torque is calculated by the formula Mi Right side＝[(MLeft side of+MRight side)/2]–MRight side，MLeft side ofAverage value of left steering torque, MRight sideThe average value of the right steering torque.
S102: and when the vehicle runs, determining a corresponding compensation coefficient according to the vehicle speed and the rotating speed of the steering wheel.
Specifically, the compensation factor is selected in conjunction with vehicle speed and steering wheel speed. When the rotating speed of the steering wheel and the vehicle speed are both small, compensating the torque according to the basic compensation; when the rotating speed of the steering wheel is high and the vehicle speed is low, a low compensation coefficient is obtained; when the rotating speed of the steering wheel is low and the vehicle speed is high, a high compensation coefficient is obtained; when the rotating speed of the steering wheel and the vehicle speed are both large, the compensation coefficient takes an intermediate value.
For example: when the steering wheel rotation speed is less than or equal to the predetermined rotation speed and the vehicle speed is less than or equal to the predetermined vehicle speed, the compensation coefficient is but not limited to 1; when the steering wheel speed is greater than the predetermined speed and the vehicle speed is less than or equal to the predetermined vehicle speed, the compensation coefficient is but not limited to 0.95; when the rotating speed of the steering wheel is less than or equal to the preset rotating speed and the vehicle speed is greater than the preset vehicle speed, the compensation coefficient is but not limited to 1.1; when the steering wheel speed is greater than the predetermined speed and the vehicle speed is greater than the predetermined vehicle speed, the compensation factor is, but not limited to, 1.05.
In the above description, the predetermined steering wheel speed is, but not limited to, 180deg/s and the predetermined vehicle speed is, but not limited to, 100 km/h.
In addition, specific values of the compensation coefficients such as 1, 0.95, 1.1, and 1.05 are merely exemplary, and may be appropriately adjusted according to specific needs.
S103: and obtaining a compensation value of the steering assistance according to the compensation coefficient and the first basic compensation torque or the second basic compensation torque corresponding to the current steering wheel rotating direction.
After the compensation coefficient is obtained, the compensation values of the left and right steering assistances under different conditions can be determined according to the compensation coefficient, so that the differential compensation of the steering assistances is realized.
For example: the vehicle speed is less than 100km/h, the steering wheel rotating speed is more than 180deg/s, and according to the above example, the compensation coefficient is 0.95, and if the left steering is assumed, the first basic compensation torque is 100N · m, and then the first basic compensation torque is 95N · m after correction.
In addition, when the condition is switched, the compensation value of the steering assist force is excessive by the difference algorithm. For example: when the rotating speed of a steering wheel of the vehicle is small, the speed of the vehicle is suddenly accelerated, the speed of the vehicle is increased from a small value to a large value, and at the moment, the compensation value of the steering assistance is excessive according to a difference algorithm, so that a driver does not obviously feel moment sudden change, and the driving experience is improved.
According to the compensation method of the steering assistance, the basic compensation torque of left and right steering can be obtained through measurement and calculation, the compensation coefficients under different conditions are determined by combining the vehicle speed and the rotating speed of the steering wheel, the compensation value of the steering assistance is further obtained, differential compensation of left and right steering forces of a vehicle is realized, the problem of uneven left and right steering forces is effectively solved, the steering hand feeling is improved, and a driver feels more comfortable during driving.
Fig. 2 is a block diagram of a compensation system for steering assist according to an embodiment of the present invention. As shown in fig. 2, a system 200 for compensating for steering assist according to an embodiment of the present invention includes: an obtaining module 210, a compensation coefficient determining module 220, and a compensation module 230.
The obtaining module 210 is configured to obtain a first basic compensation torque corresponding to left steering and a second basic compensation torque corresponding to right steering. The compensation factor determining module 220 is configured to determine a corresponding compensation factor according to a vehicle speed and a steering wheel rotation speed when the vehicle is running. The compensation module 230 is configured to obtain a compensation value of the steering assist according to the compensation coefficient and the first basic compensation torque or the second basic compensation torque corresponding to the current steering wheel rotation direction.
In an embodiment of the present invention, the obtaining module 210 is configured to: when the vehicle is static, acquiring left steering torque and right steering torque when the steering wheel is controlled to rotate in two directions at a preset rotating speed; calculating an average value of the left steering torque and an average value of the right steering torque; and obtaining a first basic compensation torque corresponding to the left steering and a second basic compensation torque corresponding to the right steering according to the average value of the left steering torque and the right steering torque.
In one embodiment of the present invention, the first base compensation torque is calculated as MLeft of i＝[(MLeft side of+MRight side)/2]-MLeft side ofThe second basic compensation torque is calculated by the formula Mi Right side＝[(MLeft side of+MRight side)/2]–MRight sideWherein M isLeft side ofAverage value of left steering torque, MRight sideThe average value of the right steering torque.
In one embodiment of the present invention, the compensation factor determination module 220 is configured to: when the rotating speed of the steering wheel is less than or equal to the preset rotating speed and the vehicle speed is less than or equal to the preset vehicle speed, the compensation coefficient is 1; when the rotating speed of the steering wheel is greater than the preset rotating speed and the vehicle speed is less than or equal to the preset vehicle speed, the compensation coefficient is 0.95; when the rotating speed of the steering wheel is less than or equal to the preset rotating speed and the vehicle speed is greater than the preset vehicle speed, the compensation coefficient is 1.1; when the rotating speed of the steering wheel is greater than the preset rotating speed and the vehicle speed is greater than the preset vehicle speed, the compensation coefficient is 1.05.
According to the compensation system of the steering assistance, the basic compensation torque of left and right steering can be obtained through measurement and calculation, the compensation coefficients under different conditions are determined by combining the vehicle speed and the rotating speed of the steering wheel, the compensation value of the steering assistance is further obtained, differential compensation of left and right steering forces of a vehicle is realized, the problem of uneven left and right steering forces is effectively solved, the steering hand feeling is improved, and a driver feels more comfortable during driving.
It should be noted that a specific implementation manner of the compensation system for power steering assistance in the embodiment of the present invention is similar to a specific implementation manner of the compensation method for power steering assistance in the embodiment of the present invention, and please refer to the description of the method part specifically, and details are not described here in order to reduce redundancy.
Further, an embodiment of the present invention discloses a vehicle, including: the compensation system for steering power assistance according to the above-described embodiments. This vehicle can obtain the basic compensation moment of turning to about through measurement and calculation, combines the speed of a motor vehicle and steering wheel rotational speed to confirm the compensation coefficient under the different conditions again, and then obtains the compensation value of power assisted steering, realizes the differentiation compensation of turning to the power about the vehicle, effectively improves the uneven problem of turning to the power about to promote to turn to feel, make the driver more comfortable when driving.
In addition, other functions and functions of the vehicle according to the embodiment of the present invention are known to those skilled in the art, and are not described herein in detail in order to reduce redundancy.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (8)
1. A method of compensating for steering assist, comprising the steps of:
acquiring a first basic compensation moment corresponding to the left steering and a second basic compensation moment corresponding to the right steering;
when the vehicle runs, determining a corresponding compensation coefficient according to the vehicle speed and the rotating speed of the steering wheel; wherein determining the corresponding compensation factor based on the vehicle speed and the steering wheel speed comprises: when the rotating speed of the steering wheel is less than or equal to the preset rotating speed and the vehicle speed is less than or equal to the preset vehicle speed, the compensation coefficient is 1;
when the rotating speed of the steering wheel is greater than the preset rotating speed and the vehicle speed is less than or equal to the preset vehicle speed, the compensation coefficient is 0.95;
when the rotating speed of the steering wheel is less than or equal to the preset rotating speed and the vehicle speed is greater than the preset vehicle speed, the compensation coefficient is 1.1;
when the rotating speed of the steering wheel is greater than the preset rotating speed and the vehicle speed is greater than the preset vehicle speed, the compensation coefficient is 1.05;
and obtaining a compensation value of the steering assistance according to the compensation coefficient and the first basic compensation torque or the second basic compensation torque corresponding to the current steering wheel rotating direction.
2. The method for compensating for steering assist according to claim 1, wherein the obtaining a first base compensation torque corresponding to a left steering and a second base compensation torque corresponding to a right steering includes:
the method comprises the following steps that a vehicle is static, and left steering torque and right steering torque when a steering wheel is controlled to rotate in two directions at a preset rotating speed are obtained;
calculating an average value of the left steering torque and an average value of the right steering torque;
and obtaining a first basic compensation torque corresponding to the left steering and a second basic compensation torque corresponding to the right steering according to the average value of the left steering torque and the average value of the right steering torque.
3. Method for compensating for a steering assistance force according to claim 1 or 2, characterized in that the first basic compensation moment MLeft of i＝[(MLeft side of+MRight side)/2]-MLeft side ofSaid second base compensation moment Mi Right side＝[(MLeft side of+MRight side)/2]-MRight sideWherein, said MLeft side ofIs the average value of the left steering torque, MRight sideThe average value of the right steering torque.
4. The method of compensating for steering assist according to claim 1, further comprising: and when the conditions are switched, the compensation value of the steering assistance is excessive through a difference algorithm.
5. A compensation system for steering assist, comprising:
the acquisition module is used for acquiring a first basic compensation moment corresponding to left steering and a second basic compensation moment corresponding to right steering;
the compensation coefficient determining module is used for determining a corresponding compensation coefficient according to the vehicle speed and the rotating speed of the steering wheel when the vehicle runs;
the compensation factor determination module is configured to:
when the rotating speed of the steering wheel is less than or equal to the preset rotating speed and the vehicle speed is less than or equal to the preset vehicle speed, the compensation coefficient is 1;
when the rotating speed of the steering wheel is greater than the preset rotating speed and the vehicle speed is less than or equal to the preset vehicle speed, the compensation coefficient is 0.95;
when the rotating speed of the steering wheel is less than or equal to the preset rotating speed and the vehicle speed is greater than the preset vehicle speed, the compensation coefficient is 1.1;
when the rotating speed of the steering wheel is greater than the preset rotating speed and the vehicle speed is greater than the preset vehicle speed, the compensation coefficient is 1.05;
and the compensation module is used for obtaining a compensation value of the steering assistance according to the compensation coefficient and the first basic compensation torque or the second basic compensation torque corresponding to the current steering wheel rotating direction.
6. The compensation system for power steering of claim 5, wherein the obtaining module is configured to:
the method comprises the following steps that a vehicle is static, and left steering torque and right steering torque when a steering wheel is controlled to rotate in two directions at a preset rotating speed are obtained;
calculating an average value of the left steering torque and an average value of the right steering torque;
and obtaining a first basic compensation torque corresponding to the left steering and a second basic compensation torque corresponding to the right steering according to the average value of the left steering torque and the average value of the right steering torque.
7. Compensation system for steering assistance according to claim 5 or 6, characterized in that the first base compensation moment MLeft of i＝[(MLeft side of+MRight side)/2]-MLeft side ofSaid second base compensation moment Mi Right side＝[(MLeft side of+MRight side)/2]-MRight sideWherein, said MLeft side ofIs the average value of the left steering torque, MRight sideThe average value of the right steering torque.
8. A vehicle, characterized by comprising: a compensation system for steering assist according to any one of claims 5 to 7.
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| CN112550431B (en) * | 2019-09-26 | 2022-05-24 | 上海汽车集团股份有限公司 | Torque damping compensation control method, controller and steering control method |
| CN113247086B (en) * | 2021-03-05 | 2022-08-16 | 北京汽车股份有限公司 | Compensation method and device for neutral torque deviation and vehicle |
| CN113581281B (en) * | 2021-08-30 | 2022-07-26 | 中汽创智科技有限公司 | Vehicle steering control method, device, equipment and storage medium |
| CN114919651A (en) * | 2022-06-16 | 2022-08-19 | 上汽通用五菱汽车股份有限公司 | Vehicle steering power assisting method, device, equipment and computer readable storage medium |
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