CN109870311A - The step steering angle input test method and system of automobile turning wheel - Google Patents
The step steering angle input test method and system of automobile turning wheel Download PDFInfo
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- CN109870311A CN109870311A CN201910106666.8A CN201910106666A CN109870311A CN 109870311 A CN109870311 A CN 109870311A CN 201910106666 A CN201910106666 A CN 201910106666A CN 109870311 A CN109870311 A CN 109870311A
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Abstract
The step steering angle input test method and system of present invention proposition automobile turning wheel, wherein, method controls, so that the speed of vehicle reaches test requirements document speed the following steps are included: acquisition test requirements document speed according to test requirements document speed and by throttle of the pid control algorithm to vehicle；Determine multiple preset side accelerations；Multiple preset side accelerations are successively selected, and when selecting each preset side acceleration, steering wheel is controlled according to corresponding default steering wheel angle, snap time and step velocity, to carry out steering wheel step input or transient state yaw response test.It is carried out automatically controlling as a result, by speed, steering wheel angle and the side acceleration to test vehicle, reduction is manually entered, and realizes steering wheel step input or transient state yaw response test automation, shortens test period, lifting test precision and repeatability.
Description
Technical field
The present invention relates to technical field of vehicle more particularly to a kind of step steering angle input test method of automobile turning wheel and
A kind of step steering angle input pilot system of automobile turning wheel.
Background technique
Currently, steering wheel step input or transient state yaw response test is important in steady (control stability) the performance objective test of vehicle behaviour
Pilot project, mainly for detection of the steering transient response of vehicle.
In the related art, steering wheel step input or transient state yaw response test generallys use and turns to robot application steering wheel, will turn
It is input in test vehicle steering system to disk corner, thus, the automatic test result for obtaining high-precision and repeatability.
But the problem of the relevant technologies, is, for the speed of test vehicle, throttle can only be artificially controlled by driver and opened
Degree tests the longitudinal velocity of defined to reach, and causes test accuracy low, and repeatability is poor, in addition, for each of test requirements document
Stable state side acceleration can only also be set by the method that slow increment is tested, cause test period long, low efficiency.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, the first purpose of this invention is to propose a kind of step steering angle input test method of automobile turning wheel,
It can be realized steering wheel step input or transient state yaw response test automation, shorten test period, lifting test precision and repeatability.
Second object of the present invention is to propose a kind of step steering angle input pilot system of automobile turning wheel.
Third object of the present invention is to propose the step steering angle input pilot system of another automobile turning wheel.
Fourth object of the present invention is to propose a kind of non-transitorycomputer readable storage medium.
In order to achieve the above object, the step steering angle input test side for the automobile turning wheel that first aspect present invention embodiment proposes
Method is the following steps are included: obtain test requirements document speed, according to the test requirements document speed and by pid control algorithm to vehicle
Throttle is controlled, so that the speed of the vehicle reaches the test requirements document speed；Determine multiple preset side accelerations,
Wherein, the multiple preset side acceleration is corresponding with multiple default steering wheel angles respectively；It successively selects the multiple pre-
If side acceleration, and when selecting each preset side acceleration, according to corresponding default steering wheel angle, rank
Jump time and step velocity control the steering wheel, to carry out steering wheel step input or transient state yaw response test.
The step steering angle input test method of the automobile turning wheel proposed according to embodiments of the present invention, firstly, obtaining test
It is required that speed controls, so that vehicle in turn according to test requirements document speed and by throttle of the pid control algorithm to vehicle
Speed reach test requirements document speed, and determine then multiple preset side accelerations successively select multiple preset sides
To acceleration, and when selecting each preset side acceleration, according to corresponding default steering wheel angle, snap time and rank
Jump speed controls steering wheel, to carry out steering wheel step input or transient state yaw response test, wherein multiple preset side accelerations
It is corresponding with multiple default steering wheel angles respectively.Pass through speed, steering wheel angle and the side acceleration to test vehicle as a result,
It carries out automatically controlling, reduction is manually entered, and realizes steering wheel step input or transient state yaw response test automation, shortens test period, is promoted
Test accuracy and repeatability.
In addition, the step steering angle input test method of automobile turning wheel according to the above embodiment of the present invention can also have
Following additional technical characteristic:
According to one embodiment of present invention, the multiple default steering wheel angle is obtained by test, wherein described to obtain
Obtaining the multiple default steering wheel angle includes: the oil according to the test requirements document speed and by pid control algorithm to vehicle
Door is controlled, so that the speed of the vehicle reaches the test requirements document speed；The steering wheel rotation is controlled, and described
During steering wheel rotation, the side acceleration of the vehicle is monitored；Reach described each in the side acceleration of the vehicle
When preset side acceleration, the corner of the steering wheel is recorded, to preset steering wheel angle as corresponding.Basis as a result,
Multiple preset side accelerations obtain the corner of multiple steering wheels by test, to preset steering wheel angle as corresponding.
According to one embodiment of present invention, the control steering wheel rotation includes: to obtain default angle increment；Control
The steering wheel is increased since zero position with the default angle increment.Control steering wheel is real with preset angle incremental rotation as a result,
Now to the automatic control of the steering wheel angle of vehicle.
According to one embodiment of present invention, the multiple preset side acceleration be respectively 0.1g, 0.15g, 0.2g,
0.25g、0.3g。
In order to achieve the above object, the step steering angle input for the automobile turning wheel that second aspect of the present invention embodiment proposes tests system
System includes: speed control module, for obtaining test requirements document speed, is calculated according to the test requirements document speed and by PID control
Method controls the throttle of vehicle, so that the speed of the vehicle reaches the test requirements document speed；Determining module, for true
Fixed multiple preset side accelerations, wherein the multiple preset side acceleration respectively with multiple default steering wheel angles
It is corresponding；Steering wheel control module, for successively selecting the multiple preset side acceleration, and it is each described default in selection
Side acceleration when, the steering wheel is controlled according to corresponding default steering wheel angle, snap time and step velocity
System, to carry out steering wheel step input or transient state yaw response test.
The step steering angle input pilot system of the automobile turning wheel proposed according to embodiments of the present invention, controls mould by speed
Block obtains test requirements document speed and controls in turn according to test requirements document speed and by throttle of the pid control algorithm to vehicle
System, so that the speed of vehicle reaches test requirements document speed, and determines multiple preset side accelerations by determining module, so
Afterwards, multiple preset side accelerations are successively selected by steering wheel control module, and is selecting each preset lateral acceleration
When spending, steering wheel is controlled according to corresponding default steering wheel angle, snap time and step velocity, to carry out steering wheel
Step steering angle input test, wherein multiple preset side accelerations are corresponding with multiple default steering wheel angles respectively.As a result,
It is carried out automatically controlling by speed, steering wheel angle and the side acceleration to vehicle, reduction is manually entered, and realizes that steering wheel turns
A step input is experiment automatized, shortens test period, lifting test precision and repeatability.
In addition, the step steering angle input pilot system of automobile turning wheel according to the above embodiment of the present invention can also have
Following additional technical characteristic:
According to one embodiment of present invention, the step steering angle input pilot system of the automobile turning wheel further includes surveying
Die trial block, the test module obtain the multiple default steering wheel angle by test, wherein the speed control module is used
In being controlled according to the test requirements document speed and by throttle of the pid control algorithm to vehicle, so that the vehicle of the vehicle
Speed reaches the test requirements document speed；The steering wheel control module is used for, and controls the steering wheel rotation, and in the steering
In disk rotation process, the side acceleration of the vehicle is monitored；The test module is used for, in the side acceleration of the vehicle
When reaching each preset side acceleration, the corner of the steering wheel is recorded, to turn as corresponding default steering wheel
Angle.As a result, according to multiple preset side accelerations, the corner of multiple steering wheels is obtained by test, using as corresponding pre-
If steering wheel angle.
According to one embodiment of present invention, the steering wheel control module is used for, and obtains default angle increment, and control institute
It states steering wheel and is increased since zero position with the default angle increment.Control steering wheel is realized as a result, with preset angle incremental rotation
Automatic control to the steering wheel angle of test vehicle.
According to one embodiment of present invention, the multiple preset side acceleration be respectively 0.1g, 0.15g, 0.2g,
0.25g、0.3g。
In order to achieve the above object, third aspect present invention embodiment proposes a kind of step steering angle input examination of automobile turning wheel
Check system, wherein the step steering angle input pilot system of the automobile turning wheel includes memory, processor and is stored in storage
On device and the step steering angle input test procedure of automobile turning wheel that can run on a processor.
The step steering angle input pilot system of the automobile turning wheel proposed according to embodiments of the present invention, storage is on a memory
The step steering angle input test procedure of automobile turning wheel the corner rank such as above-mentioned automobile turning wheel is realized when being executed by processor
The step of the correspondence of jump input test method, according to test requirements document speed and passes through in turn firstly, obtaining test requirements document speed
Pid control algorithm controls the throttle of vehicle, so that the speed of vehicle reaches test requirements document speed, and determining multiple pre-
If side acceleration then successively select multiple preset side accelerations, and selecting each preset side acceleration
When, steering wheel is controlled according to corresponding default steering wheel angle, snap time and step velocity, is turned with carrying out steering wheel
A step input test, wherein multiple preset side accelerations are corresponding with multiple default steering wheel angles respectively.Lead to as a result,
It crosses the speed to test vehicle, steering wheel angle and side acceleration to carry out automatically controlling, reduction is manually entered, and realizes steering wheel
Step steering angle input is experiment automatized, shortens test period, lifting test precision and repeatability.
In order to achieve the above objectives, fourth aspect present invention embodiment proposes a kind of non-transitory computer-readable storage medium
Matter, is stored thereon with the step steering angle input test procedure of automobile turning wheel, which realizes above-mentioned when being executed by processor
The step steering angle input test method of automobile turning wheel.
The non-transitorycomputer readable storage medium proposed according to embodiments of the present invention, by execute store thereon with
The corresponding program of step steering angle input test method of above-mentioned automobile turning wheel, firstly, obtaining test requirements document speed, in turn, root
It controls according to test requirements document speed and by throttle of the pid control algorithm to vehicle, is wanted so that the speed of vehicle reaches test
Speed is sought, and determines then multiple preset side accelerations successively select multiple preset side accelerations, and selecting
When selecting each preset side acceleration, according to corresponding default steering wheel angle, snap time and step velocity to steering wheel
It is controlled, to carry out steering wheel step input or transient state yaw response test, wherein multiple preset side accelerations are preset with multiple respectively
Steering wheel angle is corresponding.It is carried out automatically controlling as a result, by speed, steering wheel angle and the side acceleration to test vehicle,
Reduction is manually entered, and realizes steering wheel step input or transient state yaw response test automation, shortens test period, lifting test precision and can
Repeatability.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow diagram according to the step steering angle input test method of the automobile turning wheel of the embodiment of the present invention；
Fig. 2 is the principle according to the step steering angle input test method of the automobile turning wheel of a specific embodiment of the invention
Schematic diagram；
Fig. 3 is the flow diagram that test is measured according to the automobile turning wheel position of one embodiment of the invention；
Fig. 4 is the schematic illustration that test is measured according to the automobile turning wheel position of a specific embodiment of the invention；
Fig. 5 is the block diagram according to the step steering angle input pilot system of the automobile turning wheel of the embodiment of the present invention；
Fig. 6 is to be illustrated according to the box of the step steering angle input pilot system of the automobile turning wheel of one embodiment of the invention
Figure；
Fig. 7 is to be shown according to the box of the step steering angle input pilot system of the automobile turning wheel of another embodiment of the present invention
It is intended to.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings the step steering angle input test method and system of the automobile turning wheel of the embodiment of the present invention are described.
Fig. 1 is the flow diagram according to the step steering angle input test method of the automobile turning wheel of the embodiment of the present invention.
As shown in Figure 1, the step steering angle input test method of automobile turning wheel the following steps are included:
S101, obtain test requirements document speed, according to test requirements document speed and by PID (proportion, integral,
Differential, ratio, integral, differential) control algolithm controls the throttle of vehicle, so that the speed of vehicle reaches examination
It tests and requires speed.
Further, can by vehicle control device such as ECU built-in on vehicle (Electronic Control Unit,
Electronic control unit) obtain test requirements document speed.
Specifically, test requirements document speed according to vehicle, that is, test vehicle max. speed 70% and can be rounded to 10
Integral multiple is demarcated accordingly, and highest test speed is no more than 120KM/h.
It is understood that being controlled according to test requirements document speed and by throttle of the pid control algorithm to vehicle, i.e.,
By speed PID controller, using the speed of test vehicle as feedback, in conjunction with pid control algorithm, corresponding control signal is exported
To Throttle Opening Control motor, thus, it is controlled by throttle of the Throttle Opening Control motor to test vehicle, so that the vehicle of test vehicle
Speed reaches test requirements document speed.
Optionally, discrete position type control algolithm can be used in pid control algorithm, and discrete position type control algolithm formula is such as
Under:
Δδz(k)=kp[e(k)-e(k-1)]+kie(k)+kd[e(k)-2e(k-1)+e(k-2)]
Wherein, difference of the e (k) between current time value of feedback and ideal set value, e (k-1) are last moment feedback
Difference between value and ideal set value, difference of the e (k-2) between value of feedback of upper last moment and ideal set value, kp are
Proportionality coefficient, ki are integral coefficient, and kd is differential coefficient.
It should be noted that difference, that is, current time k upper a period of time between last moment value of feedback and ideal set value
Carve the difference between value of feedback and ideal set value, difference, that is, moment k- between upper last moment value of feedback and ideal set value
Difference between 1 last moment value of feedback and ideal set value.
It is understood that the adjustment effect that different kp, ki and kd have exported control amount is different, in other words, such as
Fruit increases proportionality coefficient kp, then can eliminate error as early as possible, accelerate the response speed of system, improve the degree of regulation of system, but mistake
Big proportionality coefficient kp is easy that system is made to generate overshoot, and it is unstable to result even in system；It, can if increasing integral coefficient ki
It is poor more than elimination system, it improves without margin, but excessive integral coefficient ki keeps adjustment process slow, fluctuation increases, system stability
Decline；If increasing differential coefficient kd, system dynamic characteristic can be improved, inhibit deviation to any direction in response process
Variation, forecasts change of error in advance, helps to reduce overshoot, oscillation-damped mentions high control precision；But excessive differential
Coefficient k d can extend regulating time, reduce the anti-interference ability of system.
S102 determines multiple preset side accelerations, wherein multiple preset side accelerations are preset with multiple respectively
Steering wheel angle is corresponding.
Specifically, according to one embodiment of present invention, multiple preset side accelerations may respectively be 0.1g, 0.15g,
0.2g、0.25g、0.3g。
It is understood that corresponding multiple default steerings can be obtained according to determining multiple preset side accelerations
Disk corner.
S103 successively selects multiple preset side accelerations, and when selecting each preset side acceleration, according to
Default steering wheel angle, snap time and step velocity accordingly, control steering wheel, to carry out Steering Wheel Angle Step
Input test.
That is, successively selecting preset side acceleration, and root when carrying out steering wheel step input or transient state yaw response test
According to the preset side acceleration of each of selection, by its default steering wheel angle, snap time and step velocity accordingly, to turning
It is controlled to disk.
For example, referring to Fig. 2, firstly, setting test requirements document speed, and throttle control is controlled by speed PID controller
Then motor processed, successively selects preset side acceleration, and pass through so that test vehicle speed reaches test requirements document speed
Disk controller is turned to according to the preset side acceleration of each of selection, the steering wheel of storage is read from vehicle interior memory
Corner carries out the test of steering wheel step to steering wheel in conjunction with preset steering wheel snap time and step velocity,
In, steering wheel snap time is not more than 0.2s, and steering wheel step velocity is not less than 200 °/s, keeps test vehicle during test
Speed is constant.
It should be noted that Control experiment vehicle carries out straight-line travelling with test requirements document speed, and passes through during test
It turns to disk controller and is first gently close to steering wheel by input direction, thus, it eliminates free play of steering wheel and start recording is respectively surveyed
Quantitative change amount (such as automobile advance speed, steering wheel angle, yaw velocity, vehicle roll angle, side acceleration, vehicle body lateral deviation
Angle etc.) initial value, and after preset time (such as 0.2~0.5s), with speed as soon as possible, (such as snap time is not
It is not less than 200 °/s greater than 0.2s or step velocity) rotation steering wheel, default steering wheel angle, and fixed several seconds are reached,
Until measurand is transitioned into new steady-state value (i.e. measurand reaches stable state), wherein input direction is respectively left-hand rotation side
To with right-hand rotation direction, input direction can checker tested, the test of direction can also be carried out continuously, then carry out another party
To test.
It is carried out automatically controlling, is reduced artificial defeated by speed, steering wheel angle and the side acceleration to vehicle as a result,
Enter, realizes steering wheel step input or transient state yaw response test automation, shorten test period, lifting test precision and repeatability.
Specifically, according to one embodiment of present invention, turn as shown in figure 3, obtaining multiple default steering wheels by test
Angle, wherein obtaining multiple default steering wheel angles includes:
S201 is controlled according to test requirements document speed and by throttle of the pid control algorithm to vehicle, so that vehicle
Speed reaches test requirements document speed.
Wherein, previous embodiment is carried out to according to test requirements document speed and by throttle of the pid control algorithm to vehicle
The method of control is illustrated, and details are not described herein.
S202 controls steering wheel rotation, and during steering wheel rotation, monitors the side acceleration of vehicle.
It optionally, can be by the way that velocity sensor be arranged on test vehicle, to monitor the side acceleration of vehicle.
S203 records the corner of steering wheel when the side acceleration of vehicle reaches each preset side acceleration, with
As corresponding default steering wheel angle.
Optionally, can be by the way that acceleration transducer and steering wheel angle sensor be arranged on test vehicle, and accelerating
When degree sensor monitors that the side acceleration of vehicle reaches preset side acceleration 0.1g, steering wheel angle sensor is recorded
The steering wheel angle ω 1 of record, to preset steering wheel angle as corresponding with side acceleration 0.1g；In acceleration transducer
When monitoring that the side acceleration of vehicle reaches preset lateral acceleration 0.15g, record steering wheel angle sensor record turns
To disk corner ω 2, to preset steering wheel angle as corresponding with side acceleration 0.15g；It is monitored in acceleration transducer
When the side acceleration of vehicle reaches preset lateral acceleration 0.2g, the steering wheel angle of record steering wheel angle sensor record
ω 3, to preset steering wheel angle as corresponding with side acceleration 0.2g；The lateral of vehicle is monitored in acceleration transducer
When acceleration reaches preset lateral acceleration 0.25g, the steering wheel angle ω 4 of record steering wheel angle sensor record, to make
For default steering wheel angle corresponding with side acceleration 0.25g；The side acceleration of vehicle is monitored in acceleration transducer
When reaching preset lateral acceleration 0.3g, record steering wheel angle sensor record steering wheel angle ω 5, using as with it is lateral
Acceleration 0.3g presets steering wheel angle accordingly, and so on, wherein the steering wheel angle of steering wheel angle sensor record
It can store into vehicle interior memory, the corresponding steering wheel angle of each side acceleration.
For example, referring to Fig. 4, firstly, setting test requirements document speed, and throttle control is controlled by speed PID controller
Then motor processed, sets the constant angle increment of steering wheel, and pass through steering so that test vehicle speed reaches test requirements document speed
Disk controller control steering wheel is set the constant angle increment of steering wheel by zero position and is slowly increased to a certain the larger value.In this process
In, real-time monitoring is carried out to the side acceleration of test vehicle by acceleration transducer, when monitoring the lateral of test vehicle
When acceleration respectively reaches 0.1g, 0.15g, 0.2g, 0.25g, 0.3g, the steering wheel of record steering wheel angle sensor record turns
Angle, and store and arrive vehicle interior memory.
As a result, according to multiple preset side accelerations, the corner of multiple steering wheels is obtained by test, using as corresponding
Default steering wheel angle.
Further, according to one embodiment of present invention, control steering wheel rotation includes:
S301 obtains default angle increment.
Optionally, default angle increment can be demarcated accordingly by preset mode.
S302 is controlled steering wheel and is increased since zero position with default angle increment.
Specifically, steering wheel can be controlled by the steering disk controller of vehicle, in other words, turn to disk controller with
Automobile turning wheel corner is feedback, using proportional integral differential control algorithm such as discrete increment formula pid control algorithm, output
Signal is controlled, steering wheel angle motor is controlled, is increased with controlling steering wheel since zero position with default angle increment, thus, really
The steering wheel for being able to record and storing when vehicle lateral acceleration reaches such as 0.1g, 0.15g, 0.2g, 0.25g, 0.3g is protected to turn
Angle.
Further, such as discrete increment formula PID control of the proportional integral differential control algorithm based on PID controller is calculated
The control amount of method, algorithm output is increment, the malfunction of test is influenced it is small, and the determination of controlling increment only with miss several times recently
Poor sampled value is related, and the influence of calculating error or computational accuracy problem to control amount is smaller, thus, promote turning for automobile turning wheel
The accuracy of a step input test.
To sum up, the step steering angle input test method of the automobile turning wheel proposed according to embodiments of the present invention, firstly, obtaining
Test requirements document speed is controlled according to test requirements document speed and by throttle of the pid control algorithm to vehicle in turn, so that
The speed of vehicle reaches test requirements document speed, and determines multiple preset side accelerations, then, successively selects multiple default
Side acceleration, and when selecting each preset side acceleration, according to corresponding default steering wheel angle, snap time
Steering wheel is controlled with step velocity, to carry out steering wheel step input or transient state yaw response test, wherein it is multiple preset lateral plus
Speed is corresponding with multiple default steering wheel angles respectively.As a result, by speed to test vehicle, steering wheel angle and it is lateral plus
Speed carries out automatically controlling, and reduction is manually entered, and realizes steering wheel step input or transient state yaw response test automation, shortens test period,
Lifting test precision and repeatability.
Fig. 5 is the block diagram according to the step steering angle input pilot system of the automobile turning wheel of the embodiment of the present invention.
As shown in figure 5, the step steering angle input pilot system 100 of automobile turning wheel includes: speed control module 1, determines
Module 2 and steering wheel control module 3.
Wherein, speed control module 1 according to test requirements document speed and passes through PID control for obtaining test requirements document speed
Algorithm controls the throttle of vehicle, so that the speed of vehicle reaches test requirements document speed；Determining module 2 is multiple for determining
Preset side acceleration, wherein multiple preset side accelerations are corresponding with multiple default steering wheel angles respectively；Steering wheel
Control module 3 is used to successively select multiple preset side accelerations, and when selecting each preset side acceleration, according to
Default steering wheel angle, snap time and step velocity control steering wheel accordingly, to carry out Steering Wheel Angle Step
Input test.
Further, according to one embodiment of present invention, as shown in fig. 6, the step steering angle input of automobile turning wheel tries
Check system 100 further includes test module 4, and test module 4 obtains multiple default steering wheel angles by test, wherein speed control
Molding block 1 is used for, and is controlled according to test requirements document speed and by throttle of the pid control algorithm to vehicle, so that vehicle
Speed reaches test requirements document speed；Steering wheel control module 3 is used to control steering wheel rotation, and during steering wheel rotation,
Monitor the side acceleration of vehicle；Test module 4 is used to reach each preset side acceleration in the side acceleration of vehicle
When, the corner of steering wheel is recorded, to preset steering wheel angle as corresponding.
Further, according to one embodiment of present invention, steering wheel control module 3 is used to obtain default angle increment, and
It controls steering wheel and is increased since zero position with default angle increment.
Further, according to one embodiment of present invention, multiple preset side accelerations may respectively be 0.1g,
0.15g、0.2g、0.25g、0.3g。
Wherein, passing through for the embodiment of the present invention tests the multiple default steering wheel angles of acquisition and Steering Wheel Angle Step input
Test and the step steering angle input test method of above-mentioned automobile turning wheel correspond, and details are not described herein.
To sum up, the step steering angle input pilot system of the automobile turning wheel proposed according to embodiments of the present invention, passes through speed
Control module obtains test requirements document speed, in turn, according to test requirements document speed and by pid control algorithm to the throttle of vehicle into
Row control, so that the speed of vehicle reaches test requirements document speed, and determines multiple preset lateral acceleration by determining module
Then degree successively selects multiple preset side accelerations by steering wheel control module, and each preset lateral in selection
When acceleration, steering wheel is controlled according to corresponding default steering wheel angle, snap time and step velocity, to be turned
It is tested to disk step steering angle input, wherein multiple preset side accelerations are corresponding with multiple default steering wheel angles respectively.By
This, is carried out automatically controlling by speed, steering wheel angle and the side acceleration to vehicle, and reduction is manually entered, and is realized and is turned to
Disk step steering angle input is experiment automatized, shortens test period, lifting test precision and repeatability.
Fig. 7 is to be shown according to the box of the step steering angle input pilot system of the automobile turning wheel of another embodiment of the present invention
It is intended to.
As shown in fig. 7, the step steering angle input pilot system 200 of automobile turning wheel includes memory 10 and processor 20.
Wherein, the step steering angle input test for the automobile turning wheel that can be run on processor 20 is stored on memory 10
Program realizes the step steering angle input test method of above-mentioned automobile turning wheel when processor 20 executes program.
The step steering angle input pilot system of the automobile turning wheel proposed according to embodiments of the present invention, storage is on a memory
The step steering angle input test procedure of automobile turning wheel the corner rank such as above-mentioned automobile turning wheel is realized when being executed by processor
The step of the correspondence of jump input test method, according to test requirements document speed and passes through in turn firstly, obtaining test requirements document speed
Pid control algorithm controls the throttle of vehicle, so that the speed of vehicle reaches test requirements document speed, and determining multiple pre-
If side acceleration then successively select multiple preset side accelerations, and selecting each preset side acceleration
When, steering wheel is controlled according to corresponding default steering wheel angle, snap time and step velocity, is turned with carrying out steering wheel
A step input test, wherein multiple preset side accelerations are corresponding with multiple default steering wheel angles respectively.Lead to as a result,
It crosses the speed to test vehicle, steering wheel angle and side acceleration to carry out automatically controlling, reduction is manually entered, and realizes steering wheel
Step steering angle input is experiment automatized, shortens test period, lifting test precision and repeatability.
Based on the same inventive concept, the embodiment of the present invention also proposed a kind of non-transitorycomputer readable storage medium.
The non-transitorycomputer readable storage medium proposed according to embodiments of the present invention, by execute store thereon with
The corresponding program of step steering angle input test method of above-mentioned automobile turning wheel, firstly, obtaining test requirements document speed, in turn, root
It controls according to test requirements document speed and by throttle of the pid control algorithm to vehicle, is wanted so that the speed of vehicle reaches test
Speed is sought, and determines then multiple preset side accelerations successively select multiple preset side accelerations, and selecting
When selecting each preset side acceleration, according to corresponding default steering wheel angle, snap time and step velocity to steering wheel
It is controlled, to carry out steering wheel step input or transient state yaw response test, wherein multiple preset side accelerations are preset with multiple respectively
Steering wheel angle is corresponding.It is carried out automatically controlling as a result, by speed, steering wheel angle and the side acceleration to test vehicle,
Reduction is manually entered, and realizes steering wheel step input or transient state yaw response test automation, shortens test period, lifting test precision and can
Repeatability.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (10)
1. a kind of step steering angle input test method of automobile turning wheel, which comprises the following steps:
Test requirements document speed is obtained, is controlled according to the test requirements document speed and by throttle of the pid control algorithm to vehicle
System, so that the speed of the vehicle reaches the test requirements document speed；
Determine multiple preset side accelerations, wherein the multiple preset side acceleration respectively with multiple default steerings
Disk corner is corresponding；
The multiple preset side acceleration is successively selected, and when selecting each preset side acceleration, according to
Default steering wheel angle, snap time and step velocity accordingly, control the steering wheel, to carry out steering wheel angle
Stepped Impedance Resonators test.
2. the step steering angle input test method of automobile turning wheel according to claim 1, which is characterized in that pass through test
Obtain the multiple default steering wheel angle, wherein described to obtain the multiple default steering wheel angle and include:
It is controlled according to the test requirements document speed and by throttle of the pid control algorithm to vehicle, so that the vehicle
Speed reaches the test requirements document speed；
The steering wheel rotation is controlled, and during the steering wheel rotation, monitors the side acceleration of the vehicle；
When the side acceleration of the vehicle reaches each preset side acceleration, turning for the steering wheel is recorded
Angle, to preset steering wheel angle as corresponding.
3. the step steering angle input test method of automobile turning wheel according to claim 2, which is characterized in that the control
The steering wheel rotation includes:
Obtain default angle increment；
It controls the steering wheel and is increased since zero position with the default angle increment.
4. the step steering angle input test method of automobile turning wheel according to claim 1, which is characterized in that the multiple
Preset side acceleration is respectively 0.1g, 0.15g, 0.2g, 0.25g, 0.3g.
5. a kind of step steering angle input pilot system of automobile turning wheel characterized by comprising
Speed control module according to the test requirements document speed and passes through pid control algorithm pair for obtaining test requirements document speed
The throttle of vehicle is controlled, so that the speed of the vehicle reaches the test requirements document speed；
Determining module, for determining multiple preset side accelerations, wherein the multiple preset side acceleration respectively with
Multiple default steering wheel angles are corresponding；
Steering wheel control module, for successively selecting the multiple preset side acceleration, and it is each described default in selection
Side acceleration when, the steering wheel is controlled according to corresponding default steering wheel angle, snap time and step velocity
System, to carry out steering wheel step input or transient state yaw response test.
6. the step steering angle input pilot system of automobile turning wheel according to claim 5, which is characterized in that further include surveying
Die trial block, the test module obtain the multiple default steering wheel angle by test, wherein
The speed control module is used for, according to the test requirements document speed and by pid control algorithm to the throttle of vehicle into
Row control, so that the speed of the vehicle reaches the test requirements document speed；
The steering wheel control module is used for, and controls the steering wheel rotation, and during the steering wheel rotation, monitors institute
State the side acceleration of vehicle；
The test module is used for, when the side acceleration of the vehicle reaches each preset side acceleration, note
The corner for recording the steering wheel, to preset steering wheel angle as corresponding.
7. the step steering angle input pilot system of automobile turning wheel according to claim 6, which is characterized in that the steering
Disk control module is controlled the steering wheel and is increased since zero position with the default angle increment for obtaining default angle increment
Add.
8. the step steering angle input pilot system of automobile turning wheel according to claim 5, which is characterized in that the multiple
Preset side acceleration is respectively 0.1g, 0.15g, 0.2g, 0.25g, 0.3g.
9. a kind of step steering angle input pilot system of automobile turning wheel, which is characterized in that including memory, processor and storage
On a memory and the step steering angle input test procedure of automobile turning wheel that can run on a processor, the processor execute
When described program, the step steering angle input test method of the automobile turning wheel as described in any in claim 1-4 is realized.
10. a kind of non-transitorycomputer readable storage medium, which is characterized in that be stored thereon with the corner rank of automobile turning wheel
Jump input test procedure, is realized when which is executed by processor such as the automobile turning wheel as described in any in claim 1-4
Step steering angle input test method.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910106666.8A CN109870311A (en) | 2019-02-02 | 2019-02-02 | The step steering angle input test method and system of automobile turning wheel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910106666.8A CN109870311A (en) | 2019-02-02 | 2019-02-02 | The step steering angle input test method and system of automobile turning wheel |
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| CN109870311A true CN109870311A (en) | 2019-06-11 |
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| CN201910106666.8A Pending CN109870311A (en) | 2019-02-02 | 2019-02-02 | The step steering angle input test method and system of automobile turning wheel |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116698457A (en) * | 2023-08-07 | 2023-09-05 | 合肥威艾尔智能技术有限公司 | Driving operation stability evaluation method based on big data |
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