CN110203281A - Vehicular turn torque control method and device - Google Patents
Vehicular turn torque control method and device Download PDFInfo
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- CN110203281A CN110203281A CN201810168524.XA CN201810168524A CN110203281A CN 110203281 A CN110203281 A CN 110203281A CN 201810168524 A CN201810168524 A CN 201810168524A CN 110203281 A CN110203281 A CN 110203281A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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Abstract
The present invention relates to technical field of vehicle control, a kind of Vehicular turn torque control method and device are provided, wherein Vehicular turn torque control device includes: acquiring unit, for obtaining the first work operating parameter and road level degree of vehicle, which can indicate the first reactive torque corresponding to left and right drive shaft torque difference；Total reactive torque determination unit, for determining the total reactive torque for corresponding to current working, wherein total reactive torque includes the first reactive torque and the second reactive torque relevant to road level degree；Steering balance torque determination unit determines steering balance torque value for being based on total reactive torque；And steering balance torque applying unit, for according to steering balance torque value, steering balance torque corresponding with the steering balance torque value to be applied to vehicle by control.Influence of the road level degree to torque steering is calculated as a result, realizes high-precision Vehicular turn moment of torsion control.
Description
Technical field
The present invention relates to technical field of vehicle control, in particular to a kind of Vehicular turn torque control method and device.
Background technique
The steering system of automobile at present is gradually converted into electric boosted pattern by traditional hydraulic booster pattern, and
Electric boosted pattern steering system can be expanded by programming accurate control because of its motor output characteristics and realize a variety of new function
Energy.
Torsion steer phenomenon refers to: when automobile emergency accelerates, due to the stiffness difference of left and right drive system, leading to generation one
A yaw moment around the rotation of vehicle Z-direction, the torque make automobile generate torsion steer phenomenon.In view of this, automobile can lead to
Torque steering compensation function is crossed, a trimming moment contrary to the above is generated by electric power steering, to improve this problem,
Meet automobile straight-line travelling requirement.
The prior art does not all account for vehicle in practical driving procedure locating for vehicle for the control of steering torque
Ambient condition, but present inventor has found during practicing the application: road surface levelness in vehicle operation
Difference influence whether torsion steer phenomenon so that conventional steering torque control program can not be suitable for all driver training grounds
Scape causes the precision of Vehicular turn moment of torsion control undesirable.
Summary of the invention
In view of this, the present invention is directed to propose a kind of Vehicular turn torque control method, device and electric car, at least
It solves the problems, such as to cause Vehicular turn torque control precision undesirable due to the influence because of road level degree to torsion steer phenomenon.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of Vehicular turn torque control device, comprising: acquiring unit, for obtaining the first work operating parameter of vehicle
With road level degree, wherein the first work operating parameter can indicate that correspond to left and right drive shaft torque difference first is reversed
Torque；Total reactive torque determination unit, for determining the total reactive torque for corresponding to current working, wherein total reactive torque
Including first reactive torque and the second reactive torque relevant to the road level degree；Steering balance torque determines single
Member determines steering balance torque value for being based on total reactive torque；And steering balance torque applying unit, it is used for root
According to the steering balance torque value, steering balance torque corresponding with the steering balance torque value is applied to the vehicle by control
?.
Further, the steering balance torque applying unit includes: detection module of slipping out of the hand, for detecting the vehicle
Whether steering wheel is in the state of slipping out of the hand not operated；First steering balance torque applies module, if at the steering wheel
In the state of slipping out of the hand, then gradually apply the steering balance torque that peak value is the steering balance torque value with first rate
To the vehicle；And second steering balance torque apply module, if being not at the state of slipping out of the hand for the steering wheel,
Gradually apply the steering balance torque that peak value is the steering balance torque value to the vehicle with the second rate, wherein institute
First rate is stated greater than second rate.
Further, the Vehicular turn torque control device further include: yaw velocity acquiring unit, for obtaining
State the yaw velocity of vehicle；State detection unit judges that the vehicle is for the change rate based on the yaw velocity
It is no to be in straight-going state；Unit is resetted, if being not in straight-going state for the vehicle, obtains the first work of vehicle again
Operating parameter and road level degree, and based on the first work operating parameter obtained again and the road level degree weight
It is new to determine steering balance torque and be applied to the vehicle；Stop execution unit, if being in straight trip shape for the vehicle
State then stops executing the Vehicular turn torque control method.
Further, the Vehicular turn torque control device further include: anticipation parameter acquiring unit, for obtaining vehicle
Second work operating parameter, wherein it is described second work operating parameter include vehicle throttle opening information and steering wheel turn
Angle information；Control intention judging unit, for judging whether to need to control turning for vehicle based on the second work operating parameter
To torque；And control trigger unit then triggers for if desired controlling the steering torque of vehicle and obtains the described of the vehicle
First work operating parameter and the road level degree.
Further, the acquiring unit includes: road surface parameter detection module, for detecting in the following parameter of the vehicle
One of or more persons: vehicle angle of heel relative to horizontal direction, front axle or so wheel load difference and front axle or so bearing spring height
Difference；Road level degree determining module determines the road level degree for being based on the parameter detected.
Further, total reactive torque determination unit is for performing the following operations: in the following manner to determine
State the first reactive torque
Second reactive torque is determined based on the road level degree and environment torque model below:
M2=mag sin a*r
Determine total reactive torque value in the following manner
M=M2+M1
Wherein, M indicates total reactive torque value, M1Indicate first reactive torque, M2Indicate second reactive torque,
maIndicate front axle quality, g indicates that acceleration of gravity, a indicate road level degree, Te' indicating drive shaft or so difference in torque, r indicates wheel
Tire returns the positive arm of force, r0Indicate tire rolling radius, L1Indicate distance of the mass center to front axle, B expression front tread；And
The steering balance torque determination unit is used to be based on total reactive torque value and counter balance torque model below,
Determine steering balance torque:
Wherein, TsIndicate steering balance torque, r1Indicate the pitch radius of diverter pinion gear, i indicates power train transmission
Than η indicates transmission efficiency, θ0Indicate that diverter outer tie rod angle, θ indicate the angle of diverter pinion gear and rack shaft, L table
Show steering trapezium arm lengths.
Compared with the existing technology, Vehicular turn torque control device of the present invention has the advantage that
The Vehicular turn torque control device through the invention, considers road surface water in the total reactive torque of determination
Influence of the Pingdu to torsion steer phenomenon, and ensured the accuracy of identified steering balance torque value accordingly, thus calculate
Influence of the road level degree to torque steering can apply steering balance torque for the personalization of road level degree, realize height
The Vehicular turn moment of torsion control of precision.
Another object of the present invention is to propose a kind of Vehicular turn torque control method, at least to solve because of road level
The problem spent the influence to torsion steer phenomenon and cause Vehicular turn torque control precision undesirable.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of Vehicular turn torque control method, comprising: the first work operating parameter and road level degree of vehicle are obtained,
Wherein the first work operating parameter can indicate the first reactive torque corresponding to left and right drive shaft torque difference；It determines and corresponds to
In total reactive torque of current working, wherein total reactive torque include first reactive torque and with the road level
Spend relevant second reactive torque；Based on total reactive torque, steering balance torque value is determined；And it is put down according to described turn to
Weigh torque value, and steering balance torque corresponding with the steering balance torque value is applied to the vehicle by control.
Further, described controlled according to the steering balance torque value will be corresponding turn with the steering balance torque value
Being applied to the vehicle to counter balance torque includes: to detect the steering wheel of the vehicle whether to be in the state of slipping out of the hand not operated；
If the steering wheel is in the state of slipping out of the hand, apply peak value gradually with first rate as the institute of the steering balance torque value
Steering balance torque is stated to the vehicle；And if the steering wheel is not at the state of slipping out of the hand, gradually with the second rate
Applying peak value is the steering balance torque of the steering balance torque value to the vehicle, wherein the first rate is greater than
Second rate.
Further, steering balance torque is applied to the vehicle in described control according to the steering balance torque value
Later, the method also includes: obtain the yaw velocity of the vehicle；Based on the change rate of the yaw velocity, judgement
Whether the vehicle is in straight-going state；If the vehicle is not in straight-going state, the first work fortune of vehicle is obtained again
Row parameter and road level degree, and again based on the first work operating parameter obtained again and the road level degree
It determines steering balance torque and is applied to the vehicle；And if the vehicle is in straight-going state, stops executing institute
State Vehicular turn torque control method.
Further, before the first work operating parameter for obtaining the vehicle and road level degree, the side
Method further include: the second work operating parameter of vehicle is obtained, wherein the throttle that the second work operating parameter includes vehicle is opened
Spend the corner information of information and steering wheel；Based on the second work operating parameter, judge whether the steering for needing to control vehicle
Torque；And if desired control the steering torque of vehicle, then trigger the first work operating parameter for obtaining the vehicle and
The road level degree.
The Vehicular turn torque control method is had compared with the existing technology with above-mentioned Vehicular turn torque control device
Some advantages are identical, and details are not described herein.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies mode and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the flow chart of Vehicular turn torque control method described in embodiment of the present invention；
Fig. 2 is the specific execution flow chart under a preferred embodiment of the S21 in Fig. 1；
Fig. 3 is the inner connecting structure schematic diagram of electric car described in embodiment of the present invention；
Fig. 4 is the flow chart of Vehicular turn torque control method described in another embodiment of the present invention；
Fig. 5 is the structural schematic diagram of Vehicular turn torque control device described in embodiment of the present invention.
Description of symbols:
The total reactive torque determination unit of 501 acquiring unit 502
503 steering balance torque determination unit, 504 steering balance torque applying unit
50 Vehicular turn torque control device, 20 electric car
201 EPS 202 ESP
203 ECM 204 TCU
205 SAS, 206 gyroscope
207 electronics oil step on door
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can
To be combined with each other.
The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiment.
As shown in Figure 1, the flow chart of the Vehicular turn torque control method of one embodiment of the invention, comprising:
S11, the first work operating parameter and road level degree for obtaining vehicle, wherein the first work operating parameter can refer to
Show the first reactive torque corresponding to left and right drive shaft torque difference.
About the specific acquisition modes of the first work operating parameter and road level degree, can be by directly detecting
Acquired, it is also possible to acquired in further determining that by detection other parameters and accordingly, it herein should be without limitation.Specifically
, about the acquisition modes of road level degree, can be one or more of detection following parameter of vehicle: vehicle is relative to water
Square to angle of heel, front axle or so wheel load difference and front axle or so bearing spring difference in height；Further, it is based on ginseng detected
Number is to determine road level degree；For example, it may be detection vehicle angle of heel relative to horizontal direction, and can be directly by the institute
The vehicle of detection angle of heel relative to horizontal direction is determined as road level degree etc..Specifically, about with the first reactive torque
The acquisition modes of corresponding left and right drive shaft torque difference can be and pass through the first running parameter of detection and obtained by further calculating
Arrive, for example, can by detect left and right drive shaft torque and calculating obtained by, can also be detection speed and/or gear simultaneously
As obtained from further calculating etc..
About the trigger timing of acquisition first work operating parameter and road level degree, course changing control is can be and needed
Opportunity is consistent, specifically can be the second work fortune that vehicle is obtained before acquisition first works operating parameter and road level degree
Row parameter, wherein the second work operating parameter includes the throttle opening information of vehicle and the corner information of steering wheel, it is possible to understand that
, which can also include that other can indicate to need to control the parameter information turned to.Then, it is based on
Second work operating parameter, judges whether the steering torque for needing to control vehicle；Specifically, can be when throttle opening information is super
Cross limit value, and the corner information of steering wheel is less than or equal to when limiting angle (such as 5 °), determines and needs to implement to turn to control
System (because vehicle in the straight-going state suddenly accelerated, can generate apparent torque steering phenomenon), correspondingly it needs to be determined that control
The steering torque of vehicle.If desired the steering torque for controlling vehicle then triggers the first work operating parameter for obtaining vehicle and road
Face levelness；And if not needing the steering torque of control vehicle, stop course changing control operation.
S12, determine correspond to current working total reactive torque, wherein total reactive torque include the first reactive torque and with
Relevant second reactive torque of road level degree.
About the specific method of determination of the first reactive torque and the second reactive torque value, can be based on pre-established model
Calculate it is obtained, be also possible to it is obtained based on the inquiry operation to the mapping table demarcated in advance, be not limited thereto.?
Total reactive torque in the present embodiment in addition to include by the first work operating parameter caused by the first reactive torque other than, may be used also
With include by road level degree caused by the second reactive torque.As a result, identified total reactive torque can be personalized
Driving Scene corresponding to different road level degree.
S13, it is based on total reactive torque, determines steering balance torque value.
As described above, correspond to total reactive torque, identified steering balance torque value also can personalization correspond to
The Driving Scene of different road level degree has ensured the accuracy of identified steering balance torque value accordingly.
S14, according to steering balance torque value, steering balance torque corresponding with the steering balance torque value is applied in control
Add to vehicle.
Road level degree is considered during course changing control as a result, to the influence degree of torsion steer phenomenon, in fact
High-precision Vehicular turn moment of torsion control is showed.
Preferably, after S14, Vehicular turn torque control method can also include: the yaw velocity for obtaining vehicle,
And the change rate based on yaw velocity, judge whether vehicle is in straight-going state；Wherein, if vehicle is not in straight-going state,
The the first work operating parameter and road level degree of vehicle are then obtained again, and based on the first work operation ginseng obtained again
Several and road level degree redefines steering balance torque and is applied to vehicle；And if vehicle is in straight-going state,
Stop executing Vehicular turn torque control method.In the preferred embodiment, determining that vehicle needs to implement course changing control, and real
After applying the balance control of single steering torque, whether detection vehicle also needs further course changing control, then further again
It determines steering balance torque, and accordingly implements steering torque balance control, it is thus achieved that the monitoring to Vehicular turn operating condition, pole
The earth reduces the probability that torsion steer phenomenon occurs in vehicle.
During present inventor practices the application, it is found that current wheel steering system is for driver
It is no slip out of the hand steering wheel when corresponding application steering balance torque strategy it is also different, be characterized in particular in: current Vehicular turn
System driver be in both hands off-direction disk slip out of the hand state when, control response is slow, cause from apply steering balance torque
It is longer that the time required for balancing is reached to vehicle；On the other hand, driver be in it is non-slip out of the hand state when, control response mistake
Fastly, cause the torque of steering wheel to be mutated, influence judgement of the driver to safety operation, will appear driver under extreme case because of behaviour
Make excessively to generate safety problem.
In view of this, a kind of preferred embodiment as embodiment illustrated in fig. 1 method, as shown in Fig. 2, the S14 in Fig. 1
Can specifically include following steps: whether S141, the steering wheel for detecting vehicle are in the state of slipping out of the hand not operated；If S142,
Steering wheel is in state of slipping out of the hand, then gradually applies peak value using first rate as the counter balance torque of steering balance torque value to vehicle；
And if S143, steering wheel are not at the state of slipping out of the hand, and gradually apply peak value as the flat of steering balance torque value using the second rate
Torque weigh to vehicle, wherein first rate is greater than the second rate.It is monitored as a result, to whether driver is in the state of slipping out of the hand,
And state of being slipped out of the hand in real time according to driver carries out difference control, enables and reduces vehicle arrival balance and linear rows when slipping out of the hand
The time sailed, and while slipping out of the hand, are able to ascend driving safety performance.
As shown in figure 3, the inner connecting structure of the electric car 20 of one embodiment of the invention, including both ends are separately connected height
EPS (Electronic Power Steering, the electric power steering control of position datawire CAN-H and low data line CAN-L
Unit processed) 201, ((Electronic Stability Program, Electronics stability program control unit) 202, ECM ESP
(Engine Control Module, control unit of engine) 203 and TCU (Transmission Control Unit, speed change
Device control unit) 204, SAS (Steering Angle Sensor, rotary angle transmitter) 205, and the gyro of connection ESP 202
The electronics oil of instrument 206 and connection ECM 203 step on door 207.Wherein, Vehicular turn torque control method shown in FIG. 1 can be applied
It can be communicated with each other by CAN network in EPS 201 and above-mentioned each unit.Specifically, gyroscope 206 can detecte vehicle
Yaw angle, vehicle inclination angle relative to horizontal direction (also referred to as vehicle levelness), electronics oil is stepped on door 207 and can be adopted
Collect throttle opening information, ESP 202 can acquire the vehicle speed information of vehicle, and ECM 203 (and/or MCU micro-control unit) can be with
The torque information of vehicle is acquired, TCU 204 can acquire the gear information of vehicle, and SAS 205 can acquire the steering wheel of vehicle
Corner information and EPS 201 can be received from CAN network one of above-mentioned multiple units parameter information collected or
More persons.
It should be noted that vehicle can be applied with given pace and be turned when driver suddenly accelerates in starting to walk or driving at a constant speed
To counter balance torque to eliminate torsion steer phenomenon, to enable straight line travel.And vehicle in the embodiment shown in fig. 3
Type is electric car, because acceleration torque of the electric car when accelerating can be much larger than traditional internal-combustion engines vehicle, so that vehicle
The steer phenomenon that generates is clearly when suddenly accelerating.Therefore, technical solution provided by the present invention is applied in electric car
The upper acquired improvement for torsion steer phenomenon, which will be much larger than, to be applied acquired by traditional internal-combustion engines vehicle
Improvement.
As shown in figure 4, the Vehicular turn torque control method of another embodiment of the present invention, comprising:
S41, EPS obtain throttle opening information, and whether calculation of throttle aperture change rate is more than limit value.
Specifically, ECM or MCU calculation of throttle aperture change rate simultaneously leads to when can be driver and suddenly stepping on efp
Cross CAN network and be sent to EPS, after accelerator open degree change rate is more than limit value, be determined as it is anxious step on, turn to control for further triggering
The condition of function processed；Correspondingly, it is such as less than limit value, then not Trigger Function.
S42, when accelerator open degree change rate be more than limit value when, EPS judge current steering wheel angle whether meet function touch
Clockwork spring part.
Specifically, can be when accelerator open degree change rate is more than limit value, EPS sends SAS by CAN network
Angular signal is further judged, as whether steering wheel angle is less than or equal to 5 °；If also, steering wheel angle be less than or
Equal to 5 °, then illustrates that driver is straight trip for the driving intention of vehicle, in order to avoid torsion steer phenomenon, should trigger at this time
Steering torque control method provided by the embodiment of the present invention；In addition, if steering wheel angle be greater than 5 °, illustrate driver for
The driving intention of vehicle is to turn to, and is contemplated that the operation of driver is intended at this time, implements steering torque control without that should trigger
Function.
S43, when EPS judges whether current steering wheel angle conforms to a predetermined condition, acquire following parameter information: speed letter
Breath, vehicle levelness, output torque and/or current shift.
It is understood that above-mentioned vehicle levelness collected can also be can be used in determining road level degree by other
Parameter substituted, such as: front axle or so wheel load difference and/or front axle or so bearing spring difference in height etc..
S44, EPS calculate steering balance torque value according to above-mentioned parameter information collected.
Correspond to specifically, can be and determine in the following manner such as vehicle speed information, the vehicle operation fortune of current shift
First reactive torque of row parameter:
Vehicle levelness is determined as road level degree, and is determined based on road level degree and environment torque model below
By the second reactive torque caused by road level degree:
M2=mag sin a*r
First reactive torque and the second reactive torque are added, with the total reactive torque value of determination:
M=M2+M1
Wherein, M indicates total reactive torque value, M1Indicate the first reactive torque, M2Indicate the second reactive torque, maBefore expression
Axoplasm amount, g indicate that acceleration of gravity, a indicate road level degree, Te' indicating drive shaft or so difference in torque, r indicates that tire returns just
The arm of force, r0Indicate tire rolling radius, L1Indicate distance of the mass center to front axle, B expression front tread.Wherein, drive shaft or so torque
Poor Te' can be based on one or more of vehicle speed information, current shift and output torque and determine, such as can be directed to
Left and right output torque detected is determined as difference, but its specific method of determination should not limit herein.
Based on total reactive torque value and counter balance torque model below, steering balance torque is determined:
Wherein, TsIndicate steering balance torque, r1Indicate the pitch radius of diverter pinion gear, i indicates power train transmission
Than η indicates transmission efficiency, θ0Indicate that diverter outer tie rod angle, θ indicate the angle of diverter pinion gear and rack shaft, L table
Show steering trapezium arm lengths.
It is highly preferred that can also be by carrying out work operating parameter and different road level of the real vehicle under each accelerating mode
Scale forms mapping table after determining steering balance torque value, is then looked into again based on vehicle in the work operating parameter that actual motion detects
Table obtain steering balance torque value, and can be using this table look-up it is resulting table look-up be worth calibrate based on model calculate it is obtained
Calculated value.
Whether S45, EPS detection direction disk are in the state of slipping out of the hand.
If S461, being in state of slipping out of the hand, it is flat as the steering of steering balance torque value gradually to apply peak value using first rate
Weigh torque.
It is to turn to put down to be less than the second rate of first rate gradually to apply peak value if S462, being not at the state of slipping out of the hand
The steering balance torque of weighing apparatus torque value.
If slipping out of the hand state specifically, can be steering wheel and be in, will calculate obtained steering balance torque value with
The rate of 100%/100ms reaches steering balance torque value (i.e. the 100% of reach to peak value is arrived after 100ms), is reached with faster rate
Straight travel state；If steering wheel is in non-state of slipping out of the hand, will calculate obtained steering balance torque value with 100%/
The rate of 1000ms reaches steering balance torque value (i.e. arriving the 100% of reach to peak value after 1000ms) and is ensured with reducing torque mutation
Driving safety.
S47, EPS acquire the change rate of yaw velocity again.
Specifically, can be after the steering balance torque effect of S461 or S462 is completed, EPS by detecting again
Yaw velocity transmitted by ESP, then ESP calculates the change rate of the yaw velocity, to judge whether vehicle is in straight trip
State.
S48, EPS judge whether the change rate of yaw angle is less than target value.
It when the change rate of yaw angle is less than or equal to target value, determines that vehicle is in straight-going state, should stop turning at this time
It is operated to control；On the other hand, when the change rate of yaw angle is greater than target value, S43 is jumped to determine steering balance again
Torque, and apply the torque to vehicle again, just stop turning to control when the change rate of yaw angle is less than or equal to target value
System operation.
In embodiments of the present invention, by calculating influence of the road level degree to torque steering, it is existing to improve torque steering
As so that torque steering control precision is improved；Also, it is monitored to whether driver slips out of the hand, and according to real-time status
Difference control is carried out, enables the time for reducing straight-line travelling when slipping out of the hand, it is non-to be able to ascend driving safety performance when slipping out of the hand.
As shown in figure 5, the Vehicular turn torque control device 50 of another embodiment of the present invention, comprising:
Acquiring unit 501, for obtaining the first work operating parameter and road level degree of vehicle, wherein first work
The first reactive torque for corresponding to left and right drive shaft torque difference can be indicated by making operating parameter；
Total reactive torque determination unit 502, for determining the total reactive torque for corresponding to current working, wherein described total anti-
It include first reactive torque and the second reactive torque relevant to the road level degree to torque；
Steering balance torque determination unit 503 determines steering balance torque value for being based on total reactive torque；
Steering balance torque applying unit 504, for according to the steering balance torque value, control will be with the steering balance
The corresponding steering balance torque of torque value is applied to the vehicle.
In some embodiments, the steering balance torque applying unit 504 includes: detection module of slipping out of the hand, for examining
Whether the steering wheel for surveying the vehicle is in the state of slipping out of the hand not operated；First steering balance torque applies module, if for
The steering wheel is in the state of slipping out of the hand, then gradually applying peak value with first rate is described in the steering balance torque value
Steering balance torque is to the vehicle；And second steering balance torque apply module, if being not at institute for the steering wheel
State the state of slipping out of the hand, then with the second rate gradually apply peak value for the steering balance torque value the steering balance torque to institute
Vehicle is stated, wherein the first rate is greater than second rate.
In some embodiments, the Vehicular turn torque control device 50 further include: yaw velocity acquiring unit,
For obtaining the yaw velocity of the vehicle；State detection unit, for the change rate based on the yaw velocity, judgement
Whether the vehicle is in straight-going state；It resets unit and obtains vehicle again if being not in straight-going state for the vehicle
The first work operating parameter and road level degree, and based on the first work operating parameter obtained again and the road
Face levelness redefines steering balance torque and is applied to the vehicle；Stop execution unit, if being used for the vehicle
In straight-going state, then stop executing the Vehicular turn torque control method.
In some embodiments, the Vehicular turn torque control device 50 further include: anticipation parameter acquiring unit is used
In obtain vehicle second work operating parameter, wherein it is described second work operating parameter include vehicle throttle opening information and
The corner information of steering wheel；Control intention judging unit, for judging whether to need to control based on the second work operating parameter
The steering torque of vehicle processed；And control trigger unit then triggers described in acquisition for if desired controlling the steering torque of vehicle
The first work operating parameter of vehicle and the road level degree.
In some embodiments, the acquiring unit 501 includes: road surface parameter detection module, for detecting the vehicle
Or less one or more of parameter: vehicle angle of heel relative to horizontal direction, front axle or so wheel load difference and front axle or so
Bearing spring difference in height；Road level degree determining module determines the road level for being based on the parameter detected
Degree.
In some embodiments, total reactive torque determination unit 502 is for performing the following operations:
Determine first reactive torque in the following manner
Second reactive torque is determined based on the road level degree and environment torque model below:
M2=mag sin a*r
Determine total reactive torque value in the following manner
M=M2+M1
Wherein, M indicates total reactive torque value, M1Indicate first reactive torque, M2Indicate second reactive torque,
maIndicate front axle quality, g indicates that acceleration of gravity, a indicate road level degree, Te' indicating drive shaft or so difference in torque, r indicates wheel
Tire returns the positive arm of force, r0Indicate tire rolling radius, L1Indicate distance of the mass center to front axle, B expression front tread；And
The steering balance torque determination unit 503 is used to be based on total reactive torque value and counter balance torque mould below
Type determines steering balance torque:
Wherein, TsIndicate steering balance torque, r1Indicate the pitch radius of diverter pinion gear, i indicates power train transmission
Than η indicates transmission efficiency, θ0Indicate that diverter outer tie rod angle, θ indicate the angle of diverter pinion gear and rack shaft, L table
Show steering trapezium arm lengths.
The more specific details and technical effect of the Vehicular turn torque control device provided by the embodiment of the present invention,
It is referred to just not repeat herein above for the description of Vehicular turn torque control method.
Hardware processor (hardware processor) Lai Shixian correlation function mould can be passed through in the embodiment of the present invention
Block and unit.On the other hand, the embodiment of the present invention provides a kind of storage medium, is stored thereon with computer program, the program quilt
Processor executes the step of Vehicular turn torque control method as above.
Method provided by the embodiment of the present application can be performed in the said goods, has the corresponding functional module of execution method and has
Beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to method provided by the embodiment of the present application.
The optional embodiment of the embodiment of the present invention is described in detail in conjunction with attached drawing above, still, the embodiment of the present invention is simultaneously
The detail being not limited in above embodiment can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection scope of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the embodiment of the present invention pair
No further explanation will be given for various combinations of possible ways.
It will be appreciated by those skilled in the art that implementing the method for the above embodiments is that can pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that single
Piece machine, chip or processor (processor) execute all or part of the steps of each embodiment the method for the application.And it is preceding
The storage medium stated includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic or disk.
Wherein, any combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, equally should be considered as disclosure of that of the embodiment of the present invention.
In addition, be not intended to limit the invention the foregoing is merely better embodiment of the invention, it is all in this hair
Within bright spirit and principle, any modification, equivalent replacement, improvement and so on should be included in protection scope of the present invention
Within.
Claims (10)
1. a kind of Vehicular turn torque control device, comprising:
Acquiring unit, for obtaining the first work operating parameter and road level degree of vehicle, wherein the first work operation
Parameter can indicate the first reactive torque corresponding to left and right drive shaft torque difference；
Total reactive torque determination unit, for determining the total reactive torque for corresponding to current working, wherein total reactive torque
Including first reactive torque and the second reactive torque relevant to the road level degree；
Steering balance torque determination unit determines steering balance torque value for being based on total reactive torque；And
Steering balance torque applying unit, for according to the steering balance torque value, control will be with the steering balance torque value
Corresponding steering balance torque is applied to the vehicle.
2. Vehicular turn torque control device according to claim 1, which is characterized in that the steering balance torque applies
Unit includes:
It slips out of the hand detection module, whether the steering wheel for detecting the vehicle is in the state of slipping out of the hand not operated；
First steering balance torque applies module, if being in the state of slipping out of the hand for the steering wheel, with first rate by
Gradually apply the steering balance torque that peak value is the steering balance torque value to the vehicle；And
Second steering balance torque applies module, if the state of slipping out of the hand is not at for the steering wheel, with the second rate
Gradually applying peak value is the steering balance torque of the steering balance torque value to the vehicle, wherein the first rate
Greater than second rate.
3. Vehicular turn torque control device according to claim 1, which is characterized in that the Vehicular turn moment of torsion control
Device further include:
Yaw velocity acquiring unit, for obtaining the yaw velocity of the vehicle；
State detection unit judges whether the vehicle is in straight-going state for the change rate based on the yaw velocity；
Reset unit, if being not in straight-going state for the vehicle, again obtain vehicle first work operating parameter and
Road level degree, and steering is redefined based on the first work operating parameter obtained again and the road level degree
Counter balance torque is simultaneously applied to the vehicle；
Stop execution unit, if being in straight-going state for the vehicle, stops executing the Vehicular turn moment of torsion control side
Method.
4. Vehicular turn torque control device according to claim 1, which is characterized in that the Vehicular turn moment of torsion control
Device further include:
Parameter acquiring unit is prejudged, for obtaining the second work operating parameter of vehicle, wherein the second work operating parameter
The corner information of throttle opening information and steering wheel including vehicle；
Control intention judging unit, for judging whether the steering for needing to control vehicle based on the second work operating parameter
Torque；And
It controls trigger unit and then triggers first work for obtaining the vehicle for if desired controlling the steering torque of vehicle
Make operating parameter and the road level degree.
5. Vehicular turn torque control device described in any one of -4 according to claim 1, which is characterized in that the acquisition is single
Member includes:
Road surface parameter detection module, for detecting one or more of following parameter of the vehicle: vehicle is relative to level side
To angle of heel, front axle or so wheel load difference and front axle or so bearing spring difference in height；
Road level degree determining module determines the road level degree for being based on the parameter detected.
6. Vehicular turn torque control device according to claim 1, it is characterised in that:
Total reactive torque determination unit is for performing the following operations:
Determine first reactive torque in the following manner
Second reactive torque is determined based on the road level degree and environment torque model below:
M2=magsina*r
Determine total reactive torque value in the following manner
M=M2+M1
Wherein, M indicates total reactive torque value, M1Indicate first reactive torque, M2Indicate second reactive torque, maTable
Show front axle quality, g indicates that acceleration of gravity, a indicate road level degree, Te' indicating drive shaft or so difference in torque, r indicates tire
Return the positive arm of force, r0Indicate tire rolling radius, L1Indicate distance of the mass center to front axle, B expression front tread；And
The steering balance torque determination unit is used to be based on total reactive torque value and counter balance torque model below, determines
Steering balance torque:
Wherein, TsIndicate steering balance torque, r1Indicate the pitch radius of diverter pinion gear, i indicates power train transmission ratio, η table
Show transmission efficiency, θ0Indicate that diverter outer tie rod angle, θ indicate that the angle of diverter pinion gear and rack shaft, L indicate to turn to
Trapezoidal arm lengths.
7. a kind of Vehicular turn torque control method, comprising:
The first work operating parameter and road level degree of vehicle is obtained, wherein the first work operating parameter can indicate pair
It should be in the first reactive torque of left and right drive shaft torque difference；
Determine correspond to current working total reactive torque, wherein total reactive torque include first reactive torque and with
Relevant second reactive torque of the road level degree；
Based on total reactive torque, steering balance torque value is determined；And
According to the steering balance torque value, steering balance torque corresponding with the steering balance torque value is applied to by control
The vehicle.
8. Vehicular turn torque control method according to claim 7, which is characterized in that described according to the steering balance
Steering balance torque corresponding with the steering balance torque value is applied to the vehicle and includes: by torque value control
Whether the steering wheel for detecting the vehicle is in the state of slipping out of the hand not operated；
If the steering wheel is in the state of slipping out of the hand, gradually applying peak value with first rate is the steering balance torque value
The steering balance torque to the vehicle；And
If the steering wheel is not at the state of slipping out of the hand, peak value is applied gradually as the steering balance torque with the second rate
The steering balance torque of value is to the vehicle, wherein the first rate is greater than second rate.
9. Vehicular turn torque control method according to claim 7, which is characterized in that put down described according to described turn to
After steering balance torque is applied to the vehicle by weighing apparatus torque value control, the method also includes:
Obtain the yaw velocity of the vehicle；
Based on the change rate of the yaw velocity, judge whether the vehicle is in straight-going state；
If the vehicle is not in straight-going state, the first work operating parameter and road level degree of vehicle are obtained again, and
Steering balance torque is redefined based on the first work operating parameter obtained again and the road level degree and is incited somebody to action
It is applied to the vehicle；And
If the vehicle is in straight-going state, stop executing the Vehicular turn torque control method.
10. Vehicular turn torque control method according to claim 7, which is characterized in that obtain the vehicle described
First work operating parameter and road level degree before, the method also includes:
The second work operating parameter of vehicle is obtained, wherein the second work operating parameter includes the throttle opening information of vehicle
With the corner information of steering wheel；
Based on the second work operating parameter, judge whether the steering torque for needing to control vehicle；And
If desired the steering torque for controlling vehicle then triggers the first work operating parameter for obtaining the vehicle and the road
Face levelness.
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| CN201810168524.XA CN110203281B (en) | 2018-02-28 | 2018-02-28 | Vehicle steering torque control method and device |
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| CN201810168524.XA CN110203281B (en) | 2018-02-28 | 2018-02-28 | Vehicle steering torque control method and device |
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