CN110203281B - Vehicle steering torque control method and device - Google Patents
Vehicle steering torque control method and device Download PDFInfo
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- CN110203281B CN110203281B CN201810168524.XA CN201810168524A CN110203281B CN 110203281 B CN110203281 B CN 110203281B CN 201810168524 A CN201810168524 A CN 201810168524A CN 110203281 B CN110203281 B CN 110203281B
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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
Abstract
The invention relates to the technical field of vehicle control, and provides a vehicle steering torque control method and a vehicle steering torque control device, wherein the vehicle steering torque control device comprises: an acquisition unit for acquiring a first operational parameter of the vehicle, which is indicative of a first reverse torque corresponding to a left-right drive shaft torque difference, and a road surface levelness; a total reverse torque determination unit for determining a total reverse torque corresponding to a current working condition, wherein the total reverse torque includes a first reverse torque and a second reverse torque related to a road surface levelness; a steering balance torque determination unit for determining a steering balance torque value based on the total reverse torque; and a steering balance torque applying unit for controlling to apply a steering balance torque corresponding to the steering balance torque value to the vehicle according to the steering balance torque value. Therefore, the influence of the road surface levelness on the torque steering is calculated, and the high-precision vehicle steering torque control is realized.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle steering torque control method and device.
Background
At present, a conventional hydraulic power-assisted type of a steering system of an automobile is gradually changed into an electric power-assisted type, and the electric power-assisted type steering system can be accurately controlled through programming due to the output characteristic of a motor, so that various new functions can be expanded and realized.
The torque steer phenomenon is: when the automobile is accelerated suddenly, a yaw moment rotating around the whole automobile in the Z direction is generated due to the rigidity difference of the left and right driving systems, and the moment enables the automobile to generate a torsion steering phenomenon. Therefore, the automobile can generate a balance moment opposite to the above through the torque steering compensation function and the electric steering system, so as to improve the problem and meet the requirement of straight-line running of the automobile.
The prior art controls the steering torque without considering the environmental state of the vehicle during actual driving, but the inventors of the present application found in practicing the present application that: the torque steering phenomenon can be influenced by different road levelness in the vehicle driving process, so that the conventional steering torque control scheme cannot be applied to all driving scenes, and the accuracy of vehicle steering torque control is not ideal.
Disclosure of Invention
In view of the above, the present invention is directed to a method and a device for controlling a steering torque of a vehicle, and an electric vehicle, so as to at least solve the problem of poor control accuracy of the steering torque of the vehicle due to the influence of the road levelness on the torque steering phenomenon.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a vehicle steering torque control device comprising: an acquisition unit configured to acquire a first operational parameter of a vehicle, which is indicative of a first reverse torque corresponding to a left-right drive shaft torque difference, and a road surface levelness; a total reverse torque determination unit for determining a total reverse torque corresponding to a current operating condition, wherein the total reverse torque includes the first reverse torque and a second reverse torque related to the road surface levelness; a steering balance torque determination unit for determining a steering balance torque value based on the total reverse torque; and a steering balance torque applying unit for controlling to apply a steering balance torque corresponding to the steering balance torque value to the vehicle according to the steering balance torque value.
Further, the steering balance torque applying unit includes: a hands-off detection module for detecting whether a steering wheel of the vehicle is in an unoperated hands-off state; a first steering balance torque application module configured to gradually apply the steering balance torque having a peak value as the steering balance torque value to the vehicle at a first rate if the steering wheel is in the hands-off state; and a second steering balance torque application module, configured to gradually apply the steering balance torque to the vehicle with a peak value as the steering balance torque value at a second rate if the steering wheel is not in the hands-off state, where the first rate is greater than the second rate.
Further, the vehicle steering torque control device further includes: a yaw-rate obtaining unit for obtaining a yaw rate of the vehicle; a state detection unit configured to determine whether the vehicle is in a straight-ahead state based on a rate of change in the yaw rate; a readjusting unit for acquiring again a first operating parameter and a road surface levelness of the vehicle if the vehicle is not in a straight-ahead state, and re-determining and applying a steering balance torque to the vehicle based on the acquired first operating parameter and road surface levelness; and the stopping execution unit is used for stopping executing the vehicle steering torque control method if the vehicle is in a straight-ahead state.
Further, the vehicle steering torque control device further includes: the pre-judgment parameter acquisition unit is used for acquiring a second working operation parameter of the vehicle, wherein the second working operation parameter comprises the accelerator opening information of the vehicle and the corner information of a steering wheel; a control intention judging unit for judging whether the steering torque of the vehicle needs to be controlled based on the second working operation parameter; and the control trigger unit is used for triggering and acquiring the first working operation parameter and the road surface levelness of the vehicle if the steering torque of the vehicle needs to be controlled.
Further, the acquiring unit includes: a road surface parameter detection module for detecting one or more of the following parameters of the vehicle: the vehicle inclination angle relative to the horizontal direction, the load difference of left and right front axle wheels and the height difference of left and right front axle suspension springs; a road levelness determination module to determine the road levelness based on the detected parameter.
Further, the total reverse torque determination unit is configured to perform the following operations: determining the first reverse torque by
Determining the second reverse torque based on the road levelness and an ambient torque model of:
M2＝mag sin a*r
determining a total reverse torque value by
M＝M2+M1
Wherein M represents the total reverse torque value, M1Representing said first reverse torque, M2Representing said second reverse torque, maRepresenting front axle mass, g gravity acceleration, a road surface levelness, Te' represents the difference between left and right torques of the driving shaft, r represents the aligning arm of the tire, and r0Indicating the rolling radius of the tire, L1Represents the distance of the center of mass to the front axle, and B represents the front track; and
the steering balance torque determination unit is configured to determine a steering balance torque based on the total reverse torque value and a balance torque model of:
wherein, TsRepresenting the steering balance torque, r1Representing the pitch circle radius of the steering gear pinion, i representing the driveline gear ratio, η representing the transmission efficiency, θ0The angle between the inner and outer tie rods of the steering gear is shown, theta is the angle between the pinion of the steering gear and the rack shaft, and L is the length of the steering trapezoid arm.
Compared with the prior art, the vehicle steering torque control device has the following advantages:
according to the vehicle steering torque control device, the influence of the road surface levelness on the torque steering phenomenon is considered when the total reverse torque is determined, the accuracy of the steering balance torque value determined according to the influence of the road surface levelness on the torque steering is guaranteed, the steering balance torque can be applied in a personalized mode according to the road surface levelness by calculating the influence of the road surface levelness on the torque steering, and the high-precision vehicle steering torque control is achieved.
Another object of the present invention is to provide a method for controlling a steering torque of a vehicle, which at least solves the problem of poor control accuracy of the steering torque of the vehicle due to the influence of the levelness of the road surface on the torque steering phenomenon.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a vehicle steering torque control method, comprising: acquiring a first operating parameter and a road levelness of a vehicle, wherein the first operating parameter is capable of indicating a first reverse torque corresponding to a left and right drive axle torque difference; determining a total reverse torque corresponding to a current operating condition, wherein the total reverse torque comprises the first reverse torque and a second reverse torque related to the road surface levelness; determining a steering balance torque value based on the total reverse torque; and controlling the steering balance torque corresponding to the steering balance torque value to be applied to the vehicle according to the steering balance torque value.
Further, the controlling of the application of the steering balance torque corresponding to the steering balance torque value to the vehicle according to the steering balance torque value includes: detecting whether a steering wheel of the vehicle is in an unoperated hands-off state; gradually applying the steering balance torque to the vehicle with a peak value as the steering balance torque value at a first rate if the steering wheel is in the hands-off state; and gradually applying the steering balance torque having a peak value as the steering balance torque value to the vehicle at a second rate if the steering wheel is not in the hands-off state, wherein the first rate is greater than the second rate.
Further, after the controlling of the steering balance torque to be applied to the vehicle according to the steering balance torque value, the method further includes: acquiring a yaw rate of the vehicle; determining whether the vehicle is in a straight-ahead state based on a rate of change in the yaw rate; if the vehicle is not in a straight-ahead state, acquiring the first working operation parameter and the road surface levelness of the vehicle again, and re-determining and applying steering balance torque to the vehicle based on the acquired first working operation parameter and the road surface levelness; and stopping executing the vehicle steering torque control method if the vehicle is in a straight-ahead state.
Further, before the obtaining the first operating parameter and the road levelness of the vehicle, the method further comprises: acquiring second working operation parameters of the vehicle, wherein the second working operation parameters comprise the accelerator opening information of the vehicle and the corner information of a steering wheel; judging whether the steering torque of the vehicle needs to be controlled or not based on the second working operation parameter; and triggering and acquiring the first working operation parameter and the road surface levelness of the vehicle if the steering torque of the vehicle needs to be controlled.
The vehicle steering torque control method has the same advantages as the vehicle steering torque control device compared with the prior art, and is not repeated herein.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a vehicle steering torque control method according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a detailed implementation of S21 in FIG. 1 according to a preferred embodiment;
fig. 3 is a schematic view of an internal connection structure of an electric vehicle according to an embodiment of the present invention;
FIG. 4 is a flowchart of a vehicle steering torque control method according to another embodiment of the present invention;
fig. 5 is a schematic structural diagram of a vehicle steering torque control device according to an embodiment of the present invention.
Description of reference numerals:
501 acquisition unit 502 total reverse torque determination unit
503 steering balance torque determination unit 504 steering balance torque application unit
50 vehicle steering torque control device 20 electric automobile
201 EPS 202 ESP
203 ECM 204 TCU
205 SAS 206 gyroscope
207 electronic oil pedal door
Detailed Description
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 1, a flowchart of a vehicle steering torque control method according to an embodiment of the present invention includes:
s11, acquiring a first working operation parameter and a road surface levelness of the vehicle, wherein the first working operation parameter can indicate a first reverse torque corresponding to the torque difference of the left and right driving shafts.
The specific manner of acquiring the first operating parameter and the road levelness may be directly acquired by detection, or may be acquired by detecting other parameters and further determining the parameters according to the parameters, and should not be limited herein. Specifically, the acquisition mode of the road surface levelness may be to detect one or more of the following parameters of the vehicle: the vehicle inclination angle relative to the horizontal direction, the load difference of left and right front axle wheels and the height difference of left and right front axle suspension springs; further, determining a road surface levelness based on the detected parameters; for example, the roll angle of the vehicle with respect to the horizontal direction may be detected, and the detected roll angle of the vehicle with respect to the horizontal direction may be directly determined as the road surface levelness or the like. Specifically, the left and right drive shaft torque difference corresponding to the first reverse torque may be obtained by detecting the first operating parameter and further calculating, for example, by detecting the torque of the left and right drive shafts and calculating, or by detecting the vehicle speed and/or the shift position and further calculating, or the like.
The triggering time for acquiring the first working operation parameter and the road levelness may be consistent with the time for which steering control is required, and specifically, the triggering time may be corresponding to the time for acquiring the first working operation parameter and the road levelness, and may be corresponding to a second working operation parameter of the vehicle before acquiring the first working operation parameter and the road levelness, where the second working operation parameter includes accelerator opening information of the vehicle and steering angle information of a steering wheel, and it may be understood that the second working operation parameter may further include other parameter information capable of indicating that steering control is required. Then, judging whether the steering torque of the vehicle needs to be controlled or not based on the second working operation parameter; specifically, it may be determined that steering control needs to be performed when the accelerator opening degree information exceeds a limit value and the rotation angle information of the steering wheel is less than or equal to a limit angle (e.g., 5 °) (because a significant torque steering phenomenon occurs when the vehicle is in a straight-ahead state with rapid acceleration), and accordingly, it is necessary to determine the steering torque for controlling the vehicle. If the steering torque of the vehicle needs to be controlled, triggering to acquire a first working operation parameter and the road surface levelness of the vehicle; and stopping the steering control operation if the steering torque of the vehicle does not need to be controlled.
And S12, determining total reverse torque corresponding to the current working condition, wherein the total reverse torque comprises a first reverse torque and a second reverse torque related to the road surface levelness.
The first and second reverse torque values may be calculated based on a pre-established model, or may be calculated based on a lookup operation of a pre-calibrated mapping table, which is not limited herein. The total reverse torque in the present embodiment may include a second reverse torque caused by the road surface levelness in addition to the first reverse torque caused by the first operating parameter. Thereby, the determined total reverse torque is enabled to personalize the driving scenario for different road levelness.
And S13, determining a steering balance torque value based on the total reverse torque.
As described above, the determined steering balance torque value can also be personalized for different driving scenes of the road surface levelness corresponding to the total reverse torque, and the accuracy of the steering balance torque value determined according to the steering balance torque value is guaranteed.
And S14, controlling to apply the steering balance torque corresponding to the steering balance torque value to the vehicle according to the steering balance torque value.
Therefore, the influence degree of the road surface levelness on the torque steering phenomenon is considered in the steering control process, and the high-precision vehicle steering torque control is realized.
Preferably, after S14, the vehicle steering torque control method may further include: acquiring the yaw velocity of the vehicle, and judging whether the vehicle is in a straight-going state or not based on the change rate of the yaw velocity; wherein, if the vehicle is not in a straight-ahead state, the first working operation parameter and the road surface levelness of the vehicle are acquired again, and the steering balance torque is re-determined and applied to the vehicle based on the acquired first working operation parameter and road surface levelness; and stopping executing the vehicle steering torque control method if the vehicle is in the straight-ahead state. In the preferred embodiment, after determining that the vehicle needs to implement steering control and implementing single steering torque balance control, whether the vehicle needs further steering control is detected, then the steering balance torque is further determined again, and the steering torque balance control is implemented correspondingly, so that the monitoring of the steering condition of the vehicle is realized, and the probability of the torque steering phenomenon of the vehicle is greatly reduced.
In the process of practicing the present application, the inventor of the present application finds that the current vehicle steering system has different strategies for the steering balance torque applied when the driver is not holding the steering wheel, specifically: the existing vehicle steering system has slow control response when a driver is in a hands-off state that hands are separated from a steering wheel, so that the time from the application of steering balance torque to the arrival of the vehicle at balance is long; on the other hand, when the driver is in a hands-off state, the control response is too fast, so that the moment of the steering wheel suddenly changes, the judgment of the driver on the safe operation is influenced, and the safety problem caused by excessive operation of the driver can be caused under an extreme condition.
In view of this, as a preferred implementation of the method in the embodiment shown in fig. 1, as shown in fig. 2, S14 in fig. 1 may specifically include the following steps: s141, detecting whether a steering wheel of a vehicle is in an unoperated hands-off state; s142, if the steering wheel is in the hands-off state, gradually applying the balance torque with the peak value as the steering balance torque value to the vehicle at a first speed; and S143, if the steering wheel is not in the hands-off state, gradually applying the balance torque with the peak value as the steering balance torque value to the vehicle at a second speed, wherein the first speed is greater than the second speed. Therefore, whether the driver is in the hands-off state or not is monitored, and difference control is performed according to the real-time hands-off state of the driver, so that the time for the vehicle to reach balance and run in a straight line can be reduced when the driver is in hands-off, and the driving safety performance can be improved when the driver is in hands-off.
As shown in fig. 3, the internal connection structure of the electric vehicle 20 according to an embodiment of the present invention includes an EPS (Electronic Power Steering) 201, an ESP (Electronic Stability Program) 202, an ECM (Engine Control Unit) 203, a TCU (Transmission Control Unit) 204, an SAS (Steering Angle Sensor) 205, and a gyroscope 206 connected to the ESP 202 and an Electronic accelerator 207 connected to the ECM 203, both ends of which are connected to a high data line CAN-H and a low data line CAN-L, respectively, wherein the vehicle Steering torque Control method shown in fig. 1 may be applied to the EPS 201, and the above units may communicate with each other through a CAN network, specifically, the gyroscope 206 may detect a yaw Angle of the vehicle, a tilt Angle of the vehicle with respect to a horizontal direction (also referred to as a vehicle horizontal degree), the electronic accelerator pedal 207 may collect accelerator opening information, the ESP 202 may collect vehicle speed information, the ECM 203 (and/or MCU micro-control unit) may collect torque information, the TCU 204 may collect gear information, the SAS 205 may collect steering wheel angle information, and the EPS 201 may receive one or more of the parameter information collected by the above units from the CAN network.
It should be noted that, when the driver accelerates rapidly in starting or in constant speed running, the vehicle can apply the steering balance torque at a certain speed to eliminate the torque steering phenomenon, so that the vehicle runs in a straight line. And, the type of vehicle in the embodiment shown in fig. 3 is an electric vehicle, because the acceleration torque of the electric vehicle during acceleration is much larger than that of a conventional internal combustion engine vehicle, so that the steering phenomenon generated during rapid acceleration of the vehicle is very obvious. Therefore, the technical scheme provided by the invention has the advantage that the improvement effect on the torque steering phenomenon when applied to the electric automobile is far greater than that of the conventional internal combustion engine automobile.
As shown in fig. 4, a vehicle steering torque control method according to another embodiment of the present invention includes:
s41, the EPS obtains the accelerator opening information and calculates whether the accelerator opening change rate exceeds a limit value.
Specifically, when the driver steps on the electronic accelerator pedal suddenly, the ECM or the MCU calculates the accelerator opening change rate and transmits the accelerator opening change rate to the EPS through the CAN network, and the accelerator opening change rate is determined to be a sudden step after exceeding a limit value, which is a condition for further triggering the steering control function; accordingly, if the limit value is not exceeded, the function is not triggered.
And S42, when the throttle opening change rate exceeds a limit value, the EPS judges whether the current steering wheel rotation angle meets the function triggering condition.
Specifically, when the throttle opening change rate exceeds a limit value, the EPS further determines a corner signal sent by the SAS through the CAN network, for example, whether the steering wheel corner is less than or equal to 5 °; if the steering wheel angle is less than or equal to 5 °, it indicates that the driving intention of the driver for the vehicle is straight, and in order to avoid the torque steering phenomenon, the steering torque control method provided by the embodiment of the present invention should be triggered; if the steering wheel angle is greater than 5 °, it is indicated that the driver's driving intention for the vehicle is steering, and in this case, the driver's operation intention should be taken into consideration, and the implementation of the steering torque control function should not be triggered.
S43, when the EPS judges whether the current steering wheel angle meets the preset condition, acquiring the following parameter information: vehicle speed information, vehicle levelness, output torque, and/or current gear.
It will be appreciated that the above-described collected vehicle levelness may also be replaced by other parameters that can be used to determine the road levelness, such as: the load difference of the left and right wheels of the front axle and/or the height difference of the left and right suspension springs of the front axle, and the like.
And S44, the EPS calculates the steering balance torque value according to the collected parameter information.
Specifically, the first reverse torque corresponding to the vehicle operating parameter such as vehicle speed information, current gear may be determined by:
determining a vehicle levelness as the road levelness, and determining a second reverse torque caused by the road levelness based on the road levelness and an environmental torque model of:
M2＝mag sin a*r
adding the first and second reverse torques to determine a total reverse torque value:
M＝M2+M1
wherein M represents the total reverse torque value, M1Representing a first reverse torque, M2Representing a second reverse torque, maRepresenting front axle mass, g gravity acceleration, a road surface levelness, Te' represents the difference between left and right torques of the driving shaft, r represents the aligning arm of the tire, and r0Indicating the rolling radius of the tire, L1Representing the distance of the center of mass to the front axle, and B representing the front track. Wherein, the left and right torque difference T of the driving shafte' may be determined based on one or more of vehicle speed information, current gear, and output torque, e.g., may be determined for a difference in detected left and right output torque, but specific to sameThe manner of determination should not be limited herein.
Determining a steering equilibrium torque based on the total reverse torque value and an equilibrium torque model of:
wherein, TsRepresenting the steering balance torque, r1Representing the pitch circle radius of the steering gear pinion, i representing the driveline gear ratio, η representing the transmission efficiency, θ0The angle between the inner and outer tie rods of the steering gear is shown, theta is the angle between the pinion of the steering gear and the rack shaft, and L is the length of the steering trapezoid arm.
More preferably, the steering balance torque value is calibrated by working operation parameters of the actual vehicle under each acceleration condition and different road surface levelness to form a mapping table, then the steering balance torque value is obtained by table lookup based on the working operation parameters detected by the actual operation of the vehicle, and a calculated value obtained by model calculation can be calibrated by using the table lookup value obtained by the table lookup.
S45, EPS detects whether the steering wheel is in the hands-off state.
S461, when the hands are in the hands-off state, the steering balance torque having the peak value as the steering balance torque value is gradually applied at the first rate.
And S462, if the vehicle is not in the hands-off state, gradually applying the steering balance torque with the peak value as the steering balance torque value at a second speed which is smaller than the first speed.
Specifically, if the steering wheel is in the hands-off state, the calculated steering balance torque value may reach the steering balance torque value at a rate of 100%/100 ms (i.e., 100% of the peak value is reached after 100 ms), and may reach the straight-driving state at a faster rate; if the steering wheel is in a non-hands-off state, the calculated steering balance torque value reaches the steering balance torque value at a rate of 100%/1000 ms (namely, reaches 100% of the peak value after 1000 ms), so that the moment sudden change is reduced, and the driving safety is guaranteed.
S47, the EPS collects the change rate of the yaw angular speed again.
Specifically, it may be that after the steering balance torque action of S461 or S462 is completed, the EPS determines whether the vehicle is in a straight-ahead state by detecting the yaw rate transmitted by the ESP again, and then the ESP calculates the rate of change of the yaw rate.
S48, EPS judges whether the change rate of the yaw angle is smaller than a target value.
Determining that the vehicle is in a straight-ahead state when the rate of change of the yaw angle is less than or equal to a target value, at which time the steering control operation should be stopped; on the other hand, when the rate of change of the yaw angle is greater than the target value, it jumps to S43 to determine the steering balance torque again and reapply the torque to the vehicle until the steering control operation is stopped when the rate of change of the yaw angle is less than or equal to the target value.
In the embodiment of the invention, the torque steering phenomenon is improved by calculating the influence of the levelness of the road surface on the torque steering, so that the torque steering control precision is improved; and whether the driver takes off the hands or not is monitored, and difference control is carried out according to the real-time state, so that the time of straight line driving can be reduced when the driver takes off the hands, and the driving safety performance can be improved when the driver does not take off the hands.
As shown in fig. 5, a vehicle steering torque control device 50 according to another embodiment of the present invention includes:
an acquisition unit 501 for acquiring a first operational parameter of a vehicle, which is capable of indicating a first reverse torque corresponding to a left-right drive shaft torque difference, and a road surface levelness;
a total reverse torque determination unit 502 for determining a total reverse torque corresponding to a current operating condition, wherein the total reverse torque includes the first reverse torque and a second reverse torque related to the road surface levelness;
a steering balance torque determination unit 503 for determining a steering balance torque value based on the total reverse torque;
a steering balance torque applying unit 504 for controlling the steering balance torque corresponding to the steering balance torque value to be applied to the vehicle according to the steering balance torque value.
In some embodiments, the steering balance torque applying unit 504 includes: a hands-off detection module for detecting whether a steering wheel of the vehicle is in an unoperated hands-off state; a first steering balance torque application module configured to gradually apply the steering balance torque having a peak value as the steering balance torque value to the vehicle at a first rate if the steering wheel is in the hands-off state; and a second steering balance torque application module, configured to gradually apply the steering balance torque to the vehicle with a peak value as the steering balance torque value at a second rate if the steering wheel is not in the hands-off state, where the first rate is greater than the second rate.
In some embodiments, the vehicle steering torque control device 50 further includes: a yaw-rate obtaining unit for obtaining a yaw rate of the vehicle; a state detection unit configured to determine whether the vehicle is in a straight-ahead state based on a rate of change in the yaw rate; a readjusting unit for acquiring again a first operating parameter and a road surface levelness of the vehicle if the vehicle is not in a straight-ahead state, and re-determining and applying a steering balance torque to the vehicle based on the acquired first operating parameter and road surface levelness; and the stopping execution unit is used for stopping executing the vehicle steering torque control method if the vehicle is in a straight-ahead state.
In some embodiments, the vehicle steering torque control device 50 further includes: the pre-judgment parameter acquisition unit is used for acquiring a second working operation parameter of the vehicle, wherein the second working operation parameter comprises the accelerator opening information of the vehicle and the corner information of a steering wheel; a control intention judging unit for judging whether the steering torque of the vehicle needs to be controlled based on the second working operation parameter; and the control trigger unit is used for triggering and acquiring the first working operation parameter and the road surface levelness of the vehicle if the steering torque of the vehicle needs to be controlled.
In some embodiments, the obtaining unit 501 includes: a road surface parameter detection module for detecting one or more of the following parameters of the vehicle: the vehicle inclination angle relative to the horizontal direction, the load difference of left and right front axle wheels and the height difference of left and right front axle suspension springs; a road levelness determination module to determine the road levelness based on the detected parameter.
In some embodiments, the total reverse torque determination unit 502 is configured to perform the following operations:
determining the first reverse torque by
Determining the second reverse torque based on the road levelness and an ambient torque model of:
M2＝mag sin a*r
determining a total reverse torque value by
M＝M2+M1
Wherein M represents the total reverse torque value, M1Representing said first reverse torque, M2Representing said second reverse torque, maRepresenting front axle mass, g gravity acceleration, a road surface levelness, Te' represents the difference between left and right torques of the driving shaft, r represents the aligning arm of the tire, and r0Indicating the rolling radius of the tire, L1Represents the distance of the center of mass to the front axle, and B represents the front track; and
the steering balance torque determination unit 503 is configured to determine a steering balance torque based on the total reverse torque value and the following balance torque model:
wherein, TsRepresenting the steering balance torque, r1Representing the pitch circle radius of the steering gear pinion, i representing the driveline gear ratio, η representing the transmission efficiency, θ0The angle between the inner and outer tie rods of the steering gear is shown, theta represents the pinion and rack shaft of the steering gearL represents the steering trapezoid arm length.
For more specific details and technical effects of the vehicle steering torque control device provided by the embodiment of the present invention, reference may be made to the above description of the vehicle steering torque control method, which is not repeated herein.
In the embodiment of the present invention, the relevant functional modules and units may be implemented by a hardware processor (hardware processor). In another aspect, an embodiment of the present invention provides a storage medium having a computer program stored thereon, the program being executed by a processor to perform the steps of the vehicle steering torque control method as above.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, various different implementation manners of the embodiments of the present invention may also be combined arbitrarily, and the embodiments of the present invention should also be regarded as disclosed in the embodiments of the present invention as long as the idea of the embodiments of the present invention is not violated.
In addition, the above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the invention, and any modifications, equivalents, improvements and the like that are made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A vehicle steering torque control device for compensating for torque steering, comprising:
an acquisition unit configured to acquire a first operational parameter of a vehicle, which is indicative of a first reverse torque corresponding to a left-right drive shaft torque difference, and a road surface levelness;
a total reverse torque determination unit for determining a total reverse torque corresponding to a current operating condition, wherein the total reverse torque includes the first reverse torque and a second reverse torque related to the road surface levelness;
a steering balance torque determination unit for determining a steering balance torque value based on the total reverse torque; and
and the steering balance torque applying unit is used for controlling to apply the steering balance torque corresponding to the steering balance torque value to the vehicle according to the steering balance torque value.
2. The vehicle steering torque control device according to claim 1, characterized in that the steering balance torque applying unit includes:
a hands-off detection module for detecting whether a steering wheel of the vehicle is in an unoperated hands-off state;
a first steering balance torque application module configured to gradually apply the steering balance torque having a peak value as the steering balance torque value to the vehicle at a first rate if the steering wheel is in the hands-off state; and
and a second steering balance torque applying module, configured to gradually apply the steering balance torque to the vehicle with a peak value as the steering balance torque value at a second rate if the steering wheel is not in the hands-off state, where the first rate is greater than the second rate.
3. The vehicle steering torque control device according to claim 1, characterized by further comprising:
a yaw-rate obtaining unit for obtaining a yaw rate of the vehicle;
a state detection unit configured to determine whether the vehicle is in a straight-ahead state based on a rate of change in the yaw rate;
a readjusting unit for acquiring again a first operating parameter and a road surface levelness of the vehicle if the vehicle is not in a straight-ahead state, and re-determining and applying a steering balance torque to the vehicle based on the acquired first operating parameter and road surface levelness;
and the stopping execution unit is used for stopping executing the vehicle steering torque control method if the vehicle is in a straight-ahead state.
4. The vehicle steering torque control device according to claim 1, characterized by further comprising:
the pre-judgment parameter acquisition unit is used for acquiring a second working operation parameter of the vehicle, wherein the second working operation parameter comprises the accelerator opening information of the vehicle and the corner information of a steering wheel;
a control intention judging unit for judging whether the steering torque of the vehicle needs to be controlled based on the second working operation parameter; and
and the control trigger unit is used for triggering and acquiring the first working operation parameter and the road surface levelness of the vehicle if the steering torque of the vehicle needs to be controlled.
5. The vehicle steering torque control device according to any one of claims 1 to 4, characterized in that the obtaining unit includes:
a road surface parameter detection module for detecting one or more of the following parameters of the vehicle: the vehicle inclination angle relative to the horizontal direction, the load difference of left and right front axle wheels and the height difference of left and right front axle suspension springs;
a road levelness determination module to determine the road levelness based on the detected parameter.
6. The vehicle steering torque control device according to claim 1, characterized in that:
the total reverse torque determination unit is configured to perform the following operations:
determining the first reverse torque by
Determining the second reverse torque based on the road levelness and an ambient torque model of:
M2＝magsina*r
determining a total reverse torque value by
M＝M2+M1
Wherein M represents the total reverse torque value, M1Representing said first reverse torque, M2Representing said second reverse torque, maRepresenting front axle mass, g gravity acceleration, a road surface levelness, Te' represents the difference between left and right torques of the driving shaft, r represents the aligning arm of the tire, and r0Indicating the rolling radius of the tire, L1Represents the distance of the center of mass to the front axle, and B represents the front track; and
the steering balance torque determination unit is configured to determine a steering balance torque based on the total reverse torque value and a balance torque model of:
wherein, TsRepresenting the steering balance torque, r1Representing the pitch circle radius of the steering gear pinion, i representing the driveline gear ratio, η representing the transmission efficiency, θ0The angle between the inner and outer tie rods of the steering gear is shown, theta is the angle between the pinion of the steering gear and the rack shaft, and L is the length of the steering trapezoid arm.
7. A vehicle steering torque control method for compensating for torque steering, comprising:
acquiring a first operating parameter and a road levelness of a vehicle, wherein the first operating parameter is capable of indicating a first reverse torque corresponding to a left and right drive axle torque difference;
determining a total reverse torque corresponding to a current operating condition, wherein the total reverse torque comprises the first reverse torque and a second reverse torque related to the road surface levelness;
determining a steering balance torque value based on the total reverse torque; and
and controlling to apply steering balance torque corresponding to the steering balance torque value to the vehicle according to the steering balance torque value.
8. The vehicle steering torque control method according to claim 7, characterized in that the controlling of the application of the steering balance torque corresponding to the steering balance torque value to the vehicle in accordance with the steering balance torque value includes:
detecting whether a steering wheel of the vehicle is in an unoperated hands-off state;
gradually applying the steering balance torque to the vehicle with a peak value as the steering balance torque value at a first rate if the steering wheel is in the hands-off state; and
and if the steering wheel is not in the hands-off state, gradually applying the steering balance torque with the peak value as the steering balance torque value to the vehicle at a second speed, wherein the first speed is greater than the second speed.
9. The vehicle steering torque control method according to claim 7, characterized in that, after the controlling of the steering balance torque to be applied to the vehicle in accordance with the steering balance torque value, the method further comprises:
acquiring a yaw rate of the vehicle;
determining whether the vehicle is in a straight-ahead state based on a rate of change in the yaw rate;
if the vehicle is not in a straight-ahead state, acquiring the first working operation parameter and the road surface levelness of the vehicle again, and re-determining and applying steering balance torque to the vehicle based on the acquired first working operation parameter and the road surface levelness; and
and if the vehicle is in a straight-ahead state, stopping executing the vehicle steering torque control method.
10. The vehicle steering torque control method according to claim 7, characterized in that, before said obtaining the first operating parameter and the road surface levelness of the vehicle, the method further comprises:
acquiring second working operation parameters of the vehicle, wherein the second working operation parameters comprise the accelerator opening information of the vehicle and the corner information of a steering wheel;
judging whether the steering torque of the vehicle needs to be controlled or not based on the second working operation parameter; and
and if the steering torque of the vehicle needs to be controlled, triggering and acquiring the first working operation parameter and the road surface levelness of the vehicle.
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| CN111605409B (en) * | 2020-05-13 | 2023-08-25 | 江苏首智新能源技术有限公司 | New energy automobile driving system tooth system control method |
| JP2022018617A (en) * | 2020-07-16 | 2022-01-27 | トヨタ自動車株式会社 | Vehicle control device |
| CN112161818A (en) * | 2020-09-28 | 2021-01-01 | 恒大新能源汽车投资控股集团有限公司 | Rigidity testing method for steering mechanism of vehicle |
| CN112498523B (en) * | 2020-11-16 | 2022-05-03 | 东风柳州汽车有限公司 | Vehicle assembling method and device |
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