CN110626417A - Steering motor control method, steering motor controller, vehicle, and storage medium - Google Patents
Steering motor control method, steering motor controller, vehicle, and storage medium Download PDFInfo
- Publication number
- CN110626417A CN110626417A CN201810664732.9A CN201810664732A CN110626417A CN 110626417 A CN110626417 A CN 110626417A CN 201810664732 A CN201810664732 A CN 201810664732A CN 110626417 A CN110626417 A CN 110626417A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- vehicle speed
- speed value
- power
- steering motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
Abstract
The present disclosure relates to a steering motor control method, a steering motor controller, a vehicle, and a storage medium. The method comprises the following steps: obtaining a current vehicle speed value of the vehicle; determining a current power-assisted gain coefficient of a steering motor of the vehicle according to the current vehicle speed value; and controlling the steering motor to rotate according to the current power-assisted gain coefficient.
Description
Technical Field
The present disclosure relates to the field of vehicle control technologies, and in particular, to a steering motor control method, a steering motor controller, a vehicle, and a storage medium.
Background
An Electronic Hydraulic Power Steering (EHPS) is a common Steering system in a vehicle, and a Steering motor is controlled by a Steering motor controller to rotate, so as to drive Steering fluid to flow, and provide Steering Power in the Steering process of the vehicle. Therefore, how the steering motor controller controls the steering motor is a key factor determining the steering performance of the vehicle.
In the related art, in a power steering pump including a steering motor and a steering pump, a steering operation of a driver on a steering wheel causes a current of the power steering pump to vary, and if the magnitude of the steering operation by the driver is large, the current of the power steering pump increases. The control unit of the power-assisted steering pump monitors the current change of the power-assisted steering pump in real time, and during the low-speed rotation of the power-assisted steering pump, if the current increase amplitude of the power-assisted steering pump exceeds a preset threshold value and the current stabilization duration time exceeds a preset duration time, the power-assisted steering pump is controlled to rotate at a high speed.
Therefore, in the related art, when the rotating speed of the power steering pump does not meet the steering requirement of a driver, the power steering pump control unit controls the power steering pump to rotate at a high speed, the real-time performance is poor, and the steering performance of a vehicle needs to be improved.
Disclosure of Invention
The present disclosure provides a steering motor control method, a steering motor controller, a vehicle, and a storage medium, so as to improve the real-time performance of a power steering system for providing steering power and improve the steering performance of the vehicle.
In order to achieve the above object, a first aspect of embodiments of the present disclosure provides a steering motor control method, including:
obtaining a current vehicle speed value of the vehicle;
determining a current power-assisted gain coefficient of a steering motor of the vehicle according to the current vehicle speed value;
and controlling the steering motor to rotate according to the current power-assisted gain coefficient.
Optionally, before obtaining the current vehicle speed value of the vehicle, the method further comprises:
detecting whether a forced starting switch used for controlling the starting of the steering motor on the vehicle is pressed down by a user;
when the forced starting switch is pressed down by a user, controlling the steering motor to rotate continuously;
obtaining a current vehicle speed value of the vehicle, comprising:
and when the forced starting switch is not pressed down by a user, obtaining the current vehicle speed value.
Optionally, after obtaining the current vehicle speed value, the method further comprises:
when the current vehicle speed value is zero, determining whether the vehicle is in a state of not allowing starting, wherein the state of not allowing starting at least comprises one of the following states: the method comprises the following steps that a starting prevention state is adopted, the current gear of the vehicle is a non-driving gear, a braking priority state is adopted, or a driving motor of the vehicle is in a non-starting state;
controlling the steering motor to stop when the vehicle is determined to be in the state of not allowing starting;
determining a current power-assisted gain coefficient of a steering motor of the vehicle according to the current vehicle speed value, comprising:
and when the vehicle is determined not to be in the state of not allowing starting, or when the current vehicle speed value is not zero, determining the current boosting gain coefficient according to the current vehicle speed value.
Optionally, determining a current power-assisted gain coefficient of a steering motor of the vehicle according to the current vehicle speed value includes:
and inquiring a preset power-assisted gain coefficient curve according to the current vehicle speed value to determine the current power-assisted gain coefficient, wherein the power-assisted gain coefficient curve indicates a mapping relation between the vehicle speed value and the power-assisted gain coefficient.
Optionally, the boost gain coefficient curve is obtained as follows:
sampling the power-assisted gain coefficients of the vehicle under different sample vehicle speed values in the running process of the vehicle to determine the power-assisted gain coefficient corresponding to each sample vehicle speed value;
and according to the performance parameters of the steering motor, adding corresponding allowance on the power-assisted gain coefficient corresponding to each sample vehicle speed value to obtain the power-assisted gain coefficient curve.
Optionally, the method further comprises:
determining a common vehicle speed value range of the vehicle according to the historical vehicle speed value data of the vehicle;
after sampling the power gain coefficients of the vehicle under different sample vehicle speed values to determine the power gain coefficient corresponding to each sample vehicle speed value, the method further includes:
determining the maximum value of the power-assisted gain coefficients corresponding to the sample vehicle speed values within the common vehicle speed value range as a reference power-assisted gain coefficient;
and determining the power-assisted gain coefficient corresponding to each sample vehicle speed value within the common vehicle speed value range as the reference power-assisted gain coefficient.
A second aspect of the embodiments of the present disclosure provides a steering motor control device, including:
the obtaining module is used for obtaining a current vehicle speed value of the vehicle;
the first determination module is used for determining a current power-assisted gain coefficient of a steering motor of the vehicle according to the current vehicle speed value;
and the first control module is used for controlling the steering motor to rotate according to the current power-assisted gain coefficient.
Optionally, the apparatus further comprises:
the detection module is used for detecting whether a forced starting switch used for controlling the starting of the steering motor on the vehicle is pressed down by a user;
the second control module is used for controlling the steering motor to continuously rotate when the forced starting switch is pressed down by a user;
the obtaining module comprises:
and the obtaining submodule is used for obtaining the current vehicle speed value when the forced starting switch is not pressed down by a user.
Optionally, the apparatus further comprises:
a second determination module for determining whether the vehicle is in a state of not allowing starting when the current vehicle speed value is zero, the state of not allowing starting at least comprising one of the following states: the method comprises the following steps that a starting prevention state is adopted, the current gear of the vehicle is a non-driving gear, a braking priority state is adopted, or a driving motor of the vehicle is in a non-starting state;
the third control module is used for controlling the steering motor to stop when the vehicle is determined to be in the state that starting is not allowed;
the first determining module includes:
and the first determining submodule is used for determining the current boosting gain coefficient according to the current vehicle speed value when the vehicle is determined not to be in the state of not allowing starting or the current vehicle speed value is not zero.
Optionally, the first determining module includes:
and the second determining submodule is used for inquiring a preset power-assisted gain coefficient curve according to the current vehicle speed value so as to determine the current power-assisted gain coefficient, wherein the power-assisted gain coefficient curve indicates the mapping relation between the vehicle speed value and the power-assisted gain coefficient.
Optionally, the boost gain coefficient curve is obtained as follows:
sampling the power-assisted gain coefficients of the vehicle under different sample vehicle speed values in the running process of the vehicle to determine the power-assisted gain coefficient corresponding to each sample vehicle speed value;
and according to the performance parameters of the steering motor, adding corresponding allowance on the power-assisted gain coefficient corresponding to each sample vehicle speed value to obtain the power-assisted gain coefficient curve.
Optionally, the apparatus further comprises a third determining module configured to:
determining a common vehicle speed value range of the vehicle according to the historical vehicle speed value data of the vehicle;
determining the maximum value of the power-assisted gain coefficients corresponding to the sample vehicle speed values within the common vehicle speed value range as a reference power-assisted gain coefficient;
and determining the power-assisted gain coefficient corresponding to each sample vehicle speed value within the common vehicle speed value range as the reference power-assisted gain coefficient.
A third aspect of the embodiments of the present disclosure provides a steering motor controller, including:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to perform the steps of the method of the first aspect of the embodiments of the present disclosure.
A fourth aspect of an embodiment of the present disclosure provides a vehicle including:
the vehicle control unit is used for detecting the current vehicle speed value of the vehicle;
the steering motor controller according to the third aspect of the embodiments of the present disclosure is connected to the vehicle controller, and configured to obtain a current vehicle speed value of the vehicle from the vehicle controller, so as to perform the steps of the method according to the first aspect of the embodiments of the present disclosure;
and the steering motor is connected with the steering motor controller and is controlled by the steering motor controller to rotate or stop.
Optionally, the vehicle further comprises:
and the forced starting switch is connected with the steering controller, and the steering controller controls the steering motor to continuously rotate when the forced starting switch is pressed down by a user.
A fifth aspect of the embodiments of the present disclosure provides a computer-readable storage medium on which computer program instructions are stored, which when executed by a processor implement the steps of the method of the first aspect of the embodiments of the present disclosure.
Through the technical scheme, the power-assisted gain coefficient of the motor is automatically adjusted according to the current vehicle speed value of the vehicle, so that the steering motor rotates according to the power-assisted gain coefficient matched with the current vehicle speed value of the vehicle, the real-time matching of the rotation of the steering motor and the vehicle speed value of the vehicle is realized, the real-time performance is enhanced, and the steering performance of the vehicle is improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a schematic illustration of a vehicle provided by an embodiment of the present disclosure.
Fig. 2 is a flowchart of a steering motor control method according to an embodiment of the present disclosure.
FIG. 3 is a schematic diagram of a boost gain factor curve in an embodiment of the present disclosure.
Fig. 4 is another schematic illustration of a power assist gain factor curve in an embodiment of the present disclosure.
Fig. 5 is another flowchart of a steering motor control method according to an embodiment of the present disclosure.
Fig. 6 is a schematic diagram of a steering motor control device provided in an embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Referring to fig. 1, fig. 1 is a schematic view of a vehicle provided by an embodiment of the present disclosure. As shown in fig. 1, a vehicle 100 provided by the embodiment of the present disclosure includes: the system comprises a vehicle control unit 101, a steering motor controller 102 and a steering motor 103, wherein the vehicle control unit 101 is connected with the steering motor controller 102, and the steering motor controller 102 is connected with the steering motor 103.
The vehicle control unit 101 is configured to detect a current vehicle speed value of the vehicle, and the steering motor controller 102 is configured to obtain the current vehicle speed value of the vehicle from the vehicle control unit 101 to execute the steering motor control method in the embodiment of the present disclosure, where the steering motor 103 is controlled by the steering motor controller 102 to rotate or stop.
In one embodiment, as shown in fig. 1, the vehicle control unit 101 is further configured to detect whether the vehicle is in a start-up disallowed state, where the start-up disallowed state includes at least one of the following states: the starting prevention state, the current gear of the vehicle is a non-driving gear, the brake priority state or the driving motor of the vehicle is in a non-starting state. Accordingly, the steering motor controller 102 is configured to obtain a current vehicle speed value of the vehicle and whether the vehicle is in a state where starting is not allowed from the vehicle controller 101 to execute the steering motor control method in the embodiment of the present disclosure, and the steering motor 103 is controlled by the steering motor controller 102 to rotate or stop.
The starting prevention state refers to a state of the vehicle when a starting prevention function of the vehicle is turned on, and includes: a state where the door is opened, a state where a passenger or an article carried by the passenger is caught by the door, and the like. The current gear of the vehicle being the non-driving gear includes: the current gear of the vehicle is neutral gear, reverse gear, parking gear and the like. The brake priority state refers to a state in which the brake priority function of the vehicle is turned on.
In one implementation, as shown in fig. 1, a vehicle 100 provided by an embodiment of the present disclosure may further include: and a forced start switch 104 connected to the steering controller 102, wherein the steering controller 102 controls the steering motor 103 to rotate continuously when the forced start switch 104 is pressed by a user.
In the embodiment of the present disclosure, it is considered that a user has a requirement for forced steering in a process of actually using a vehicle, for example: in the process of first debugging of the vehicle, forced steering is needed when the steering fluid is refilled after the steering motor is replaced, forced steering is needed when the steering fluid is added for the first time, forced steering is needed when the trailer cannot be engaged with a gear due to the fact that the vehicle is in a driving motor fault, or air and the like need to be blown through forced steering after the steering fluid is filled in situ, in order to meet the requirement of forced steering of a user, a forced starting switch 104 is additionally arranged on the vehicle in the embodiment of the disclosure, and the user can press the forced starting switch 104 when the forced steering requirement exists, so that the steering motor controller 102 of the steering motor controller 102 controls the steering motor 103 to continuously rotate, and forced steering is achieved.
The following describes a steering motor control method provided in the embodiments of the present disclosure, which is executed by a steering motor controller, for example: steering motor controller 102 in fig. 1. Referring to fig. 2, fig. 2 is a flowchart of a steering motor control method provided in an embodiment of the present disclosure. As shown in fig. 2, the method comprises the steps of:
step S11: obtaining a current vehicle speed value of the vehicle;
step S12: determining a current power-assisted gain coefficient of a steering motor of the vehicle according to the current vehicle speed value;
step S13: and controlling the steering motor to rotate according to the current power-assisted gain coefficient.
The power-assisted gain coefficient of the steering motor is related to the vehicle speed value of the vehicle, and describes the power-assisted characteristic of the power-assisted steering system of the vehicle under different vehicle speed values. In the embodiment of the disclosure, the power-assisted gain coefficient of the steering motor is multiple, and each power-assisted gain coefficient corresponds to a vehicle speed value. The steering motor controller firstly obtains the current vehicle speed value of the vehicle through the vehicle control unit, then determines a power-assisted gain coefficient corresponding to the current vehicle speed value of the vehicle, namely the current power-assisted gain coefficient, and finally controls the steering motor to rotate according to the current power-assisted gain coefficient.
Wherein, the boosting gain coefficient is marked as K,wherein T represents that the steering torque required currently is actually measured under each vehicle speed value in the process of driving the vehicle on a dry road surface,d represents the diameter of the steering wheel, FmaxThe force applied to the steering wheel by the driver when turning the steering wheel is generally 15 to 20N.
By adopting the technical scheme, the power-assisted gain coefficient of the motor is automatically adjusted according to the current vehicle speed value of the vehicle, so that the steering motor rotates according to the power-assisted gain coefficient matched with the current vehicle speed value of the vehicle, the real-time matching of the rotation of the steering motor and the vehicle speed value of the vehicle is realized, the real-time performance is enhanced, and the steering performance of the vehicle is improved.
In the embodiment of the present disclosure, considering that the current vehicle speed value of the vehicle is changed in real time, in order to determine the assist gain coefficient under different vehicle speed values, step S12 in the embodiment of the present disclosure includes the following steps:
and inquiring a preset power-assisted gain coefficient curve according to the current vehicle speed value to determine the current power-assisted gain coefficient, wherein the power-assisted gain coefficient curve indicates a mapping relation between the vehicle speed value and the power-assisted gain coefficient.
The power-assisted gain coefficient curve shows the mapping relation between the vehicle speed value and the power-assisted gain coefficient, a vehicle speed value is given, the power-assisted gain coefficient curve is inquired, and the power-assisted gain coefficient corresponding to the vehicle speed value can be determined. The boost gain factor curve may be obtained experimentally or by other methods in the related art.
In an example, the assist gain coefficient is denoted as K, and table 1 is a comparison table of vehicle speed values (in km/h) and assist gain coefficients, and represents assist gain coefficients corresponding to different vehicle speed values.
Based on the data in table 1, a curve of the boosting gain factor is plotted as shown in fig. 3, and fig. 3 is a schematic diagram of the boosting gain factor curve in the embodiment of the present disclosure.
TABLE 1 comparison table of speed value (km/h) and booster gain coefficient
| Vehicle speed value | 1.25 | 3.75 | 7.5 | 12.5 | 16.25 | 18.75 | 21.25 | 23.75 | 26.25 |
| K | 5 | 3.75 | 3.35 | 2.975 | 2.825 | 2.65 | 2.475 | 2.325 | 2.215 |
| Vehicle speed value | 28.75 | 31.25 | 33.75 | 37.5 | 42.5 | 47.5 | 55 | 65 | 70 |
| K | 2.015 | 1.918 | 1.725 | 1.675 | 1.525 | 1.375 | 1.225 | 1.075 | 0.925 |
In one embodiment, the boost gain factor curve is obtained as follows:
sampling the power-assisted gain coefficients of the vehicle under different sample vehicle speed values in the running process of the vehicle to determine the power-assisted gain coefficient corresponding to each sample vehicle speed value;
and according to the performance parameters of the steering motor, adding corresponding allowance on the power-assisted gain coefficient corresponding to each sample vehicle speed value to obtain the power-assisted gain coefficient curve.
In the embodiment of the disclosure, firstly, a plurality of vehicle speed values are taken as sample vehicle speed values, and in the running process of a vehicle, the power-assisted gain coefficients of the vehicle under different sample vehicle speed values are sampled to determine the power-assisted gain coefficient corresponding to each sample vehicle speed value, so as to complete sampling. And then, drawing a power-assisted gain coefficient curve according to the data obtained by sampling. Considering that the sampling is obtained for the steering motors on the same vehicle and the performance parameters of different steering motors on different vehicles are different, in order to widen the application range of the drawn power-assisted gain coefficient curve, a corresponding margin is added to the power-assisted gain coefficient corresponding to the vehicle speed value of each sample, and finally, the power-assisted gain coefficient curve is drawn according to the vehicle speed value and the power-assisted gain coefficient corresponding to the vehicle speed value after the margin is added.
After the power gain coefficient curve is drawn, in the process of executing step S12, the power gain coefficient curve is queried according to the current vehicle speed value of the vehicle, and the queried power gain coefficient contains a margin, so that the effect of the steering assistance can be enhanced, and the loss of the power steering system in the process of providing the steering assistance is offset, so that the steering assistance provided by the power steering system meets the actual steering assistance requirement, and the steering performance of the vehicle is improved.
In another embodiment, the method further comprises:
determining a common vehicle speed value range of the vehicle according to the historical vehicle speed value data of the vehicle;
after sampling the power gain coefficients of the vehicle under different sample vehicle speed values to determine the power gain coefficient corresponding to each sample vehicle speed value, the method further includes:
determining the maximum value of the power-assisted gain coefficients corresponding to the sample vehicle speed values within the common vehicle speed value range as a reference power-assisted gain coefficient;
and determining the power-assisted gain coefficient corresponding to each sample vehicle speed value within the common vehicle speed value range as the reference power-assisted gain coefficient. In the embodiment of the present disclosure, considering that the service life of the steering motor is seriously shortened due to the fact that the steering motor is frequently controlled to rotate according to different power gain coefficients to change the steering power, in order to avoid the rapid shortening of the service life of the steering motor, the embodiment of the present disclosure provides to adjust the power gain coefficient corresponding to the sample vehicle speed value in a stable range by using the characteristic that the vehicle speed value of the vehicle is usually kept in the stable range after the sampling is completed.
Firstly, recording data generated in the historical operation process of the vehicle to obtain a historical operation database of the vehicle, then obtaining historical vehicle speed value data of the vehicle from the historical operation database of the vehicle, and determining a common vehicle speed value range of the vehicle according to the historical vehicle speed value data of the vehicle, for example: according to the historical vehicle speed value data of the urban buses and the buses, the vehicle speed values of the urban buses and the buses can be determined to be usually kept between 15km/h and 45km/h, namely the range of the commonly used vehicle speed values is between 15km/h and 45 km/h. Then, the boost gain factor corresponding to each vehicle speed value within the common vehicle speed value range is adjusted. Specifically, the assist gain coefficient corresponding to any vehicle speed value within the normal vehicle speed value range (for example, the vehicle speed value at any end point of the normal vehicle speed value range) is used as a reference assist gain coefficient, and then the assist gain coefficients corresponding to all vehicle speed values within the normal vehicle speed value range are adjusted to the reference assist gain coefficient. And the power-assisted gain coefficient corresponding to the vehicle speed value outside the range of the common vehicle speed value is not adjusted.
For example, taking the usual vehicle speed range of 15km/h-45km/h as an example, the boost gain coefficients corresponding to the vehicle speed values within 15km/h-45km/h in table 1 and fig. 3 are adjusted to obtain the boost gain coefficient curve shown in fig. 4. FIG. 4 is a schematic diagram of a boost gain factor curve in an embodiment of the present disclosure. As shown in FIG. 4, the boost gain factors corresponding to vehicle speed values within 15km/h to 45km/h are the same.
And in the process of executing the step S12, inquiring the power-assisted gain coefficient curve according to the current vehicle speed value of the vehicle, wherein if the current vehicle speed value of the vehicle is within the range of the common vehicle speed value, the inquired power-assisted gain coefficients are the same, so that the power-assisted motor is controlled to rotate according to the same power-assisted gain coefficient, the steering motor is prevented from being frequently controlled to rotate according to different power-assisted gain coefficients, and the service life of the steering motor is prolonged.
In one embodiment, before obtaining the current vehicle speed value of the vehicle, the method further comprises:
detecting whether a forced starting switch used for controlling the starting of the steering motor on the vehicle is pressed down by a user;
when the forced starting switch is pressed down by a user, controlling the steering motor to rotate continuously;
obtaining a current vehicle speed value of the vehicle, comprising:
and when the forced starting switch is not pressed down by a user, obtaining the current vehicle speed value.
The forced start switch is not pressed by default for a vehicle provided with the forced start switch, a user can press the forced start switch when the forced steering is required, and the judgment of whether the forced start switch is pressed or not is prior to the acquisition of the current vehicle speed value of the vehicle in the control process of the steering motor controller on the steering motor.
Referring to fig. 5, fig. 5 is another flowchart of a steering motor control method according to an embodiment of the present disclosure. Firstly, detecting whether a steering forced switch is pressed down by a user, and controlling a steering motor to continuously rotate by a steering motor controller as long as the forced start switch is pressed down by the user no matter whether the current speed value of the vehicle is zero or not and how large the current speed value of the vehicle is, so as to meet the requirement of forced steering of the user; if the forced start switch is not detected to be pressed by the user, step S11 is executed to obtain the current vehicle speed value of the vehicle.
In another embodiment, after step S11, the method further comprises:
when the current vehicle speed value is zero, determining whether the vehicle is in a state of not allowing starting, wherein the state of not allowing starting at least comprises one of the following states: the method comprises the following steps that a starting prevention state is adopted, the current gear of the vehicle is a non-driving gear, a braking priority state is adopted, or a driving motor of the vehicle is in a non-starting state;
controlling the steering motor to stop when the vehicle is determined to be in the state of not allowing starting;
accordingly, step S13 includes:
and when the vehicle is determined not to be in the state of not allowing starting, or when the current vehicle speed value is not zero, determining the current boosting gain coefficient according to the current vehicle speed value.
In the embodiment of the present disclosure, after step S11 is executed and the current vehicle speed value of the vehicle is obtained, different processing is performed according to whether the current vehicle speed value of the vehicle is zero or not. Thus, as shown in FIG. 5, after the step S11 is executed, it is determined whether the current vehicle speed value of the vehicle is zero, and if the current vehicle speed value of the vehicle is not zero, the execution of the steps S12-S13 is continued; if the current vehicle speed value of the vehicle is zero, it is indicated that the current working condition of the vehicle may not need the steering motor to provide the steering power assistance, so that whether the vehicle is in a state of not allowing starting is continuously judged, and if the vehicle is in the state of not allowing starting, the steering motor can be controlled to stop so as to reduce power consumption. Because whether the current speed of the vehicle is zero or not is judged before the rotating motor is controlled to stop, safety accidents caused by stopping of the rotating motor when the current speed of the vehicle is not zero can be prevented, and the safety of the vehicle is enhanced.
The state of not allowing startup has been described above, and the state of not allowing startup at least includes one of the following states: the starting prevention state, the current gear of the vehicle is a non-driving gear, the brake priority state or the driving motor of the vehicle is in a non-starting state, so that the working condition suitable for controlling the steering motor to stop is increased, and the stop time of the steering motor is prolonged.
Based on the same inventive concept, the disclosed embodiments also provide a steering motor control device, which can be applied to a steering motor controller, for example: steering motor controller 102 in fig. 1. Referring to fig. 6, fig. 6 is a schematic diagram of a steering motor control device provided in an embodiment of the present disclosure. As shown in fig. 6, the apparatus 600 includes:
an obtaining module 601, configured to obtain a current vehicle speed value of a vehicle;
a first determining module 602, configured to determine a current power-assisted gain coefficient of a steering motor of the vehicle according to the current vehicle speed value;
and a first control module 603, configured to control the steering motor to rotate according to the current power-assisted gain coefficient.
Optionally, the apparatus further comprises:
the detection module is used for detecting whether a forced starting switch used for controlling the starting of the steering motor on the vehicle is pressed down by a user;
the second control module is used for controlling the steering motor to continuously rotate when the forced starting switch is pressed down by a user;
the obtaining module comprises:
and the obtaining submodule is used for obtaining the current vehicle speed value when the forced starting switch is not pressed down by a user.
Optionally, the apparatus further comprises:
a second determination module for determining whether the vehicle is in a state of not allowing starting when the current vehicle speed value is zero, the state of not allowing starting at least comprising one of the following states: the method comprises the following steps that a starting prevention state is adopted, the current gear of the vehicle is a non-driving gear, a braking priority state is adopted, or a driving motor of the vehicle is in a non-starting state;
the third control module is used for controlling the steering motor to stop when the vehicle is determined to be in the state that starting is not allowed;
the first determining module includes:
and the first determining submodule is used for determining the current boosting gain coefficient according to the current vehicle speed value when the vehicle is determined not to be in the state of not allowing starting or the current vehicle speed value is not zero.
Optionally, the first determining module includes:
and the second determining submodule is used for inquiring a preset power-assisted gain coefficient curve according to the current vehicle speed value so as to determine the current power-assisted gain coefficient, wherein the power-assisted gain coefficient curve indicates the mapping relation between the vehicle speed value and the power-assisted gain coefficient.
Optionally, the boost gain coefficient curve is obtained as follows:
sampling the power-assisted gain coefficients of the vehicle under different sample vehicle speed values in the running process of the vehicle to determine the power-assisted gain coefficient corresponding to each sample vehicle speed value;
and according to the performance parameters of the steering motor, adding corresponding allowance on the power-assisted gain coefficient corresponding to each sample vehicle speed value to obtain the power-assisted gain coefficient curve.
Optionally, the apparatus further comprises a third determining module configured to:
determining a common vehicle speed value range of the vehicle according to the historical vehicle speed value data of the vehicle;
after sampling the power gain coefficients of the vehicle under different sample vehicle speed values to determine the power gain coefficient corresponding to each sample vehicle speed value, the method further includes:
determining the maximum value of the power-assisted gain coefficients corresponding to the sample vehicle speed values within the common vehicle speed value range as a reference power-assisted gain coefficient;
and determining the power-assisted gain coefficient corresponding to each sample vehicle speed value within the common vehicle speed value range as the reference power-assisted gain coefficient.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Based on the same inventive concept, the embodiment of the present disclosure further provides a steering motor controller, including:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to execute the steering motor control method provided by the embodiment of the disclosure.
In an exemplary embodiment, the disclosed embodiments also provide a non-transitory computer-readable storage medium, such as a memory, including instructions executable by a processor of an electronic device to perform the steering motor control method described above. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A steering motor control method, characterized by comprising:
obtaining a current vehicle speed value of the vehicle;
determining a current power-assisted gain coefficient of a steering motor of the vehicle according to the current vehicle speed value;
and controlling the steering motor to rotate according to the current power-assisted gain coefficient.
2. The method of claim 1, wherein prior to obtaining the current vehicle speed value of the vehicle, the method further comprises:
detecting whether a forced starting switch used for controlling the starting of the steering motor on the vehicle is pressed down by a user;
when the forced starting switch is pressed down by a user, controlling the steering motor to rotate continuously;
obtaining a current vehicle speed value of the vehicle, comprising:
and when the forced starting switch is not pressed down by a user, obtaining the current vehicle speed value.
3. The method of claim 1 or 2, wherein after obtaining the current vehicle speed value, the method further comprises:
when the current vehicle speed value is zero, determining whether the vehicle is in a state of not allowing starting, wherein the state of not allowing starting at least comprises one of the following states: the method comprises the following steps that a starting prevention state is adopted, the current gear of the vehicle is a non-driving gear, a braking priority state is adopted, or a driving motor of the vehicle is in a non-starting state;
controlling the steering motor to stop when the vehicle is determined to be in the state of not allowing starting;
determining a current power-assisted gain coefficient of a steering motor of the vehicle according to the current vehicle speed value, comprising:
and when the vehicle is determined not to be in the state of not allowing starting, or when the current vehicle speed value is not zero, determining the current boosting gain coefficient according to the current vehicle speed value.
4. The method of claim 1, wherein determining a current assist gain factor for a steering motor of the vehicle based on the current vehicle speed value comprises:
and inquiring a preset power-assisted gain coefficient curve according to the current vehicle speed value to determine the current power-assisted gain coefficient, wherein the power-assisted gain coefficient curve indicates a mapping relation between the vehicle speed value and the power-assisted gain coefficient.
5. The method of claim 4, wherein the boost gain factor curve is obtained as follows:
sampling the power-assisted gain coefficients of the vehicle under different sample vehicle speed values in the running process of the vehicle to determine the power-assisted gain coefficient corresponding to each sample vehicle speed value;
and according to the performance parameters of the steering motor, adding corresponding allowance on the power-assisted gain coefficient corresponding to each sample vehicle speed value to obtain the power-assisted gain coefficient curve.
6. The method according to claim 4 or 5, characterized in that the method further comprises:
determining a common vehicle speed value range of the vehicle according to the historical vehicle speed value data of the vehicle;
after sampling the power gain coefficients of the vehicle under different sample vehicle speed values to determine the power gain coefficient corresponding to each sample vehicle speed value, the method further includes:
determining the maximum value of the power-assisted gain coefficients corresponding to the sample vehicle speed values within the common vehicle speed value range as a reference power-assisted gain coefficient;
and determining the power-assisted gain coefficient corresponding to each sample vehicle speed value within the common vehicle speed value range as the reference power-assisted gain coefficient.
7. A steering motor controller, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to perform the steps of the method of any one of claims 1-6.
8. A vehicle, characterized by comprising:
the vehicle control unit is used for detecting the current vehicle speed value of the vehicle;
the steering motor controller of claim 7, connected to the vehicle controller, for obtaining a current vehicle speed value of the vehicle from the vehicle controller to perform the steps of the method of any one of claims 1-6;
and the steering motor is connected with the steering motor controller and is controlled by the steering motor controller to rotate or stop.
9. The vehicle of claim 8, further comprising:
and the forced starting switch is connected with the steering controller, and the steering controller controls the steering motor to continuously rotate when the forced starting switch is pressed down by a user.
10. A computer-readable storage medium, on which computer program instructions are stored, which program instructions, when executed by a processor, carry out the steps of the method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810664732.9A CN110626417B (en) | 2018-06-25 | 2018-06-25 | Steering motor control method, steering motor controller, vehicle, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810664732.9A CN110626417B (en) | 2018-06-25 | 2018-06-25 | Steering motor control method, steering motor controller, vehicle, and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110626417A true CN110626417A (en) | 2019-12-31 |
| CN110626417B CN110626417B (en) | 2021-09-03 |
Family
ID=68968626
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810664732.9A Active CN110626417B (en) | 2018-06-25 | 2018-06-25 | Steering motor control method, steering motor controller, vehicle, and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110626417B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008132918A (en) * | 2006-11-29 | 2008-06-12 | Nsk Ltd | Control unit of vehicular electric power steering device |
| JP2009113525A (en) * | 2007-11-01 | 2009-05-28 | Nsk Ltd | Electric power steering device |
| CN102774416A (en) * | 2011-05-09 | 2012-11-14 | 上海汽车集团股份有限公司 | Electric power steering system, steer-by-wire system and vehicle comprising electric power steering system and steer-by-wire system |
| CN103112491A (en) * | 2012-12-28 | 2013-05-22 | 江苏大学 | Electric power steering control system for electric automobiles, device and method therefore |
| CN103802682A (en) * | 2012-11-07 | 2014-05-21 | 现代自动车株式会社 | Method and apparatus for controlling assisted brake of green vehicle |
| JP2016000580A (en) * | 2014-06-12 | 2016-01-07 | マツダ株式会社 | Control device of electric power steering |
| WO2018052036A1 (en) * | 2016-09-16 | 2018-03-22 | 日本精工株式会社 | Electrical power steering device |
| CN107921999A (en) * | 2015-07-22 | 2018-04-17 | 日本精工株式会社 | The control device of electric power-assisted steering apparatus |
| CN108100031A (en) * | 2017-12-21 | 2018-06-01 | 奇瑞商用车（安徽）有限公司 | A kind of electric power-assisted steering apparatus and control method |
-
2018
- 2018-06-25 CN CN201810664732.9A patent/CN110626417B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008132918A (en) * | 2006-11-29 | 2008-06-12 | Nsk Ltd | Control unit of vehicular electric power steering device |
| JP2009113525A (en) * | 2007-11-01 | 2009-05-28 | Nsk Ltd | Electric power steering device |
| CN102774416A (en) * | 2011-05-09 | 2012-11-14 | 上海汽车集团股份有限公司 | Electric power steering system, steer-by-wire system and vehicle comprising electric power steering system and steer-by-wire system |
| CN103802682A (en) * | 2012-11-07 | 2014-05-21 | 现代自动车株式会社 | Method and apparatus for controlling assisted brake of green vehicle |
| CN103112491A (en) * | 2012-12-28 | 2013-05-22 | 江苏大学 | Electric power steering control system for electric automobiles, device and method therefore |
| JP2016000580A (en) * | 2014-06-12 | 2016-01-07 | マツダ株式会社 | Control device of electric power steering |
| CN107921999A (en) * | 2015-07-22 | 2018-04-17 | 日本精工株式会社 | The control device of electric power-assisted steering apparatus |
| WO2018052036A1 (en) * | 2016-09-16 | 2018-03-22 | 日本精工株式会社 | Electrical power steering device |
| CN108100031A (en) * | 2017-12-21 | 2018-06-01 | 奇瑞商用车（安徽）有限公司 | A kind of electric power-assisted steering apparatus and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110626417B (en) | 2021-09-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115140157B (en) | Steering control method and device for vehicle, storage medium and vehicle | |
| US8768592B2 (en) | Reducing the steering torque during braking maneuvers | |
| CN111196311B (en) | Vehicle steering control method and device, controller and vehicle | |
| US8055398B2 (en) | Method of reducing current consumption of electric hydraulic power steering system for vehicle | |
| JP2008132836A (en) | Electric power steering system | |
| CN109835414B (en) | Steering control method, steering control device, vehicle and storage medium | |
| CN109367618B (en) | Electric power steering control method and system | |
| CN111469917B (en) | Vehicle steering control method and device | |
| CN110626417B (en) | Steering motor control method, steering motor controller, vehicle, and storage medium | |
| CN114537339B (en) | Vehicle tire burst control method and device and vehicle | |
| JP4415915B2 (en) | Vehicle control device | |
| US20160096544A1 (en) | Electric steering device | |
| US20230115978A1 (en) | Vehicle control method and device, storage medium, and vehicle | |
| US6305489B1 (en) | Power steering apparatus | |
| JP6143285B2 (en) | Vehicle control device | |
| US10780887B2 (en) | Utility vehicle and method for operating a utility vehicle having a four-wheel drive and a differential lock | |
| CN112193082A (en) | Vehicle control method and device | |
| CN110745124A (en) | Vehicle and brake control method and device thereof | |
| KR101765625B1 (en) | Apparatus and method for controlling torque of mdps system | |
| KR20150020369A (en) | Steering support apparatus and method for parking vehicles | |
| JPH11255134A (en) | Electric hydraulic power steering device | |
| CN117446010B (en) | Vehicle torque compensation method, system, vehicle and storage medium | |
| CN115923534B (en) | Vehicle and energy recovery method and energy recovery device thereof | |
| CN111252068B (en) | Control method and device for electric vehicle and electric vehicle | |
| KR101976907B1 (en) | Control method of Motor Driven Power Steering System |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |