CN110667700B - Vehicle steering mode switching method and device and electronic equipment - Google Patents
Vehicle steering mode switching method and device and electronic equipment Download PDFInfo
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- CN110667700B CN110667700B CN201911144948.3A CN201911144948A CN110667700B CN 110667700 B CN110667700 B CN 110667700B CN 201911144948 A CN201911144948 A CN 201911144948A CN 110667700 B CN110667700 B CN 110667700B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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Abstract
The application provides a vehicle steering mode switching method, a vehicle steering mode switching device and electronic equipment, wherein the vehicle steering mode switching method comprises the following steps: determining that the rotation angle of a steering gear assembly and the rotation angle of a steering wheel meet a first preset condition; starting the engagement process of the controllable clutch, and controlling a first torque sensor connected with the controllable clutch to measure the real-time torque of the controllable clutch; maintaining the engagement process of the controllable clutch according to the relative relation between the real-time torque and a first preset comparison value; and completing the engaging process of the controllable clutch, gradually stopping any one of the first motor and the second motor from running, and switching the vehicle steering mode from a steer-by-wire mode to a power-assisted steering mode, wherein the first motor controls a steering wheel, and the second motor controls a steering assembly. Compared with the prior art, the method and the device can realize the gentle switching of the steering modes, thereby avoiding the pause and the frustration caused by instantaneous switching.
Description
Technical Field
The application relates to the field of vehicle steering mode switching, in particular to a vehicle steering mode switching method and device and electronic equipment.
Background
In the prior art, the modes of vehicle steering include a steer-by-wire mode and a power steering mode. The steer-by-wire mode refers to the steering wheel and the wheel steering assembly being connected to different motors, respectively, such that when a user manipulates the steering wheel, the motor connected to the steering wheel provides a feedback of the rotational torque, and the steering of the vehicle wheels is controlled by the motor connected to the wheel steering assembly. The power-assisted steering mode refers to that a steering wheel is connected with a wheel steering assembly through power assistance, and the steering wheel is used for steering through power-assisted transmission to control the wheel steering.
In the prior art, the conversion between the steer-by-wire mode and the power-assisted steering mode of a vehicle is usually realized by a clutch, and the clutch is disconnected in a normal running state to keep the steering wheel and wheels decoupled and maintain the steer-by-wire mode; in an emergency, the clutch is engaged to restore the power-assisted connection between the steering wheel and the wheels, and the power steering mode is switched. In the prior art, there is usually no transition when the steer-by-wire mode and the power-assisted steering mode are switched, and the jerk caused by the instantaneous switching brings difficulty to the control of the driver, resulting in the reduction of the driving safety.
Disclosure of Invention
An object of the embodiments of the present application is to provide a method and an apparatus for switching a steering mode of a vehicle, and an electronic device, so as to solve the problem that there is no transition between a steer-by-wire mode and a power steering mode in the prior art.
In a first aspect, an embodiment of the present application provides a vehicle steering mode switching method, configured to switch a steering mode of a vehicle, where the vehicle includes a controller, a steering gear assembly, a steering wheel, and a controllable clutch, where the controller is electrically connected to the steering gear assembly, the steering wheel, and the controllable clutch, respectively, and the controllable clutch is disposed between the steering gear assembly and the steering wheel, and the method includes: determining that the turning angle of the steering gear assembly and the turning angle of the steering wheel meet a first preset condition; starting the engagement process of the controllable clutch, and controlling a first torque sensor connected with the controllable clutch to measure the real-time torque of the controllable clutch; maintaining the engagement process of the controllable clutch according to the relative relation between the real-time torque and a first preset comparison value; and completing the engaging process of the controllable clutch, gradually stopping any one of the first motor and the second motor, and switching the vehicle steering mode from a steer-by-wire mode to a power-assisted steering mode, wherein the first motor controls the steering wheel, and the second motor controls the steering gear assembly.
In the above-described embodiment, the smoothing process from the disengagement to the engagement of the controllable clutch is performed when the rotation angle of the steering assembly and the rotation angle of the steering wheel satisfy the first preset condition, and in this process, the first preset condition needs to be always satisfied. And when a first preset condition is met, measuring the real-time torque of the controllable clutch, maintaining the advance of the engagement process according to the relative relation between the real-time torque and a first preset comparison value until the engagement process of the controllable clutch is completed, stopping the operation of any one of the first motor and the second motor, and completing the switching of the steering mode. Compared with the prior art, the smooth switching of the steering modes can be realized, and the pause and the frustration caused by instantaneous switching are avoided.
In one possible design, the determining that the rotation angle of the steering assembly and the rotation angle of the steering wheel satisfy a first preset condition includes: determining that the following conditions are all continuously satisfied for more than a first length of time: the angle difference between the corner of the steering gear assembly and the corner of the steering wheel is within a preset angle difference range; the angle variation of the turning angle of the steering gear assembly is within a first variation; the angle change amount of the turning angle of the steering wheel is within the second change amount.
In the above embodiment, the first preset condition is specifically: determining that an angle difference between a steering angle of the steering assembly and a steering angle of the steering wheel is within a preset angle difference range, determining that an angle variation of the steering angle of the steering assembly is within a first variation, and simultaneously determining that the angle variation of the steering angle of the steering wheel is within a second variation. The above three conditions are all satisfied and the duration exceeds the first duration. The switching of the steering mode is carried out under the condition that the first preset condition is met, and the steering mode can be smoothly carried out when the first preset condition is met.
In one possible design, the maintaining the engagement progress of the controllable clutch according to the relative relationship between the real-time torque and the first preset comparison value includes: and if the real-time torque is greater than or equal to the first preset comparison value, pausing the engagement process of the controllable clutch and reducing the control voltage of the controllable clutch until the real-time torque is less than the first preset comparison value, and then continuing the engagement process of the controllable clutch.
In the above embodiment, the magnitude of the real-time torque is monitored in real time, and the real-time torque is compared with the first preset comparison value, and when the real-time torque is greater than or equal to the first preset comparison value, the engagement process is suspended and the control voltage of the controllable clutch is reduced until the real-time torque is less than the first preset comparison value. It is further determined that the steering mode can be smoothly performed in the above manner.
In one possible embodiment, the first predetermined comparison value is a fifth-order polynomial rising curve of the maximum transmission torque of the controllable clutch during the engagement process.
In one possible design, before the determining that the rotation angle of the steering assembly and the rotation angle of the steering wheel satisfy the first preset condition, the method further includes: determining that the vehicle speed of the vehicle is lower than a preset threshold value or receiving a first control instruction input by a driver.
In the above embodiment, under some road conditions, the vehicle is easier to be manipulated and driven in the power steering mode, and therefore, when the vehicle speed is detected to be lower than the preset threshold value or the driver actively inputs a control command for indicating the switching of the steering mode, the switching of the steering mode can be performed.
In a second aspect, an embodiment of the present application provides a vehicle steering mode switching method for switching a steering mode of a vehicle, where the vehicle includes a controller, a steering assembly, a steering wheel, and a controllable clutch, the controller is electrically connected to the steering assembly, the steering wheel, and the controllable clutch is disposed between the steering assembly and the steering wheel, and the method includes: controlling the motor which stops running to restart running; controlling the input torque of the first motor and the input torque of the second motor to enable the real-time torque of the controllable clutch to be stabilized at a preset stable value; determining that the real-time torque of the controllable clutch meets a second preset condition; starting a disconnection process of the controllable clutch, and maintaining the real-time torque of the controllable clutch to be smaller than a second preset comparison value; and completing the disconnection process of the controllable clutch, respectively releasing the control on the input torque of the first motor and the input torque of the second motor through fuzzy control, and switching the vehicle steering mode from the power-assisted steering mode to the steer-by-wire mode.
In the above embodiment, the stopped motor is restarted, and the input torques of the first motor and the second motor are controlled in real time, so that the real-time torque of the controllable clutch is stabilized at the preset stable value. And under the condition that the real-time torque meets a second preset condition, starting the disconnection of the controllable clutch, and in the disconnection process, maintaining the real-time torque of the controllable clutch to be smaller than a second preset comparison value until the disconnection process of the controllable clutch is completed. After the disconnection process is completed, the control of the input torque of the first motor and the second motor is released through fuzzy control, so that the steering mode is switched from the power-assisted steering mode to the steer-by-wire mode. Compared with the prior art, the smooth switching of the steering modes can be realized, and the pause and the frustration caused by instantaneous switching are avoided.
In one possible design, the determining that the real-time torque of the controllable clutch satisfies a second preset condition includes: determining that the following conditions are all continuously satisfied for more than a second duration; the real-time torque of the controllable clutch is smaller than a preset torque value; the change amplitude of the real-time torque of the controllable clutch is smaller than the preset amplitude.
In the foregoing embodiment, the second preset condition specifically includes that the real-time torque of the controllable clutch is smaller than the preset torque value, and the variation amplitude of the real-time torque of the controllable clutch is smaller than the preset amplitude. Both of the above conditions are satisfied for a second duration. And when the second preset condition is met, the steering mode is switched, and the steering mode can be ensured to be smoothly carried out when the second preset condition is met.
In one possible embodiment, the second predetermined comparison value is a fifth-order polynomial reduction curve of the maximum transmission torque of the controllable clutch during the disengagement process.
In a third aspect, an embodiment of the present application provides a vehicle steering mode switching apparatus for switching a steering mode of a vehicle, where the vehicle includes a controller, a steering gear assembly, a steering wheel, and a controllable clutch, the controller is electrically connected to the steering gear assembly, the steering wheel, and the controllable clutch, respectively, and the controllable clutch is disposed between the steering gear assembly and the steering wheel, the apparatus includes: a first condition satisfaction module for determining that a corner of the steering gear assembly and a corner of the steering wheel satisfy a first preset condition; the torque measuring module is used for starting the engagement process of the controllable clutch and controlling a first torque sensor connected with the controllable clutch to measure the real-time torque of the controllable clutch; the engagement maintaining module is used for maintaining the engagement progress of the controllable clutch according to the relative relation between the real-time torque and a first preset comparison value; and the joint completion module is used for completing the joint process of the controllable clutch, gradually stopping any one of the first motor and the second motor from running and switching the vehicle steering mode from a steer-by-wire mode to a power-assisted steering mode, wherein the first motor controls the steering wheel, and the second motor controls the steering gear assembly.
In a fourth aspect, an embodiment of the present application provides a vehicle steering mode switching device, configured to switch a steering mode of a vehicle, where the vehicle includes a controller, a steering gear assembly, a steering wheel, and a controllable clutch, the controller is electrically connected to the steering gear assembly, the steering wheel, and the controllable clutch, respectively, and the controllable clutch is disposed between the steering gear assembly and the steering wheel, and the device includes: the motor restarting module is used for controlling the stopped motor to restart operation; the torque stabilizing module is used for controlling the input torque of the first motor and the input torque of the second motor so that the real-time torque of the controllable clutch is stabilized at a preset stable value; the condition meeting module is used for determining that the real-time torque of the controllable clutch meets a second preset condition; the disconnection process starting module is used for starting the disconnection process of the controllable clutch and maintaining the real-time torque of the controllable clutch to be smaller than a second preset comparison value; and the disconnection process completion module is used for completing the disconnection process of the controllable clutch, respectively releasing the control on the input torque of the first motor and the input torque of the second motor through fuzzy control, and switching the vehicle steering mode from the power-assisted steering mode to the steer-by-wire mode.
In a fifth aspect, the present application provides an electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating via the bus when the electronic device is running, the machine-readable instructions when executed by the processor performing the method of the first aspect or any of the alternative implementations of the first aspect.
In a sixth aspect, the present application provides a readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method of the first aspect or any of the optional implementations of the first aspect.
In a seventh aspect, the present application provides a computer program product, which when run on a computer, causes the computer to perform the method of the first aspect or any possible implementation manner of the first aspect.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a vehicle to which a vehicle steering mode switching method provided in an embodiment of the present application is applied;
FIG. 2 is a schematic flow chart illustrating a method for switching a steering mode of a vehicle according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart of a specific implementation of a vehicle steering mode switching method according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a vehicle steering mode switching device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a specific implementation of a vehicle steering mode switching device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a vehicle to which a vehicle steering mode switching method provided in an embodiment of the present application is applied, where the vehicle includes a controller, a steering gear assembly, a steering wheel, and a controllable clutch, the controller is electrically connected to the steering gear assembly, the steering wheel, and the controllable clutch is disposed between the steering gear assembly and the steering wheel.
Optionally, the vehicle further comprises a first rotation angle sensor, a first electric machine, a second rotation angle sensor, a first torque sensor, and a second torque sensor. The first rotating angle sensor is connected between the controller and the steering wheel in series, and the first motor is connected between the controller and the steering wheel in series; the second motor is connected in series between the controller and the steering gear assembly, and the second rotation angle sensor is connected in series between the controller and the steering gear assembly. The controller is also respectively connected with a first torque sensor and a second torque sensor, the first torque sensor is connected between the steering wheel and the controllable clutch in series, and the second torque sensor is connected between the steering gear assembly and the controllable clutch in series. Alternatively, the controller may be an Electronic Control Unit (ECU) in the vehicle.
The first rotation angle sensor can be used for acquiring the rotation angle of the steering wheel and transmitting the rotation angle of the steering wheel to the controller; the second rotational angle sensor may be configured to acquire a rotational angle of the steering gear assembly and transmit the rotational angle of the steering gear assembly to the controller. The controller can drive the first motor to provide torque feedback for the steering wheel and can also drive the second motor to control the steering gear assembly. The first torque sensor may be used to detect torque of the steering wheel and may also be used to detect torque of the controllable clutch and transmit the detected torque to the controller. The second torque sensor may be used to detect torque of the steering gear assembly and transmit the detected torque to the controller. The controllable clutch can realize the decoupling or coupling of the steering wheel and the steering gear assembly under the control of the controller.
Fig. 2 is a vehicle steering mode switching method provided in an embodiment of the present application, configured to switch a steering mode of a vehicle, where the method may be executed by a controller of the vehicle, and specifically includes the following steps S110 to S140:
step S110, determining that the rotation angle of the steering gear assembly and the rotation angle of the steering wheel satisfy a first preset condition.
Alternatively, the first preset condition may be that the following conditions are determined to be both continuously satisfied for more than the first period of time: the angle difference between the corner of the steering gear assembly and the corner of the steering wheel is within a preset angle difference range; the angle variation of the turning angle of the steering gear assembly is within a first variation; the angle change amount of the turning angle of the steering wheel is within the second change amount.
The preset angle difference range, the first variation and the second variation may be the same or different, for example, the preset angle difference range may be 0.5 degrees, and the first variation and the second variation may also be 0.5 degrees. The first time period may be 0.1 s.
And step S120, starting the engagement process of the controllable clutch, and controlling a first torque sensor connected with the controllable clutch to measure the real-time torque of the controllable clutch.
The engagement process of the controllable clutch is a process that the controllable clutch is gradually changed from being separated from the steering wheel and the steering gear assembly into the process that the controllable clutch engages the steering wheel and the steering gear assembly, and in the process, the first torque sensor connected with the controllable clutch can be used for measuring the real-time torque of the controllable clutch in real time.
And step S130, maintaining the engagement process of the controllable clutch according to the relative relation between the real-time torque and a first preset comparison value.
The first predetermined comparison value may be a fifth-order polynomial rising curve of a maximum transmission torque of the controllable clutch during the engagement process.
Alternatively, step S130 may be: if the real-time torque is larger than or equal to the first preset comparison value, the engaging process of the controllable clutch is suspended, the control voltage of the controllable clutch is reduced, the real-time torque of the controllable clutch is gradually reduced along with the reduction of the control voltage until the real-time torque is smaller than the first preset comparison value, and then the engaging process of the controllable clutch is continued.
And monitoring the magnitude of the real-time torque in real time, comparing the real-time torque with a first preset comparison value, and when the real-time torque is greater than or equal to the first preset comparison value, suspending the engagement process and reducing the control voltage of the controllable clutch until the real-time torque is less than the first preset comparison value. It is further determined that the steering mode can be smoothly performed in the above manner.
Step S140, completing an engagement process of the controllable clutch, gradually stopping any one of the first motor and the second motor, and switching a vehicle steering mode from a steer-by-wire mode to a power steering mode, wherein the first motor controls the steering wheel, and the second motor controls the steering gear assembly.
For example, the first motor may be stopped, and since the steering wheel and the steering assembly are coupled by the controllable clutch, the steering assembly moves under the mechanical transmission of the controllable clutch when the driver turns the steering wheel, and the second motor may be used to provide power assistance for the movement of the steering assembly. For example, if the torque of the first motor is 8Nm and the torque of the second motor is 25Nm after the engagement of the controllable clutch is completed, the torque of the first motor decreases to 0Nm and the torque of the second motor increases to 33Nm in the next 0.5 s.
The switching process of the controllable clutch from off to on takes place in the case of a steering angle of the steering assembly and a steering angle of the steering wheel satisfying a first preset condition, in which process the first preset condition needs to be always satisfied. And when a first preset condition is met, measuring the real-time torque of the controllable clutch, maintaining the advance of the engagement process according to the relative relation between the real-time torque and a first preset comparison value until the engagement process of the controllable clutch is completed, stopping the operation of any one of the first motor and the second motor, and completing the switching of the steering mode. Compared with the prior art, the smooth switching of the steering modes can be realized, and the pause and the frustration caused by instantaneous switching are avoided.
Optionally, before step S110, the method may further include the steps of: determining that the vehicle speed of the vehicle is lower than a preset threshold value or receiving a first control instruction input by a driver.
The switching from the steer-by-wire mode to the power-assisted steering mode can be triggered when the vehicle speed is determined to be lower than a preset threshold or a first control instruction of a driver is received, the driving experience of the power-assisted steering mode under certain road conditions is better than that of the steer-by-wire mode, and the vehicle can be controlled and driven more easily when running in the power-assisted steering mode under certain road conditions, so that the steering mode can be switched when the vehicle speed is detected to be lower than the preset threshold or the driver actively inputs the control instruction representing the switching of the steering mode.
Fig. 3 is a specific implementation of a vehicle steering mode switching method provided in an embodiment of the present application, configured to switch a steering mode of a vehicle, where the method may also be executed by a controller, and specifically includes the following steps S210 to S250:
and step S210, controlling the motor which stops running to restart running.
Continuing with the above example, the controller may control the stopped motors to resume operation, e.g., when the control command is given, the torque of the first motor is 0Nm and the torque of the second motor is 33Nm, and then in the next 0.5s, the torque of the first motor is restored to 8Nm and the torque of the second motor is reduced to 25Nm, thereby resuming operation of the first motor.
And step S220, controlling the input torque of the first motor and the input torque of the second motor to enable the real-time torque of the controllable clutch to be stabilized at a preset stable value.
The controller can control the input torques of the first motor and the second motor respectively, so that the real-time torque of the controllable clutch is stabilized at a preset stable value. The preset stable value is a preset torque value, and when the real-time torque of the controllable clutch is close to the preset torque value, the vehicle can realize the smooth switching of the steering mode on the basis of smooth operation. Alternatively, the preset stable value may be specifically 0.
And step S230, determining that the real-time torque of the controllable clutch meets a second preset condition.
The second preset condition specifically includes determining that the following conditions are all continuously satisfied for more than a second duration: the real-time torque of the controllable clutch is smaller than a preset torque value; the change amplitude of the real-time torque of the controllable clutch is smaller than the preset amplitude.
The value of the preset torque value may be the same as or different from the preset amplitude, for example, both the preset torque value and the preset amplitude may be 0.2 Nm. The specific duration of the second duration may be the same as or different from the first duration. Specifically, the second time period may be 0.1 s.
The controller can obtain the real-time torque of the controllable clutch and the change amplitude of the real-time torque through the first torque sensor. And then, the controller compares the real-time torque of the controllable clutch with a preset torque value, compares the change amplitude of the real-time torque with a preset amplitude, and judges that the real-time torque of the controllable clutch meets a second preset condition under the conditions that the real-time torque is smaller than the preset torque value, the change amplitude of the real-time torque is smaller than the preset amplitude and the real-time torque continuously exceeds a second duration.
Step S240, starting a disconnection process of the controllable clutch, and maintaining a real-time torque of the controllable clutch smaller than a second preset comparison value.
The second predetermined comparison value is a fifth-order polynomial descent curve of the maximum transmission torque of the controllable clutch during the disengagement process.
And step S250, completing the disconnection process of the controllable clutch, respectively releasing the control on the input torque of the first motor and the input torque of the second motor through fuzzy control, and switching the vehicle steering mode from the power-assisted steering mode to the steer-by-wire mode.
And restarting the stopped motor, and controlling the input torque of the first motor and the second motor in real time to stabilize the real-time torque of the controllable clutch at a preset stable value. And under the condition that the real-time torque meets a second preset condition, starting the disconnection of the controllable clutch, and in the disconnection process, maintaining the real-time torque of the controllable clutch to be smaller than a second preset comparison value until the disconnection process of the controllable clutch is completed. After the disconnection process is completed, the control of the input torque of the first motor and the second motor is released through fuzzy control, so that the steering mode is switched from the power-assisted steering mode to the steer-by-wire mode. Compared with the prior art, the smooth switching of the steering modes can be realized, and the pause and the frustration caused by instantaneous switching are avoided.
Referring to fig. 4, fig. 4 shows a vehicle steering mode switching device provided in an embodiment of the present application, where the device 300 includes:
a first condition satisfaction module 310 determines that the steering angle of the steering assembly and the steering wheel meet a first predetermined condition.
A torque measurement module 320 configured to initiate an engagement process of the controllable clutch and control a first torque sensor connected to the controllable clutch to measure a real-time torque of the controllable clutch.
And an engagement maintaining module 330 for maintaining the engagement progress of the controllable clutch according to the relative relationship between the real-time torque and a first preset comparison value.
And an engagement completion module 340, configured to complete an engagement process of the controllable clutch, gradually stop operation of any one of the first motor and the second motor, and switch a vehicle steering mode from a steer-by-wire mode to a power steering mode, where the first motor controls the steering wheel, and the second motor controls the steering gear assembly.
The engagement maintaining module 330 is further configured to suspend the engagement process of the controllable clutch and decrease the control voltage of the controllable clutch when the real-time torque is greater than or equal to the first preset comparison value until the real-time torque is less than the first preset comparison value and then continue the engagement process of the controllable clutch.
The device further comprises:
and the starting identification module is used for determining that the speed of the vehicle is lower than a preset threshold value or receiving a first control instruction input by a driver.
Referring to fig. 5, fig. 5 shows a vehicle steering mode switching device provided in an embodiment of the present application, where the device 400 includes:
and a motor resuming module 410 for controlling the motor stopped to resume operation.
And a torque stabilizing module 420, configured to control an input torque of the first motor and an input torque of the second motor, so that a real-time torque of the controllable clutch is stabilized at a preset stable value.
A condition satisfaction module 430 determines that the immediate torque of the controllable clutch satisfies a second preset condition.
A disengagement process initiating module 440 configured to initiate a disengagement process of the controllable clutch and maintain a real-time torque of the controllable clutch less than a second predetermined comparison value.
And a disconnection process completion module 450, configured to complete a disconnection process of the controllable clutch, and switch the vehicle steering mode from the power-assisted steering mode to the steer-by-wire mode by respectively releasing control over the input torque of the first motor and the input torque of the second motor through fuzzy control.
Compared with the prior art, the switching of the steering mode can be realized in the running process of the vehicle, the impact generated in the clutch connection process and disconnection process is greatly reduced, the corner of the steering wheel is responded in time, the impact is not generated to the driving hand feeling of a driver, and the dynamic smooth switching of the steering mode is realized.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (9)
1. A steering mode switching method for a vehicle, the vehicle including a controller, a steering assembly, a steering wheel, and a controllable clutch, the controller being electrically connected to the steering assembly, the steering wheel, and the controllable clutch being disposed between the steering assembly and the steering wheel, the method comprising:
determining that the rotation angle of the steering gear assembly and the rotation angle of the steering wheel meet a first preset condition, wherein the first preset condition comprises: determining that the following conditions are all continuously satisfied for more than a first length of time: the angle difference between the corner of the steering gear assembly and the corner of the steering wheel is within a preset angle difference range; the angle variation of the turning angle of the steering gear assembly is within a first variation; the angle variation of the turning angle of the steering wheel is within a second variation;
starting the engagement process of the controllable clutch, and controlling a first torque sensor connected with the controllable clutch to measure the real-time torque of the controllable clutch;
maintaining the engagement process of the controllable clutch according to the relative relation between the real-time torque and a first preset comparison value;
and completing the engaging process of the controllable clutch, gradually stopping any one of the first motor and the second motor, and switching the vehicle steering mode from a steer-by-wire mode to a power-assisted steering mode, wherein the first motor controls the steering wheel, and the second motor controls the steering gear assembly.
2. The method of claim 1, wherein maintaining engagement progress of the controllable clutch based on the real-time torque relative to a first predetermined comparison value comprises:
and if the real-time torque is greater than or equal to the first preset comparison value, pausing the engagement process of the controllable clutch and reducing the control voltage of the controllable clutch until the real-time torque is less than the first preset comparison value, and then continuing the engagement process of the controllable clutch.
3. The method according to claim 2, characterized in that the first preset comparison value is a fifth order polynomial rise curve of the maximum transmission torque of the controllable clutch during the engagement process.
4. The method of claim 1, wherein prior to the determining that the steering angle of the steering assembly and the steering angle of the steering wheel satisfy a first preset condition, the method further comprises:
determining that the vehicle speed of the vehicle is lower than a preset threshold value or receiving a first control instruction input by a driver.
5. A steering mode switching method for a vehicle, the vehicle including a controller, a steering assembly, a steering wheel, and a controllable clutch, the controller being electrically connected to the steering assembly, the steering wheel, and the controllable clutch being disposed between the steering assembly and the steering wheel, the method comprising:
controlling the motor which stops running to restart running;
controlling the input torque of the first motor and the input torque of the second motor to enable the real-time torque of the controllable clutch to be stabilized at a preset stable value;
determining that the real-time torque of the controllable clutch meets a second preset condition, wherein the second preset condition comprises that: determining that the following conditions are all continuously satisfied for more than a second duration; the real-time torque of the controllable clutch is smaller than a preset torque value; the variation amplitude of the real-time torque of the controllable clutch is smaller than a preset amplitude;
starting a disconnection process of the controllable clutch, and maintaining the real-time torque of the controllable clutch to be smaller than a second preset comparison value;
and completing the disconnection process of the controllable clutch, respectively releasing the control on the input torque of the first motor and the input torque of the second motor through fuzzy control, and switching the vehicle steering mode from the power-assisted steering mode to the steer-by-wire mode.
6. The method according to claim 5, characterized in that the second preset comparison value is a fifth order polynomial descent curve of the maximum transmission torque of the controllable clutch during the disengagement process.
7. A steering mode switching apparatus for a vehicle for switching a steering mode of the vehicle, the vehicle including a controller, a steering gear assembly, a steering wheel, and a controllable clutch, the controller being electrically connected to the steering gear assembly, the steering wheel, and the controllable clutch being disposed between the steering gear assembly and the steering wheel, the apparatus comprising:
a first condition satisfaction module, configured to determine that a corner of the steering wheel assembly and a corner of the steering wheel satisfy a first preset condition, where the first preset condition includes: determining that the following conditions are all continuously satisfied for more than a first length of time: the angle difference between the corner of the steering gear assembly and the corner of the steering wheel is within a preset angle difference range; the angle variation of the turning angle of the steering gear assembly is within a first variation; the angle variation of the turning angle of the steering wheel is within a second variation;
the torque measuring module is used for starting the engagement process of the controllable clutch and controlling a first torque sensor connected with the controllable clutch to measure the real-time torque of the controllable clutch;
the engagement maintaining module is used for maintaining the engagement progress of the controllable clutch according to the relative relation between the real-time torque and a first preset comparison value;
and the joint completion module is used for completing the joint process of the controllable clutch, gradually stopping any one of the first motor and the second motor from running and switching the vehicle steering mode from a steer-by-wire mode to a power-assisted steering mode, wherein the first motor controls the steering wheel, and the second motor controls the steering gear assembly.
8. A steering mode switching apparatus for a vehicle for switching a steering mode of the vehicle, the vehicle including a controller, a steering gear assembly, a steering wheel, and a controllable clutch, the controller being electrically connected to the steering gear assembly, the steering wheel, and the controllable clutch being disposed between the steering gear assembly and the steering wheel, the apparatus comprising:
the motor restarting module is used for controlling the stopped motor to restart operation;
the torque stabilizing module is used for controlling the input torque of the first motor and the input torque of the second motor so that the real-time torque of the controllable clutch is stabilized at a preset stable value;
the condition satisfaction module is used for determining that the real-time torque of the controllable clutch meets a second preset condition, wherein the second preset condition comprises the following steps: determining that the following conditions are all continuously satisfied for more than a second duration; the real-time torque of the controllable clutch is smaller than a preset torque value; the variation amplitude of the real-time torque of the controllable clutch is smaller than a preset amplitude;
the disconnection process starting module is used for starting the disconnection process of the controllable clutch and maintaining the real-time torque of the controllable clutch to be smaller than a second preset comparison value;
and the disconnection process completion module is used for completing the disconnection process of the controllable clutch, respectively releasing the control on the input torque of the first motor and the input torque of the second motor through fuzzy control, and switching the vehicle steering mode from the power-assisted steering mode to the steer-by-wire mode.
9. An electronic device, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating over the bus when the electronic device is operating, the processor executing the machine-readable instructions to perform the method of any one of claims 1-6 when executed.
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| CN112407038A (en) * | 2020-11-25 | 2021-02-26 | 东风汽车有限公司 | Control method of electronic power steering system, storage medium, and electronic device |
| CN113071559B (en) * | 2021-03-23 | 2022-06-10 | 南京航空航天大学 | Switching method and device for vehicle steering mode |
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