CN110712678B - Control method of vehicle steering system and vehicle thereof - Google Patents
Control method of vehicle steering system and vehicle thereof Download PDFInfo
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- CN110712678B CN110712678B CN201810765130.2A CN201810765130A CN110712678B CN 110712678 B CN110712678 B CN 110712678B CN 201810765130 A CN201810765130 A CN 201810765130A CN 110712678 B CN110712678 B CN 110712678B
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- 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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/062—Details, component parts
- B62D5/064—Pump driven independently from vehicle engine, e.g. electric driven pump
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Abstract
The invention discloses a control method of a vehicle steering system and a vehicle thereof, wherein the steering system comprises a steering motor, and the control method of the vehicle steering system comprises the following steps: acquiring the current running speed of a vehicle and the current steering angular speed of a steering wheel; judging whether the steering wheel enters a preset state or not according to the acquired current steering angular speed; timing when the preset state is determined to be entered, and obtaining the continuous timing time of the preset state; and if the timing time is greater than or equal to the time threshold, calculating a target rotating speed according to the current running speed and the timing time, and adjusting the actual rotating speed of the steering motor according to the target rotating speed. According to the control method of the vehicle steering system, the actual rotating speed of the steering motor can be adjusted in time on the basis of not influencing the steering comfort of a driver, so that the energy consumption is reduced, meanwhile, through double judgment, misjudgment can be reduced, and the control accuracy and reliability of the rotating speed of the steering motor are further improved.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a control method of a vehicle steering system and a vehicle thereof.
Background
In the related art, for example, in a vehicle model such as a passenger vehicle, in order to improve the steering operability of the vehicle, a steering system is generally provided, and when the vehicle is steered, the steering motor is operated at a certain rotation speed to further achieve steering assistance to the wheels, so that a driver can feel good when turning the steering wheel.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a control method for a vehicle steering system, which can adjust the actual rotation speed of a steering motor in time and reduce energy consumption without affecting the steering comfort of a driver.
The invention also provides a vehicle adopting the control method of the vehicle steering system.
According to a control method of a vehicle steering system according to an embodiment of a first aspect of the invention, the steering system including a steering motor, the control method includes the steps of: acquiring the current running speed of a vehicle and the current steering angular speed of a steering wheel; judging whether the steering wheel enters a preset state or not according to the acquired current steering angular speed; timing when the preset state is determined to be entered, and obtaining the continuous timing time of the preset state; and if the timing time is greater than or equal to a time threshold, calculating a target rotating speed according to the current running speed and the timing time, and adjusting the actual rotating speed of the steering motor according to the target rotating speed.
According to the control method of the vehicle steering system of the embodiment of the present invention, it is determined whether the steering wheel enters the preset state according to the current steering angular velocity, and when entering the preset state, calculating to obtain a target rotating speed according to the current running speed and the timing time, further adjusting the actual rotating speed of the steering motor according to the target rotating speed, so that the steering motor can adjust the rotating speed according to the actual running state of the vehicle (such as the state that the vehicle waits for a red light, temporarily stops and the like), thereby achieving the purpose of reducing energy consumption on the basis of ensuring that the steering comfort of a driver is not influenced, and simultaneously, after whether the vehicle enters the preset state or not is judged, the further judgment is carried out through the set time threshold, so that the phenomenon that the rotating speed of the steering motor is reduced due to the fact that the vehicle enters the preset state in a short time is avoided, the misjudgment is caused, and the accuracy and the reliability of the control over the rotating speed of the steering motor are further improved.
According to some embodiments of the invention, when the timing time is greater than or equal to a time threshold, if the current driving speed is the same, the greater the timing time is, the smaller the target rotation speed is; and if the timing time is the same, the larger the current running speed is, the smaller the target rotating speed is.
According to some examples of the present invention, a relationship among the target rotation speed, the current travel vehicle speed, and the timed time satisfies the following table relationship:
wherein T is a time threshold, the unit of timing time is s, the unit of target rotating speed is rpm, and the unit of vehicle speed is km/h.
According to some examples of this disclosure, the time threshold is 1s-2 s.
According to some examples of the invention, after the determining whether the steering wheel enters the preset state according to the acquired current steering angular velocity, the method further includes: and if the preset state is not entered, timing is not carried out.
According to some examples of the invention, the control method further comprises: if the timing time is smaller than the time threshold, or if the preset state is not entered, the actual rotating speed of the steering motor is not adjusted.
According to some embodiments of the present invention, the determining whether the steering wheel enters a preset state according to the obtained current steering angular velocity includes: when the current steering angular velocity is greater than or equal to a steering angular velocity threshold, the steering wheel does not enter the preset state; and when the current steering angular speed is smaller than the steering angular speed threshold value, the steering wheel enters the preset state.
According to some examples of this disclosure, the steering angular velocity threshold is between 2 degrees/second and 3 degrees/second.
According to some embodiments of the invention, the preset state is a static state.
According to some embodiments of the invention, the vehicle steering system comprises: a steering booster; the hydraulic device is connected with the steering booster and the steering motor; and the controller is connected with the steering motor to control the steering motor according to the current running speed of the vehicle and the timing time.
According to some examples of the invention, the hydraulic device comprises: the oil pump respectively with turn to the motor with the oil storage tank links to each other, the oil storage tank with it links to each other to turn to the booster.
According to some examples of the invention, the vehicle steering system further includes a sensor for acquiring a current running vehicle speed of the vehicle and a current steering angular speed of the steering wheel, the sensor being in communication with the controller to cause the controller to control the steering motor according to the running vehicle speed of the vehicle and the timed time.
The vehicle according to the embodiment of the second aspect of the invention includes a vehicle steering system that is controlled using the control method of the vehicle steering system according to the embodiment of the first aspect of the invention.
According to the vehicle provided by the embodiment of the invention, the control method of the vehicle steering system provided by the embodiment of the first aspect of the invention is adopted for control, so that the vehicle has the characteristics of convenience in steering, reliability in control, lower energy consumption and the like.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method of controlling a steering system of a vehicle according to some embodiments of the present invention;
FIG. 2 is a schematic representation of the rotational speed of a steering motor of a vehicle steering system as a function of vehicle speed and timing according to some embodiments of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A control method of a vehicle steering system according to an embodiment of the first aspect of the invention is described below with reference to the drawings.
As shown in fig. 1 and 2, a control method of a vehicle steering system according to an embodiment of the present invention, in which the vehicle steering system includes a steering motor, includes the steps of:
acquiring the current running speed of the vehicle and the current steering angular speed of a steering wheel, and obtaining the actual rotating speed required by a steering motor when the vehicle runs according to the current running speed of the vehicle and the current steering angular speed of the steering wheel;
judging whether the steering wheel of the vehicle enters a preset state or not according to the current steering angular speed of the steering wheel of the vehicle;
when the preset state is determined to be entered, timing is carried out, for example, a timer of a vehicle steering system is started to carry out timing, and the continuous timing time of the preset state is obtained;
if the timing time (namely the duration of the steering wheel after entering the preset state) is greater than or equal to the time threshold, calculating to obtain the target rotating speed of the steering motor according to the current running speed, the timing time of the timer and other parameters, and then adjusting the actual rotating speed of the steering motor according to the target rotating speed, so that the rotating speed of the steering motor is reduced when the steering motor enters the preset state, thereby realizing the dynamic change of the steering motor, and further reducing the energy consumption of the vehicle steering system under the action of not influencing the steering assistance provided by the vehicle steering system.
Thus, according to the control method of the vehicle steering system of the embodiment of the present invention, it is determined whether the steering wheel enters the preset state according to the current steering angular velocity, and when the steering wheel enters the preset state, calculating to obtain a target rotating speed according to the current running speed and the timing time, further adjusting the actual rotating speed of the steering motor according to the target rotating speed, so that the steering motor can adjust the rotating speed according to the actual running state of the vehicle (such as the state that the vehicle waits for a red light, temporarily stops and the like), thereby achieving the purpose of reducing energy consumption on the basis of ensuring that the steering comfort of a driver is not influenced, and simultaneously, after whether the vehicle enters the preset state or not is judged, the further judgment is carried out through the set time threshold, so that the phenomenon that the rotating speed of the steering motor is reduced due to the fact that the vehicle enters the preset state in a short time is avoided, the misjudgment is caused, and the accuracy and the reliability of the control over the rotating speed of the steering motor are further improved.
Referring to fig. 2, in some embodiments of the present invention, the value relationship between the target rotation speed and the current driving vehicle speed and the timing time satisfies the value shown in fig. 2, that is, the target rotation speed is mainly calculated by the current driving vehicle speed and the continuous timing time (i.e., the static time of the steering wheel), wherein the time threshold is T.
When the timing time is less than the time threshold T, if the current running vehicle speed is the same, the target rotation speed of the steering motor does not change along with the change of the timing time, that is, the actual rotation speed output by the steering motor is not adjusted, for example: when the vehicle speed is 0, the actual rotating speed output by the steering motor does not change within the timing time;
when the timing time is greater than or equal to the time threshold, if the current running speed is the same, the target rotating speed of the steering motor is reduced along with the increase of the timing time, namely the larger the timing time is, the smaller the target rotating speed of the steering motor is;
when the timing time is greater than or equal to the time threshold, if the timing time is the same, the target rotating speed of the steering motor is reduced along with the increase of the current running vehicle speed, namely, the larger the current running vehicle speed is, the smaller the target rotating speed of the steering motor is.
Further, the target rotational speed, the current running vehicle speed and the time satisfy the following table relationship,
where T is a time threshold, and the units of the timing time and the time threshold are both seconds(s), the unit of the target rotational speed is revolutions per minute (rpm), and the unit of the vehicle speed is kilometers per hour (km/h).
For example, when the counted time is (T +1) s, that is, the counted time for which the entering of the preset state continues is (time threshold +1) s, and the vehicle speed is 20km/h, the target rotation speed is 1710rpm.
Further, as shown in fig. 2, when the counted time is greater than or equal to the time threshold T, the target rotational speed gradually tends to 0 as the counted time increases if the current running vehicle speed is the same, for example, the target rotational speed gradually decreases as the counted time further increases after the counted time is greater than (T +5) s if the current running vehicle speed is the same;
when the timing time is greater than or equal to the time threshold value T, if the timing time is the same, the target rotating speed gradually tends to 0 along with the increase of the current running vehicle speed, for example, if the timing time is the same, after the current running vehicle speed is greater than 120km/h, the target rotating speed gradually decreases along with the further increase of the current running vehicle speed;
therefore, the target rotating speed can be calculated according to the timing time and the vehicle speed through the table, so that the adjustment of the steering motor is further optimized, the dynamic change of the steering motor is realized, and the energy consumption of a vehicle steering system is reduced.
Further, in order to ensure that the steering wheel of the vehicle enters a preset state stably, reduce erroneous judgment, and ensure that the rotating speed of the steering motor can be adjusted in time according to the state of the steering wheel, so as to achieve a large limited energy saving effect, the time threshold of the vehicle steering system may be any value between 1s and 2s, for example, the time threshold may be 1s, or may also be 1.5s or 2 s.
In some examples of the present invention, when the steering motor is adjusted according to the current running vehicle speed and the current steering angular speed, the method includes adjusting an actual rotation speed of the steering motor according to the calculated target rotation speed of the steering motor, in other words, adjusting the actual rotation speed of the steering motor according to the target rotation speed of the steering motor, which is obtained by parameters such as the current running vehicle speed, the current steering angular speed, and a timing time of a timer, wherein the target rotation speed of the steering motor when the steering motor enters a preset state and the timing time is not less than a time threshold value is less than the actual rotation speed obtained in the step (obtaining the current running vehicle speed of the vehicle and the current steering angular speed of the steering wheel).
In some examples of the present invention, in order to further improve the adaptability between the rotation speed of the steering motor and the actual state of the steering wheel, and thus further reduce the energy consumption, when the actual rotation speed of the steering motor is adjusted according to the target rotation speed, the greater the vehicle running speed is, or the longer the timer count time of the timer is (i.e., the longer the stationary time of the steering wheel entering the preset state is), the smaller the target rotation speed of the steering motor is, that is, the greater the reduction range of the actual rotation speed of the steering motor is.
In some examples of the present invention, after determining whether the steering wheel enters the preset state according to the obtained current steering angular velocity, if the steering wheel does not enter the preset state, the timer of the vehicle steering system does not count time, and the historical timing time of the timer is cleared, so as to ensure that the steering motor of the vehicle steering system can be adjusted differently according to the actual state of the steering wheel, avoid that the previous adjustment data (such as the timing time of the timer) affects the current adjustment, and improve the reliability of the rotation speed adjustment of the steering motor.
In some examples of the invention, in order to ensure the accuracy of the rotation speed adjustment of the steering motor and avoid the influence on the driving comfort caused by the fact that the steering wheel does not enter the preset state or the duration time after the steering wheel enters the preset state is short, the steering power of the vehicle steering system is reduced, if the steering wheel does not enter the preset state or the steering wheel enters the preset state but the timing time is less than the time threshold value, namely the steering wheel is kept in the preset state for a short time, the actual rotation speed of the steering motor is not adjusted, so that the vehicle steering system can provide enough power in the vehicle steering process to ensure the driving comfort.
In some embodiments of the present invention, the step of determining whether the steering wheel enters the preset state according to the obtained current steering angular velocity includes:
when the current steering angular velocity is greater than or equal to the steering angular velocity threshold, it is determined that the steering wheel has not entered the preset state, and when the current steering angular velocity is less than the steering angular velocity threshold, it is determined that the steering wheel has entered the preset state, and the actual rotation speed of the steering motor is adjusted.
It should be noted that the steering angular velocity threshold may be theoretically 0, that is, when the current steering angular velocity is 0, it may be determined that the steering wheel is in a preset state (a static state with an unchanged direction), but because an unavoidable error exists when the vehicle steering system actually obtains parameters such as the current steering angular velocity, the steering angular velocity threshold is actually not 0, so as to ensure the reliability of the rotation speed adjustment of the steering motor.
Further, the preset state is a stationary state, and it is understood that the stationary state is a state in which the steering wheel is not steered, such as a state in which the vehicle is temporarily stopped, or the vehicle is traveling in a straight line.
In some embodiments of the present invention, a vehicle steering system may include a steering booster, a hydraulic device, and a controller, one end of the hydraulic device being connected to the steering booster to provide an assist force, and the other end of the hydraulic device being connected to a steering motor to control hydraulic pressure of the hydraulic device according to a rotation speed of the steering motor.
The controller is connected with the steering motor and can control the rotating speed of the steering motor according to the acquired current running speed and the timing time of the vehicle so as to control the hydraulic device, so that the power assistance provided by the steering booster for steering the wheels is adjusted, and the purposes of energy conservation and consumption reduction are achieved.
In some examples of the present invention, to achieve the assisting force for the steering booster, the hydraulic device includes an oil pump and an oil tank, and the oil pump is connected to the steering motor and the oil tank, respectively, so that the steering motor can control the oil pump by adjusting the rotation speed, thereby achieving control of the hydraulic pressure of the hydraulic device to adjust the assisting force of the hydraulic device for the steering booster.
In some examples of the present invention, in order to obtain parameters such as a vehicle running speed and a steering angular velocity of a steering wheel in time, the vehicle steering system further includes a sensor, and the sensor may be in communication with the controller (for example, wirelessly or through a wire), so that the controller adjusts a rotation speed of the steering motor according to the parameters such as the vehicle running speed and the timing time transmitted by the sensor, thereby achieving an energy saving purpose while not affecting an assist function of the vehicle steering system.
The vehicle according to the second aspect of the embodiment of the invention includes a vehicle steering system that is controlled using the control method of the vehicle steering system according to the above-described embodiment of the invention.
Therefore, the vehicle according to the embodiment of the invention is controlled by adopting the control method of the vehicle steering system according to the embodiment of the first aspect of the invention, and has the characteristics of convenience in steering, reliability in control, lower energy consumption and the like.
The control method of the vehicle steering system according to the embodiment of the present invention and other configurations and operations of the vehicle thereof are well known to those skilled in the art and will not be described in detail herein.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (13)
1. A control method of a steering system of a vehicle, characterized in that the steering system includes a steering motor, the control method comprising the steps of:
acquiring the current running speed of a vehicle and the current steering angular speed of a steering wheel;
judging whether the steering wheel enters a preset state or not according to the acquired current steering angular speed;
timing when the preset state is determined to be entered, and obtaining the continuous timing time of the preset state;
if the timing time is greater than or equal to a time threshold value, calculating a target rotating speed according to the current running speed and the timing time, and adjusting the actual rotating speed of the steering motor according to the target rotating speed;
when the timed time is greater than or equal to a time threshold,
and if the timing time is the same, the larger the current running speed is, the smaller the target rotating speed is.
2. The control method of a vehicle steering system according to claim 1, characterized in that when the counted time is greater than or equal to a time threshold value,
and if the current running speed is the same, the larger the timing time is, the smaller the target rotating speed is.
3. The control method of a vehicle steering system according to claim 1, characterized in that the relationship among the target rotation speed, the current running vehicle speed, and the timed time satisfies the following table relationship:
wherein T is a time threshold, the unit of timing time is s, the unit of target rotating speed is rpm, and the unit of vehicle speed is km/h.
4. The control method of a vehicle steering system according to claim 2, characterized in that the time threshold is 1s-2 s.
5. The control method of a vehicle steering system according to claim 2, characterized by, after said determining whether the steering wheel enters a preset state according to the acquired current steering angular velocity, further comprising:
and if the preset state is not entered, timing is not carried out.
6. The control method of a vehicle steering system according to claim 2, characterized by further comprising:
if the timing time is smaller than the time threshold, or if the preset state is not entered, the actual rotating speed of the steering motor is not adjusted.
7. The control method of a vehicle steering system according to any one of claims 1 to 6, characterized in that said judging whether the steering wheel enters a preset state according to the acquired current steering angular velocity includes:
when the current steering angular velocity is greater than or equal to a steering angular velocity threshold, the steering wheel does not enter the preset state;
and when the current steering angular speed is smaller than the steering angular speed threshold value, the steering wheel enters the preset state.
8. The control method of a vehicle steering system according to claim 7, characterized in that the steering angular velocity threshold is 2-3 degrees/second.
9. The control method of a vehicle steering system according to any one of claims 1 to 6, characterized in that the preset state is a stationary state.
10. The control method of a vehicle steering system according to any one of claims 1 to 6, characterized in that the vehicle steering system includes:
a steering booster;
the hydraulic device is connected with the steering booster and the steering motor;
and the controller is connected with the steering motor to control the steering motor according to the current running speed of the vehicle and the timing time.
11. The control method of a steering system for a vehicle according to claim 10, wherein said hydraulic means includes: the oil pump respectively with turn to the motor with the oil storage tank links to each other, the oil storage tank with it links to each other to turn to the booster.
12. The control method of a vehicle steering system according to claim 10, further comprising sensors for acquiring a current running vehicle speed of the vehicle and a current steering angular speed of the steering wheel,
the sensor is in communication with the controller to cause the controller to control the steering motor based on the speed of the vehicle and the timed time.
13. A vehicle characterized by comprising a vehicle steering system that is controlled using the control method of the vehicle steering system according to any one of claims 1 to 12.
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| CN111784447B (en) * | 2020-06-23 | 2023-09-01 | 浙江小遛信息科技有限公司 | Vehicle return control method and device |
| CN112483372B (en) * | 2020-11-25 | 2022-03-08 | 安徽江淮汽车集团股份有限公司 | Optimization method, device, equipment and storage medium of steering pump control logic |
| CN115195857A (en) * | 2022-07-15 | 2022-10-18 | 上海汽车集团股份有限公司 | Control method and device for auxiliary drive motor |
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| US5786674A (en) * | 1996-06-13 | 1998-07-28 | Mercedes-Benz Ag | Hydraulic servo control particularly hydraulic power steering system for motor vehicles |
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