CN111152833A - Automatic superposition compensation active steering control system and method - Google Patents
Automatic superposition compensation active steering control system and method Download PDFInfo
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- CN111152833A CN111152833A CN201811324115.0A CN201811324115A CN111152833A CN 111152833 A CN111152833 A CN 111152833A CN 201811324115 A CN201811324115 A CN 201811324115A CN 111152833 A CN111152833 A CN 111152833A
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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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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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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- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention relates to an automatic superposition compensation active steering control system and a method, wherein the system comprises a processing unit, generates a target torque signal after receiving a steering auxiliary signal generated by an active driving auxiliary device, superposes the target torque signal and the driver torque signal after receiving a driver torque signal generated by a torque sensor to generate a steering torque signal, and executes auxiliary logic operation according to the steering torque signal. Because the auxiliary logic operation is operated according to the steering auxiliary signal and the moment signal of the driver, the auxiliary steering effect provided by the automatic superposition compensation active steering control system can not directly resist the mode that the driver controls the steering wheel, so that the driver can control the vehicle body more easily and stably.
Description
Technical Field
The present invention relates to a control system and method, and more particularly, to an active steering control system and method with automatic superposition compensation.
Background
The existing vehicles have gradually come to be equipped with more and more auxiliary driving systems for assisting drivers to drive the vehicles, reducing the burden of the drivers and enabling the drivers to drive the vehicles easily and safely. In the driving assistance system, an Advanced Driving Assistance System (ADAS) mainly for collision prevention is attracting attention, and a lot of resources and manpower are invested in all international large vehicle factories and vehicle and power system factories to develop key technologies and modules of the advanced driving assistance system.
The advanced driving assistance System includes various functions such as Adaptive Cruise Control (ACC), Lane Deviation Warning (LDWS), Blind Spot Detection (BSD), Night Vision System (NVS), Parking Assistance System (PAS), Lane Following System (LFS), and Lane Keeping System (LKS). Most of these functions involve the need for active steering, and when the advanced driving assistance system determines that there is a risk of collision in the current driving state of the vehicle, the advanced driving assistance system provides the active steering function to prevent collision.
However, in the course of traveling of the vehicle, the driver grasps the steering wheel in principle to control the traveling direction of the vehicle. However, when the advanced driving assistance system provides the active steering function, the driving behavior of the driver may be affected, for example, the active steering function of the advanced driving assistance system may adjust the rotation angle of the steering wheel, and the driver may suddenly increase the assist force or suddenly decrease the assist force when the steering wheel is rotated due to the active steering function of the advanced driving assistance system when the driver grasps the steering wheel. Thus, sudden active steering may startle the driver and lead to dangerous situations such as vehicle runaway.
Disclosure of Invention
In view of the disadvantage that the conventional advanced driving assistance system may startle the driver when providing the active steering function, resulting in the danger of the vehicle being out of control, the present invention provides an active steering control system and method with automatic superposition compensation, so that the driver can easily and stably control the vehicle while the active steering function is operated, thereby avoiding the danger of the vehicle being out of control.
The active steering control system with automatic superposition compensation comprises:
an active driving assistance device for generating a steering assistance signal;
a torque sensor for generating a driver torque signal;
a processing unit electrically connected to the active driving assistance device and the torque sensor, wherein the processing unit generates a target torque signal according to the steering assistance signal after receiving the steering assistance signal; the processing unit further receives the driver torque signal, superposes the target torque signal and the driver torque signal to generate a steering torque signal, and executes an auxiliary logic operation according to the steering torque signal;
a system dynamic compensator electrically connected to the processing unit, receiving an operation result of the auxiliary logic operation of the processing unit, and compensating the operation result;
an electric motor electrically connected with the system dynamic compensator; the system dynamic compensator controls a driving current of the electric motor according to the compensated operation result.
The active steering control method for automatic superposition compensation is executed by a processing unit of the active steering system and comprises the following steps:
receiving a steering auxiliary signal;
generating a target torque signal according to the steering auxiliary signal;
receiving a driver torque signal;
superposing the target torque signal and the driver torque signal to generate a steering torque signal;
executing an auxiliary logic operation according to the steering torque signal;
outputting an operation result of the auxiliary logic operation to a system dynamic compensator.
The invention starts the active steering function by the steering auxiliary signal generated by the active driving auxiliary device, and when the processing unit receives the steering auxiliary signal, the processing unit does not directly control the electric motor according to the steering auxiliary signal, but firstly superposes the target moment signal and the driver moment signal to superpose the preset rotating moment of the active steering system and the moment exerted by the current driver, and after superposition, the auxiliary logic operation is carried out. Finally, the processing unit transmits the operation result of the auxiliary logic operation to the system dynamic compensator for compensation, and then generates the driving current to make the electric motor perform auxiliary steering control.
The driving current of the electric motor is generated according to the result of the auxiliary logic operation, and the auxiliary logic operation is simultaneously calculated according to the steering auxiliary signal generated by the active auxiliary driving device and the driver moment signal generated by the steering wheel of the driver, so that the auxiliary steering effect provided by the invention can not directly resist the mode that the driver controls the steering wheel, and the driver can control the vehicle body more easily and stably.
Drawings
FIG. 1 is a block diagram of a first preferred embodiment of an automatic overlay compensated active steering control system according to the present invention.
FIG. 2 is a flowchart illustrating a first preferred embodiment of the active steering control method with automatic overlay compensation according to the present invention.
Fig. 3 and 4 are frequency response diagrams of the system dynamics compensator of the active steering control system with automatic overlay compensation according to the present invention.
FIG. 5 is a block diagram of a second preferred embodiment of the automatic overlay compensation active steering control system of the present invention.
Fig. 6A and 6B are schematic flow diagrams illustrating an active steering control method with automatic overlay compensation according to a second preferred embodiment of the present invention.
Detailed Description
The technical means adopted by the invention to achieve the predetermined object of the invention are further described below with reference to the drawings and the preferred embodiments of the invention.
Referring to fig. 1, a first preferred embodiment of an automatic superposition compensation active steering control system 10 includes an active driving assistance device 11, a torque sensor 12, a processing unit 13, a system dynamic compensator 14, and an electric motor 15.
The active driving assistance device 11 is used for sensing the current driving state of the vehicle body and generating a steering assistance signal when an active steering demand needs to be provided. For example, the active driving Assistance device 11 is an Advanced Driving Assistance System (ADAS) for sensing the current environmental conditions around the vehicle body according to various sensors, processing data according to the sensed results, and generating corresponding Assistance signals to be provided to the Driver as a reference for controlling the vehicle body or directly performing Assistance control on the vehicle body, thereby avoiding danger. In the preferred embodiment, the active driving assistance device 11 can sense the current environmental conditions around the vehicle body through a radar or an image sensor, and the active driving assistance device 11 can generate the steering assistance signal when it is required to provide the active steering requirement, such as an obstacle nearby or a deviation of the vehicle body from a lane.
The torque sensor 12 is used to connect to a steering wheel 20 of the vehicle body, and is used to sense the torque applied when the driver controls the steering wheel 20, and correspondingly generate a driver torque signal.
The processing unit 13 is electrically connected to the active driving assistance device 11 and the torque sensor 12, and when the processing unit 13 receives a steering assistance signal generated by the active driving assistance device 11, the processing unit 13 generates a target torque signal according to the steering assistance signal. And the processing unit 13 further receives the driver torque signal generated by the torque sensor 12 and superimposes the target torque signal and the driver torque signal to generate a steering torque signal. Then, the processing unit 13 performs an auxiliary logic operation according to the steering torque signal.
The system dynamics compensator 14 is electrically connected to the processing unit 13, and receives an operation result generated by the processing unit 13 executing the auxiliary logic operation, and compensates the operation result.
The electric motor 15 is electrically connected to the system dynamic compensator 14, and the system dynamic compensator 14 controls a driving current of the electric motor 15 according to the compensated calculation result, thereby driving the electric motor 15 to operate, providing an auxiliary torque to a transmission unit 30 of the vehicle body, so as to provide a driver with a force for assisting in rotating the wheels 40 of the vehicle body, so that the driver can easily rotate the wheels 40, and change the traveling direction of the vehicle body.
Further, referring to fig. 2, a first preferred embodiment of the active steering control method for automatic superposition compensation is executed by the processing unit 13 of the active steering system, and includes the following steps:
receiving a steering assist signal (S201);
generating a target torque signal according to the steering assist signal (S202);
receiving a driver torque signal (S203);
superimposing the target torque signal and the driver torque signal to generate a steering torque signal (S204);
performing an auxiliary logic operation according to the steering torque signal (S205);
outputting an operation result of the auxiliary logic operation to a system dynamics compensator (S206).
In the preferred embodiment, the processing unit 13 is a processing unit in an Electric Power Steering (EPS) system. The electric power assisted steering system is a system that assists a driver in controlling the steering of the vehicle 40 by adjusting the assist force of the transmission unit 30 through the electric motor 15, so that the driver can easily and stably operate the steering wheel 20. Generally, in a low-speed driving condition of the vehicle body, the electric power assisted steering system provides a large assisting torque to allow the driver to easily rotate the steering wheel 40. However, in a situation where the vehicle body is traveling at a high speed, the electric power steering system needs to reduce the assist torque, so as to avoid danger of the vehicle body being uncontrollable and easily perceived by the driver because the steering wheel 40 is too light during the high speed traveling.
In summary, the active steering function is activated by the steering assist signal generated by the active driving assist device 11, and when the processing unit 13 receives the steering assist signal, the electric motor is not directly controlled according to the steering assist signal, but the target torque signal and the driver torque signal are superimposed to superimpose the predicted rotation torque of the active steering function with the torque applied by the driver, and after the superimposition, the assist logic operation is performed. Finally, the processing unit 13 transmits the operation result of the auxiliary logic operation to the system dynamics compensator 14 for compensation, and then generates the driving current to make the electric motor 15 perform auxiliary steering control.
In addition, the auxiliary logic operation of the processing unit 13 according to the present invention is designed according to the electric power assisted steering system, and the auxiliary logic operation is simultaneously calculated according to the steering auxiliary signal generated by the active driving assistance device and the driver torque signal generated by the corresponding driver turning the steering wheel. Therefore, the auxiliary steering effect provided by the invention can not directly resist the mode that the driver controls the steering wheel, so that the driver can control the vehicle body more easily and stably.
Further, the frequency response of the system dynamics compensator 14 is shown in fig. 3 and 4, and the system dynamics compensator 14 compensates according to the following formula:
wherein A isnAnd BnThe parameters are adjusted according to different vehicle bodies, so that the system is more robust and stable.
In addition, referring to fig. 5, a second preferred embodiment of the automatic superposition compensation active steering control system 10 has the same structure as the first preferred embodiment, and further includes an angle sensor 16, a vehicle body information sensing unit 17 and an angle control unit 18.
The angle sensor 16 is used for sensing the rotation angle of the steering wheel 20 and generating an angle signal accordingly. The vehicle body information sensing unit 17 is for sensing the vehicle body and generating lateral displacement information according to a state of the vehicle body. The angle control unit 18 is electrically connected to the system dynamics compensator 14, and is used for controlling the rotation angle of the steering wheel 20 through the system dynamics compensator 14 by the electric motor 15 and the transmission unit 30.
The processing unit 13 is further electrically connected to the angle sensor 16, the vehicle body information sensing unit 17, and the angle control unit 18.
When the processing unit 13 receives the steering assist signal, the processing unit 13 controls the rotation angle of the steering wheel 20 to a target angle through the angle control unit 18 according to the steering assist signal, and determines whether the lateral displacement of the vehicle body reaches a target displacement according to the lateral displacement information generated by the vehicle body information sensing unit 17.
When the lateral displacement of the vehicle body does not reach the target displacement, the processing unit 13 adjusts the auxiliary steering signal according to the difference between the lateral displacement and the target displacement, and controls the rotation angle of the steering wheel 20 through the angle control unit 18 according to the auxiliary steering signal again.
When the lateral displacement of the vehicle body reaches the target displacement, the processing unit 13 further determines whether a driver's steering state is currently present according to the driver's torque signal generated by the torque sensor 12. For example, when the torque sensor 12 senses that the steering wheel 20 is being rotated due to the force applied thereto, it represents that the driver is currently steering the steering wheel 20, and this is the steering state of the driver.
When the steering state of the driver is currently the steering state, the processing unit 13 receives a current angle signal generated by the angle sensor 16 sensing a current rotation angle of the steering wheel 20, and calculates an error angle between the current angle and the target angle according to the current angle signal, and the processing unit 13 further generates the target torque signal according to the error angle.
When the driver is not in the steering state, the processing unit 13 receives the steering assist signal again.
Further, referring to fig. 6A and 6B, a second preferred embodiment of the automatic superposition compensation active steering control method has the same steps as the first preferred embodiment of the automatic superposition compensation active steering control method, but the step of generating the target torque signal (S202) according to the steering assist signal further includes the following sub-steps:
controlling a rotation angle of a steering wheel to a target angle by an angle control unit according to the auxiliary steering signal (S2021);
judging whether the lateral displacement of the vehicle body reaches a target displacement or not according to the lateral displacement information generated by the vehicle body information sensing unit (S022);
when the lateral displacement of the vehicle body reaches the target displacement, judging whether the current steering state is a driver steering state according to a driver torque signal generated by a torque sensor (S2023);
receiving a current angle signal generated by the angle sensor sensing a current rotation angle of the steering wheel when the current steering state of the driver is detected (S2024);
calculating an error angle between the current angle and the target angle according to the current angle signal (S2025);
generating the target torque signal according to the error angle (S2026);
adjusting the auxiliary steering signal according to a difference between the lateral displacement and the target displacement when the lateral displacement of the vehicle body does not reach the target displacement (S2027); and controls the rotation angle of the steering wheel by the angle control unit again according to the auxiliary steering signal (S2021);
when the driver is not in the steering state at present, the steering assist signal is received again (S201).
Generally, when the rotation angle of the steering wheel 20 is the target angle, the lateral displacement of the vehicle body should be equal to the target displacement. However, the vehicle body is displaced in the lateral direction depending on the road condition, the passenger carrying condition of the vehicle body, or the suspension system condition of the vehicle body during the traveling, so that the lateral displacement of the vehicle body is not equal to the target displacement although the rotation angle of the steering wheel 20 is the target angle. Therefore, the processing unit 13 determines whether the lateral displacement of the vehicle body reaches the target displacement according to the lateral displacement information generated by the vehicle body information sensing unit 17. And when the lateral displacement of the vehicle body does not reach the target displacement, the processing unit 13 continuously adjusts the auxiliary steering signal according to the difference between the lateral displacement and the target displacement, and rotates the rotation angle of the steering wheel 20 according to the adjusted auxiliary steering signal, so as to provide correction for the rotation angle of the steering wheel 20 until the lateral displacement of the vehicle body reaches the target displacement.
In addition, the processing unit 13 also determines whether the driver is currently in the steering state according to the driver torque signal generated by the torque sensor 12. The processing unit 13 further executes the subsequent assist logic operation when in the driver's steering state. When the driver is not in the steering state, the subsequent auxiliary logic operation can be skipped, thereby reducing the operation burden of the processing unit 13 and improving the efficiency of the processing unit 13.
In the preferred embodiment, the conversion between the error angle and the target torque signal is obtained by looking up a table according to a correspondence table established through experiments.
In addition, in other preferred embodiments, the lateral displacement of the vehicle body is calculated according to a vehicle body lateral motion state space equation as follows:
center yaw rate (r) and front wheel angle (delta)f) The relationship of (A) is as follows:
vchrepresentative vehicle speed vxRepresenting longitudinal vehicle speed, vyRepresentative of lateral vehicle speed, CαfRepresenting front wheel steering stiffness, CαrRepresenting rear wheel steering stiffness, m representing vehicle body mass, L representing vehicle body length, a representing front axle to center of gravity length, b representing rear axle to center of gravity length, IzRepresenting moment of inertia, y representing body lateral displacement, psi representing yaw angle, r representing lateralSlew rate
δfRepresenting the front wheel turning angle.
Although the present invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the present invention.
Claims (8)
1. An active steering control system with automatic superposition compensation, comprising:
an active driving assistance device for generating a steering assistance signal;
a torque sensor for generating a driver torque signal;
a processing unit electrically connected to the active driving assistance device and the torque sensor, wherein the processing unit generates a target torque signal according to the steering assistance signal after receiving the steering assistance signal; the processing unit further receives the driver torque signal, superposes the target torque signal and the driver torque signal to generate a steering torque signal, and executes an auxiliary logic operation according to the steering torque signal;
a system dynamic compensator electrically connected to the processing unit, receiving an operation result of the auxiliary logic operation of the processing unit, and compensating the operation result;
an electric motor electrically connected with the system dynamic compensator; the system dynamic compensator controls a driving current of the electric motor according to the compensated operation result.
2. The automatic superposition compensated active steering control system according to claim 1, further comprising:
an angle sensor for sensing the rotation angle of a steering wheel, generating an angle signal and electrically connected with the processing unit;
the vehicle body information sensing unit senses a vehicle body, generates lateral displacement information and is electrically connected with the processing unit;
the angle control unit is electrically connected with the system dynamic compensator so as to control the rotating angle of the steering wheel through the system dynamic compensator and is electrically connected with the processing unit;
when the processing unit receives the steering auxiliary signal, the processing unit controls the rotation angle of the steering wheel to a target angle through the angle control unit according to the auxiliary steering signal, and judges whether the lateral displacement of the vehicle body reaches a target displacement or not according to the lateral displacement information generated by the vehicle body information sensing unit;
when the lateral displacement of the vehicle body reaches the target displacement, the processing unit further judges whether the current steering state of a driver is a driver steering state according to a driver torque signal generated by the torque sensor;
when the steering state of the driver is currently in the steering state, the processing unit receives a current angle signal generated by sensing the current rotation angle of the steering wheel by the angle sensor, calculates an error angle between the current angle and the target angle according to the current angle signal, and further generates the target torque signal according to the error angle.
3. The active steering system of claim 2, wherein the processing unit adjusts the auxiliary steering signal according to a difference between the lateral displacement and the target displacement when the lateral displacement of the vehicle body does not reach the target displacement, and controls the rotation angle of the steering wheel through the angle control unit according to the auxiliary steering signal again.
4. The automatic superposition compensated active steering control system according to claim 2, wherein the processing unit re-receives the steering assist signal when the current driver steering state is not present.
5. An active steering control method with automatic superposition compensation is characterized by comprising the following steps:
receiving a steering auxiliary signal;
generating a target torque signal according to the steering auxiliary signal;
receiving a driver torque signal;
superposing the target torque signal and the driver torque signal to generate a steering torque signal;
executing an auxiliary logic operation according to the steering torque signal;
outputting an operation result of the auxiliary logic operation to a system dynamic compensator.
6. The automatic superposition compensated active steering control method according to claim 5, wherein the step of generating the target torque signal according to the steering assist signal further comprises the sub-steps of:
controlling the rotation angle of a steering wheel to a target angle through an angle control unit according to the auxiliary steering signal;
judging whether the lateral displacement of the vehicle body reaches a target displacement according to lateral displacement information generated by a vehicle body information sensing unit;
when the lateral displacement of the vehicle body reaches the target displacement, judging whether the current steering state of a driver is a steering state of the driver according to a driver torque signal generated by a torque sensor;
when the steering state of the driver is currently in the steering state, receiving a current angle signal generated by sensing the current rotation angle of the steering wheel by the angle sensor;
calculating an error angle between the current angle and the target angle according to the current angle signal;
and generating the target torque signal according to the error angle.
7. The active steering control method of automatic superposition compensation according to claim 6, wherein when the lateral displacement of the vehicle body does not reach the target displacement, the auxiliary steering signal is adjusted according to the difference between the lateral displacement and the target displacement;
and controlling the rotation angle of the steering wheel through the angle control unit according to the auxiliary steering signal again.
8. The active steering control method of automatic superposition compensation according to claim 6, characterized in that the steering assist signal is received again when the current steering state is not the driver steering state.
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Application publication date: 20200515 |