CN111196312A - Electric automobile steering control method and device, automobile and controller - Google Patents
Electric automobile steering control method and device, automobile and controller Download PDFInfo
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- CN111196312A CN111196312A CN202010070123.8A CN202010070123A CN111196312A CN 111196312 A CN111196312 A CN 111196312A CN 202010070123 A CN202010070123 A CN 202010070123A CN 111196312 A CN111196312 A CN 111196312A
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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 invention aims to provide an electric automobile steering control method, an electric automobile steering control device, an automobile and a controller, so as to realize the early steering control when the electric automobile turns or changes lanes and the steering is insufficient or oversteered. The method comprises the following steps: acquiring the current steering wheel angle of the vehicle acquired by a sensor; judging whether the vehicle is in a steering angle increasing state at present or not according to the steering wheel turning angle; if so, determining the centripetal force required by the vehicle under the current steering wheel steering angular speed and the current four-wheel rotation speed difference of the vehicle; judging whether the vehicle has a tendency of understeer according to the centripetal force and the four-wheel rotation speed difference; if the target required torque exists, determining the target required torque according to the current running parameters of the vehicle; and carrying out intelligent steering control on the vehicle according to the target required torque.
Description
Technical Field
The invention relates to the field of automobile control, in particular to a method and a device for controlling steering of an electric automobile, the automobile and a controller.
Background
The stability and the comfort of the new energy automobile are an important concern part of the development of the new energy automobile at present. Lateral control of the vehicle, which is control in a direction perpendicular to the driving speed, i.e., steering control, is a key factor affecting the stability of the vehicle. The driver drives the vehicle to pass through the curve at high speed, and the phenomenon that the vehicle is out of control can not occur under the common condition. Because the steering stability control function of the current vehicle chassis is mature, when the vehicle is in a steering process, the chassis system predicts whether the vehicle is about to sideslip, if the vehicle passes through a curve or changes lanes, the vehicle is under-steered or over-steered, the chassis system can control the brake system to adopt proper braking, and the wheel speeds of the four wheels are controlled to change the state of the vehicle in the steering process, so that the vehicle is in a stable state, and the vehicle is prevented from being out of control. However, in order to ensure the safety of the vehicle, the comfort of the vehicle is affected to some extent. And it can not control the vehicle in advance in the turning process of the vehicle, prevent the sideslip of the vehicle, and make the vehicle have less probability of sideslip phenomenon.
Disclosure of Invention
The invention aims to provide an electric automobile steering control method, an electric automobile steering control device, an automobile and a controller, so as to realize the early steering control when the electric automobile turns or changes lanes and the steering is insufficient or oversteered.
The technical scheme of the invention is as follows:
the invention provides a steering control method of an electric automobile, which comprises the following steps:
acquiring the current steering wheel angle of the vehicle acquired by a sensor;
judging whether the vehicle is in a steering angle increasing state at present or not according to the steering wheel turning angle;
if so, determining the centripetal force required by the vehicle under the current steering wheel steering angular speed and the current four-wheel rotation speed difference of the vehicle;
judging whether the vehicle has a tendency of understeer according to the centripetal force and the four-wheel rotation speed difference;
if the target required torque exists, determining the target required torque according to the current running parameters of the vehicle;
and carrying out intelligent steering control on the vehicle according to the target required torque.
Preferably, after the vehicle intelligent steering control is performed, the method further comprises:
judging whether the vehicle is in a steering angle increasing state at present;
if the vehicle is not in the state, the intelligent steering control of the vehicle is quitted, and the steering control of the vehicle is carried out according to the torque required by the driver;
wherein the driver demand torque is obtained in accordance with an accelerator pedal opening degree or a brake pedal opening degree of the vehicle.
Preferably, the step of determining whether the vehicle is currently in a steering angle increasing state according to the steering wheel angle includes:
calculating steering angular velocity of the steering wheel corresponding to the acquisition moment of each sensor according to the steering angle of the steering wheel;
and if the change trend of the steering angle speed of the steering wheel in the preset time period is a gradually increasing trend, determining that the vehicle is in a steering angle increasing state at present.
Preferably, the step of determining the required centripetal force of the vehicle at the current steering wheel angular velocity comprises:
by the formula F = V2Calculating the centripetal force F, wherein V is the current vehicle speed of the vehicle, sigma is the current steering wheel angle of the vehicle, and L is the shortest straight-line distance between the current front wheel center and the current rear wheel center of the vehicle;
the current four-wheel rotation speed difference of the vehicle comprises the following steps: a wheel speed difference between a left front wheel and a left rear wheel of the vehicle, a wheel speed difference between a left front wheel and a right front wheel of the vehicle, a wheel speed difference between a right front wheel and a right rear wheel of the vehicle, and a wheel speed difference between a left rear wheel and a right rear wheel of the vehicle.
Preferably, the step of determining whether the vehicle has an understeer tendency or not according to the centripetal force and the four-wheel rotation speed difference comprises:
and determining the steering trend of the vehicle according to the predetermined corresponding relation of the centripetal force, the four-wheel rotation speed difference and the steering trend of the vehicle so as to judge whether the vehicle has the understeer trend.
Preferably, the current driving parameters of the vehicle include: the speed of a vehicle, lateral acceleration, steering wheel angle and steering wheel steering angle of vehicle still include: the step of determining the target required torque according to the current driving parameters of the vehicle in the brake pedal opening degree and/or the accelerator pedal opening degree includes:
inquiring the driver demand torque corresponding to the opening degree of a brake pedal and/or the opening degree of an accelerator pedal from a preset first corresponding relation table;
inquiring target required torque corresponding to the vehicle speed, the lateral acceleration, the steering angle of the steering wheel and the required torque of the driver from a preset second corresponding relation table;
wherein, in the second corresponding relation table: a vehicle speed range, a lateral acceleration range, a steering wheel angle range, and a driver demand torque range correspond to a target demand torque.
The embodiment of the invention also provides an intelligent steering control device of an electric automobile, which comprises:
the acquisition module is used for acquiring the current steering wheel angle of the vehicle acquired by the sensor;
the first judgment module is used for judging whether the vehicle is in a steering angle increasing state at present according to the steering wheel turning angle, and the judgment steps are as described above;
the first determining module is used for determining the centripetal force required by the vehicle under the current steering wheel steering angular velocity and the current four-wheel rotation speed difference of the vehicle if the steering wheel steering angular velocity is in the preset steering angle range, and the determining step is as described above;
the second judgment module is used for judging whether the vehicle has an understeer trend according to the centripetal force and the four-wheel rotation speed difference, and the judgment step is as described above;
the second determining module is used for determining the target required torque according to the current running parameters of the vehicle if the target required torque is in the preset running parameter range, and the determining step is as described above;
and the control module is used for carrying out intelligent steering control on the vehicle according to the target required torque.
The embodiment of the invention also provides an automobile which comprises the intelligent steering control device for the electric automobile.
The embodiment of the invention also provides a controller, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor reads the program in the memory and executes the steps in the intelligent steering control method of the electric automobile.
The invention has the beneficial effects that:
when the vehicle turns or changes lanes, whether the vehicle is under-steering or over-steering is judged according to the actual driving data of the vehicle, and then steering control is performed according to the driving parameters of the vehicle in advance. The driving feeling of a driver is improved, and meanwhile, the problem of sideslip of the vehicle can be prevented due to the fact that steering control is conducted in advance, so that the vehicle can turn or change lanes more stably.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a detailed flow chart of the method of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Referring to fig. 1, the present invention provides a steering control method for an electric vehicle, including:
and step S1, acquiring the current steering wheel angle of the vehicle acquired by the sensor.
The steering wheel angle sensor periodically collects the steering wheel angle of the vehicle, the steering wheel sensor is installed in a steering column below the steering wheel, and the collected signals are uploaded through a CAN bus. In this embodiment, the specific type of the steering wheel angle sensor and the installation manner in the steering column below the steering wheel are all the manners described in the prior art, and will not be described in detail here.
And step S2, judging whether the vehicle is in the steering angle increasing state at present according to the steering wheel angle.
The steering wheel angle sensor periodically detects or senses the steering wheel angle and uploads the steering wheel angle to the CAN network, and the controller receives a steering wheel angle signal uploaded by the steering wheel angle sensor through the CAN bus. Meanwhile, the controller performs calculation of the steering wheel steering angular velocity, which is the ratio between the steering wheel angle and the acquisition cycle interval duration of the steering wheel angle sensor, for example, if the steering wheel angle sensor acquires the steering wheel steering angle to the left 30 ° at 0.1s at 11:43 minutes, and the steering wheel steering angle to the left 31.5 ° at the next cycle (0.2 s at 11:43 minutes), the steering wheel steering angular velocity is 0.5 °/ms at the interval duration from 0.1s at 11:43 minutes to 0.2s at 11:43 minutes.
Further, a change trend of the calculated steering wheel angular velocity within a preset time period (e.g., a time period consisting of 10 consecutive cycles of the steering wheel angle sensor, i.e., 1 s) is detected, and if the change trend of the steering wheel angular velocity within the preset time period is a gradually increasing trend, it is determined that the vehicle is currently in a steering angle increasing state. On the contrary, if the trend of the change of the steering wheel steering angular velocity in the preset time period is the trend of keeping unchanged or decreasing, the process returns to the step S1 again.
If so, step S3 determines the difference between the centripetal force required by the vehicle at the current steering wheel angular velocity and the current four-wheel rotation speed of the vehicle.
Wherein the step of determining a required centripetal force of the vehicle at the current steering wheel angular velocity comprises:
by the formula F = V2sigma/L, calculationThe centripetal force F is obtained by calculating the centripetal force L according to the current wheel center of the front wheel and the wheel center of the rear wheel of the vehicle, wherein V is the current speed of the vehicle, sigma is the current steering wheel angle of the vehicle, and L is the shortest straight-line distance between the current wheel center of the front wheel and the current wheel center of the rear wheel of the vehicle;
the current four-wheel rotation speed difference of the vehicle comprises the following steps: a wheel speed difference between a left front wheel and a left rear wheel of the vehicle, a wheel speed difference between a left front wheel and a right front wheel of the vehicle, a wheel speed difference between a right front wheel and a right rear wheel of the vehicle, and a wheel speed difference between a left rear wheel and a right rear wheel of the vehicle.
Specifically, the vehicle speed at this time is an average vehicle speed fed back by a vehicle speed sensor or an instrument within the preset time period, σ is an average steering wheel angle within the preset time period, and similarly L represents an average value of the shortest straight-line distance within the preset time period; that is, the centripetal force is the average centripetal force value in the preset time period.
And step S4, judging whether the vehicle has the understeer trend according to the centripetal force and the four-wheel rotating speed difference.
Wherein a correspondence table regarding a centripetal force, a four-wheel rotation speed difference, and a turning tendency of the vehicle is set in advance in the system, the correspondence table having: the predetermined corresponding relation among the centripetal force, the four-wheel rotation speed difference and the vehicle steering trend is obtained through experiments in advance. And inquiring corresponding steering trend from the corresponding relation table according to the calculated centripetal force and the four-wheel rotating speed difference, and further determining whether the vehicle has an understeer trend according to an inquiry result.
And step S5, if yes, determining the target required torque according to the current running parameters of the vehicle.
The current running parameters of the vehicle include: the speed of a vehicle, lateral acceleration, steering wheel angle and steering wheel steering angle of vehicle still include: a brake pedal opening and/or an accelerator pedal opening. The method comprises the steps of acquiring the opening degree of a brake pedal and/or the opening degree of an accelerator pedal irregularly according to the specific driving condition of a driver, and searching the required torque of the driver corresponding to the opening degree of the brake pedal and/or the opening degree of the accelerator pedal according to a first corresponding relation table preset between the opening degrees of the brake pedal and/or the accelerator pedal. In the first correspondence table, the predetermined correspondence is obtained by experiments in advance.
Further, the target required torque corresponding to the vehicle speed, the lateral acceleration, the steering angle, and the driver required torque is looked up from a second correspondence table set in advance.
In the second correspondence table: a vehicle speed range, a lateral acceleration range, a steering wheel angle range, and a driver demand torque range correspond to a target demand torque. In the second correspondence table, the predetermined correspondence is obtained by experiments in advance.
And step S6, according to the target required torque, performing intelligent steering control on the vehicle.
In step S6, the vehicle intelligent steering control is performed by mainly sending a target required torque to the motor, so that the motor outputs a torque according to the target required torque and outputs the torque to the wheels, thereby performing steering control on the wheels in advance.
As shown in fig. 2, the intelligent steering control method for the electric vehicle specifically includes the following steps:
in step A1, a steering system acquires a steering wheel angle of a vehicle; and calculates the steering wheel steering angular velocity.
In step a2, it is determined whether the vehicle is in a process in which the steering angle of the steering wheel is increased; when the judgment is no, the step A2 is returned to continue the judgment; when the judgment is "yes", the process proceeds to step a 3.
In step A3, the entire vehicle system calculates the centripetal force F = V2 σ/L required for the current steering of the vehicle according to the current vehicle speed V, the steering wheel angle σ, and the shortest straight-line distance L between the wheel centers of the front wheel and the rear wheel of the vehicle, and the step a4 is performed after the calculation is completed in step A3.
In the step A4, judging whether the vehicle has the situation of the understeer trend according to the four-wheel rotating speed difference of the vehicle and the centripetal force required by the current vehicle; when the judgment is no, the step A4 is returned to continue the judgment; when the judgment is "yes", the process proceeds to step a 5.
In the step A5, the whole vehicle system enters intelligent steering control, the whole vehicle system calculates the torque requirement of the intelligent steering control according to the torque required by the driver, the steering angle of the steering wheel, the steering angular velocity of the steering wheel, the lateral acceleration and the vehicle speed, and the step A6 is executed after the calculation is finished.
In the step A6, the motor system controls the motor to execute the required torque of intelligent steering and outputs the required torque to the wheels;
step a7 is a step of determining whether or not the vehicle is not in a process of increasing the steering angle of the steering wheel;
when the judgment is no, jumping back to the step A5 to continue calculating the torque demand of the intelligent steering control;
when the judgment result is yes, the intelligent steering control process is ended;
according to the method, when the vehicle turns or changes lanes, whether the vehicle is under-steering or over-steering is judged according to the actual driving data of the vehicle, and then steering control is performed according to the driving parameters of the vehicle in advance. The driving feeling of a driver is improved, and meanwhile, the problem of sideslip of the vehicle can be prevented due to the fact that steering control is conducted in advance, so that the vehicle can turn or change lanes more stably.
The embodiment of the invention also provides an intelligent steering control device of an electric automobile, which comprises:
the acquisition module is used for acquiring the current steering wheel angle of the vehicle acquired by the sensor;
the first judgment module is used for judging whether the vehicle is in a steering angle increasing state at present according to the steering wheel turning angle, and the judgment steps are as described above;
the first determining module is used for determining the centripetal force required by the vehicle under the current steering wheel steering angular velocity and the current four-wheel rotation speed difference of the vehicle if the steering wheel steering angular velocity is in the preset steering angle range, and the determining step is as described above;
the second judgment module is used for judging whether the vehicle has an understeer trend according to the centripetal force and the four-wheel rotation speed difference, and the judgment step is as described above;
the second determining module is used for determining the target required torque according to the current running parameters of the vehicle if the target required torque is in the preset running parameter range, and the determining step is as described above;
and the control module is used for carrying out intelligent steering control on the vehicle according to the target required torque.
The embodiment of the invention also provides an automobile which comprises the intelligent steering control device for the electric automobile.
The embodiment of the invention also provides a controller, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor reads the program in the memory and executes the steps in the intelligent steering control method of the electric automobile.
The embodiments described above describe only some of the one or more embodiments of the present invention, but those skilled in the art will recognize that the invention can be embodied in many other forms without departing from the spirit or scope thereof. Accordingly, the present examples and embodiments are to be considered as illustrative and not restrictive, and various modifications and substitutions may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.
Claims (9)
1. An electric vehicle steering control method is characterized by comprising the following steps:
acquiring the current steering wheel angle of the vehicle acquired by a sensor;
judging whether the vehicle is in a steering angle increasing state at present or not according to the steering wheel turning angle;
if so, determining the centripetal force required by the vehicle under the current steering wheel steering angular speed and the current four-wheel rotation speed difference of the vehicle;
judging whether the vehicle has a tendency of understeer according to the centripetal force and the four-wheel rotation speed difference;
if the target required torque exists, determining the target required torque according to the current running parameters of the vehicle;
and carrying out intelligent steering control on the vehicle according to the target required torque.
2. The method of claim 1, wherein after performing vehicle intelligent steering control, the method further comprises:
judging whether the vehicle is in a steering angle increasing state at present;
if the vehicle is not in the state, the intelligent steering control of the vehicle is quitted, and the steering control of the vehicle is carried out according to the torque required by the driver;
wherein the driver demand torque is obtained in accordance with an accelerator pedal opening degree or a brake pedal opening degree of the vehicle.
3. The method according to claim 1, wherein the step of determining whether the vehicle is currently in the steering angle increasing state according to the steering wheel angle includes:
calculating steering angular velocity of the steering wheel corresponding to the acquisition moment of each sensor according to the steering angle of the steering wheel;
and if the change trend of the steering angle speed of the steering wheel in the preset time period is a gradually increasing trend, determining that the vehicle is in a steering angle increasing state at present.
4. The method of claim 1, wherein the step of determining a required centripetal force of the vehicle at the current steering wheel angular velocity comprises:
by the formula F = V2Calculating the centripetal force F, wherein V is the current vehicle speed of the vehicle, sigma is the current steering wheel angle of the vehicle, and L is the shortest straight-line distance between the current front wheel center and the current rear wheel center of the vehicle;
the current four-wheel rotation speed difference of the vehicle comprises the following steps: a wheel speed difference between a left front wheel and a left rear wheel of the vehicle, a wheel speed difference between a left front wheel and a right front wheel of the vehicle, a wheel speed difference between a right front wheel and a right rear wheel of the vehicle, and a wheel speed difference between a left rear wheel and a right rear wheel of the vehicle.
5. The method according to claim 1, wherein the step of determining whether the vehicle has an understeer tendency based on the centripetal force and the four-wheel rotation speed difference comprises:
and determining the steering trend of the vehicle according to the predetermined corresponding relation of the centripetal force, the four-wheel rotation speed difference and the steering trend of the vehicle so as to judge whether the vehicle has the understeer trend.
6. The method of claim 1, wherein the current driving parameters of the vehicle comprise: the speed of a vehicle, lateral acceleration, steering wheel angle and steering wheel steering angle of vehicle still include: the step of determining the target required torque according to the current driving parameters of the vehicle in the brake pedal opening degree and/or the accelerator pedal opening degree includes:
inquiring the driver demand torque corresponding to the opening degree of a brake pedal and/or the opening degree of an accelerator pedal from a preset first corresponding relation table;
inquiring target required torque corresponding to the vehicle speed, the lateral acceleration, the steering angle of the steering wheel and the required torque of the driver from a preset second corresponding relation table;
wherein, in the second corresponding relation table: a vehicle speed range, a lateral acceleration range, a steering wheel angle range, and a driver demand torque range correspond to a target demand torque.
7. The utility model provides an electric automobile intelligence steering control device which characterized in that includes:
the acquisition module is used for acquiring the current steering wheel angle of the vehicle acquired by the sensor;
a first judging module, configured to judge whether a vehicle is currently in a steering angle increasing state according to the steering wheel angle, where the judging step is as set forth in claim 3;
a first determination module, configured to determine, if yes, a centripetal force required by the vehicle at the current steering wheel steering angular velocity and a current four-wheel rotation speed difference of the vehicle, the determination step being as set forth in claim 4;
a second judging module, configured to judge whether the vehicle has an understeer trend according to the centripetal force and the four-wheel rotation speed difference, where the judging step is as set forth in claim 5;
a second determination module for determining the target required torque according to the current driving parameters of the vehicle, if any, the determining step being as claimed in claim 6;
and the control module is used for carrying out intelligent steering control on the vehicle according to the target required torque.
8. An automobile, characterized by comprising the electric automobile intelligent steering control device of claim 7.
9. A controller comprising a memory, a processor and a computer program stored in the memory and operable on the processor, wherein the processor reads the program in the memory and executes the steps of the method according to any one of claims 1 to 6.
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| CN202010070123.8A CN111196312B (en) | 2020-01-21 | 2020-01-21 | Electric automobile steering control method and device, automobile and controller |
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| CN202010070123.8A CN111196312B (en) | 2020-01-21 | 2020-01-21 | Electric automobile steering control method and device, automobile and controller |
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| CN114771654A (en) * | 2022-04-07 | 2022-07-22 | 东风柳州汽车有限公司 | Automobile steering control method and device, terminal equipment and storage medium |
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| CN114954650A (en) * | 2021-08-16 | 2022-08-30 | 长城汽车股份有限公司 | Steering torque control method, device, terminal and storage medium |
| CN113942494A (en) * | 2021-10-28 | 2022-01-18 | 中汽创智科技有限公司 | Vehicle steering control method and device and storage medium |
| CN113942494B (en) * | 2021-10-28 | 2024-04-19 | 中汽创智科技有限公司 | Vehicle steering control method, device and storage medium |
| CN114771654A (en) * | 2022-04-07 | 2022-07-22 | 东风柳州汽车有限公司 | Automobile steering control method and device, terminal equipment and storage medium |
| CN114771654B (en) * | 2022-04-07 | 2023-07-07 | 东风柳州汽车有限公司 | Control method and device for automobile steering, terminal equipment and storage medium |
| CN115071822A (en) * | 2022-07-13 | 2022-09-20 | 摩登汽车有限公司 | Vehicle steering monitoring method |
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Address after: 401133 room 208, 2 house, 39 Yonghe Road, Yu Zui Town, Jiangbei District, Chongqing Patentee after: Deep Blue Automotive Technology Co.,Ltd. Address before: 401133 room 208, 2 house, 39 Yonghe Road, Yu Zui Town, Jiangbei District, Chongqing Patentee before: CHONGQING CHANGAN NEW ENERGY AUTOMOBILE TECHNOLOGY Co.,Ltd. |