CN111605536B - Vehicle turning attitude control method and device - Google Patents

Vehicle turning attitude control method and device Download PDF

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Publication number
CN111605536B
CN111605536B CN201910135393.XA CN201910135393A CN111605536B CN 111605536 B CN111605536 B CN 111605536B CN 201910135393 A CN201910135393 A CN 201910135393A CN 111605536 B CN111605536 B CN 111605536B
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vehicle
output torque
driving wheel
ratio
turning
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CN111605536A (en
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刘泽勇
林骥
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Ninebot Changzhou Technology Co Ltd
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Ninebot Changzhou Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention provides a vehicle turning posture control method and a vehicle turning posture control device, wherein the method comprises the following steps: acquiring the rotation direction and the rotation amplitude of a steering wheel of a vehicle through a sensor; acquiring a turning mode of the vehicle; determining the output torque of a corresponding driving wheel of the vehicle according to the rotation direction and the rotation amplitude of the steering wheel in the turning mode; and controlling the turning posture of the vehicle according to the output torque of the corresponding driving wheel of the vehicle. According to the invention, the problem that the drifting characteristic of the vehicle in the related technology can only be changed in a modified mode can be solved, the vehicle drifting characteristic is changed by flexibly controlling the turning posture of the vehicle, and the effect of improving user experience is achieved.

Description

Vehicle turning attitude control method and device
Technical Field
The invention relates to the field of communication, in particular to a method and a device for controlling a turning posture of a vehicle.
Background
When a four-wheeled vehicle (hereinafter, simply referred to as "vehicle") passes through a curve, a Grip-over-bending method is generally used (Grip, an over-bending method for maintaining the Grip of a vehicle tire), but when the relative speed between the vehicle tire and the ground is too high, the tire and the ground are changed from static friction to dynamic friction, the Grip is lost, and a slip situation occurs, and at this time, the vehicle is caused to sideslip and run. This characteristic derives a driving skill called "drift" which is commonly seen in performance and cross-country games. The drift characteristics of a vehicle depend on many factors. If the driver wants to experience different drift characteristics he has to drive a different characteristic vehicle that just has his needs.
No solution has been proposed to the problem in the related art that the drift characteristic of the vehicle can only be changed by means of retrofitting.
Disclosure of Invention
The embodiment of the invention provides a vehicle turning posture control method and device, which at least solve the problem that the drift characteristic of a vehicle in the related art can only be changed in a modified mode.
According to an embodiment of the present invention, there is provided a vehicle turning posture control method including:
acquiring the rotation direction and the rotation amplitude of a steering wheel of a vehicle through a sensor;
acquiring a turning mode of the vehicle;
determining the output torque of a corresponding driving wheel of the vehicle according to the rotation direction and the rotation amplitude of the steering wheel in the turning mode;
and controlling the turning posture of the vehicle according to the output torque of the corresponding driving wheel of the vehicle.
Optionally, before determining the output torque of the corresponding driving wheel of the vehicle according to the rotation direction and the rotation amplitude of the steering wheel, the method further comprises:
acquiring the minimum output torque ratio of the corresponding driving wheel according to the turning mode;
determining the ratio of the rotation amplitude of the steering wheel to the maximum rotation amplitude of the rotation direction as the ratio of the rotation amplitude of the steering wheel in the rotation direction;
the determining the output torque of the corresponding driving wheel of the vehicle according to the rotation direction and the rotation amplitude of the steering wheel comprises:
and determining the output torque of the corresponding driving wheel of the vehicle according to the rotating direction and the rotating amplitude of the steering wheel, the minimum output torque ratio of the corresponding driving wheel and the rotating amplitude ratio.
Optionally, the drive wheel is a rear drive wheel.
Optionally, if the rotation direction of the steering wheel is left steering and the corresponding rear driving wheel of the vehicle is left rear driving wheel, then
The output torque of the left rear driving wheel is equal to the maximum output torque x corresponding to the current throttle value (100% -the minimum output torque of the left rear driving wheel is in proportion to the ratio) × (100% -the rotation amplitude is in proportion to the ratio) + the minimum output torque of the left rear driving wheel is in proportion to the ratio);
if the rotation direction of the steering wheel is right steering and the corresponding rear driving wheel of the vehicle is a right rear driving wheel, then
The output torque of the right rear driving wheel is equal to the maximum output torque x corresponding to the current throttle value (100% -the minimum output torque of the right rear driving wheel is in proportion to the ratio) × (100% -the rotation amplitude is in proportion to the ratio) + the minimum output torque of the right rear driving wheel is in proportion to the ratio).
Optionally, the drive wheel is a front drive wheel.
Optionally, if the rotation direction of the steering wheel is left steering and the corresponding front driving wheel of the vehicle is left front driving wheel, then
The output torque of the left front driving wheel is equal to the maximum output torque x corresponding to the current throttle value (100% -the minimum output torque of the left front driving wheel is in proportion to the ratio) × (100% -the rotation amplitude is in proportion to the ratio) + the minimum output torque of the left front driving wheel is in proportion to the ratio);
if the rotation direction of the steering wheel is right steering and the corresponding front driving wheel of the vehicle is a right front driving wheel, then
The output torque of the right front driving wheel is equal to the maximum output torque x corresponding to the current throttle value (100% -the minimum output torque of the right front driving wheel is in proportion to the ratio) × (100% -the rotation amplitude is in proportion to the ratio) + the minimum output torque of the right front driving wheel is in proportion to the ratio).
Optionally, determining a ratio of the rotation amplitude of the steering wheel to the maximum rotation amplitude of the rotation direction as the rotation amplitude ratio of the steering wheel in the rotation direction includes:
acquiring a gain parameter of the steering wheel;
multiplying the rotation amplitude of the steering wheel by the gain parameter to obtain the final rotation amplitude of the steering wheel;
and determining the ratio of the final rotation amplitude of the steering wheel to the maximum rotation amplitude of the rotation direction as the rotation amplitude ratio of the steering wheel in the rotation direction.
Optionally, the obtaining the turning pattern of the vehicle includes:
acquiring a turning mode of the vehicle which is manually set; or
Acquiring a turning mode of the vehicle triggered by biological mode recognition; or
Acquiring a default turning mode of the vehicle.
Optionally, the controlling the turning posture of the vehicle according to the output torque of the respective driving wheels of the vehicle includes:
acquiring the real-time speed of the vehicle;
comparing the real-time speed of the vehicle with a preset turning effective minimum speed;
and controlling the turning posture of the vehicle according to the output torque of the corresponding driving wheel of the vehicle under the condition that the real-time speed of the vehicle is greater than the preset turning effective minimum speed.
According to still another embodiment of the present invention, there is also provided a vehicle turning posture control device including:
the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the rotation direction and the rotation amplitude of a steering wheel of a vehicle through a sensor;
the second acquisition module is used for acquiring the turning mode of the vehicle;
the first determining module is used for determining the output torque of a corresponding driving wheel of the vehicle according to the rotating direction and the rotating amplitude of the steering wheel in the turning mode;
and the control module is used for controlling the turning posture of the vehicle according to the output torque of the corresponding driving wheel of the vehicle.
Optionally, the apparatus further comprises:
the third acquisition module is used for acquiring the minimum output torque ratio of the corresponding driving wheel according to the turning mode;
the second determining module is used for determining the ratio of the rotation amplitude of the steering wheel to the maximum rotation amplitude of the rotation direction as the ratio of the rotation amplitude of the steering wheel in the rotation direction;
the first determining module is further used for
And determining the output torque of the corresponding driving wheel of the vehicle according to the rotating direction and the rotating amplitude of the steering wheel, the minimum output torque ratio of the corresponding driving wheel and the rotating amplitude ratio.
Optionally, the drive wheel is a rear drive wheel.
Optionally, if the rotation direction of the steering wheel is left steering and the corresponding rear driving wheel of the vehicle is left rear driving wheel, then
The output torque of the left rear driving wheel is equal to the maximum output torque x corresponding to the current throttle value (100% -the minimum output torque of the left rear driving wheel is in proportion to the ratio) × (100% -the rotation amplitude is in proportion to the ratio) + the minimum output torque of the left rear driving wheel is in proportion to the ratio);
if the rotation direction of the steering wheel is right steering and the corresponding rear driving wheel of the vehicle is a right rear driving wheel, then
The output torque of the right rear driving wheel is equal to the maximum output torque x corresponding to the current throttle value (100% -the minimum output torque of the right rear driving wheel is in proportion to the ratio) × (100% -the rotation amplitude is in proportion to the ratio) + the minimum output torque of the right rear driving wheel is in proportion to the ratio).
Optionally, the drive wheel is a front drive wheel.
Optionally, if the rotation direction of the steering wheel is left steering and the corresponding front driving wheel of the vehicle is left front driving wheel, then
The output torque of the left front driving wheel is equal to the maximum output torque x corresponding to the current throttle value (100% -the minimum output torque of the left front driving wheel is in proportion to the ratio) × (100% -the rotation amplitude is in proportion to the ratio) + the minimum output torque of the left front driving wheel is in proportion to the ratio);
if the rotation direction of the steering wheel is right steering and the corresponding front driving wheel of the vehicle is a right front driving wheel, then
The output torque of the right front driving wheel is equal to the maximum output torque x corresponding to the current throttle value (100% -the minimum output torque of the right front driving wheel is in proportion to the ratio) × (100% -the rotation amplitude is in proportion to the ratio) + the minimum output torque of the right front driving wheel is in proportion to the ratio).
Optionally, the second determining module is further configured to
Acquiring a gain parameter of the steering wheel;
multiplying the rotation amplitude of the steering wheel by the gain parameter to obtain the final rotation amplitude of the steering wheel;
and determining the ratio of the final rotation amplitude of the steering wheel to the maximum rotation amplitude of the rotation direction as the rotation amplitude ratio of the steering wheel in the rotation direction.
Optionally, the third obtaining module is further configured to
Acquiring a turning mode of the vehicle which is manually set; or
Acquiring a turning mode of the vehicle triggered by biological mode recognition; or
Acquiring a default turning mode of the vehicle.
Optionally, the control module comprises:
the acquisition unit is used for acquiring the real-time speed of the vehicle;
the comparison unit is used for comparing the real-time speed of the vehicle with a preset turning effective lowest speed;
and the control unit is used for controlling the turning posture of the vehicle according to the output torque of the corresponding driving wheel of the vehicle under the condition that the real-time speed of the vehicle is greater than the preset turning effective minimum speed.
According to a further embodiment of the present invention, there is also provided a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.
According to the invention, the rotation direction and the rotation amplitude of the steering wheel of the vehicle are obtained through the sensor; acquiring a turning mode of the vehicle; determining the output torque of a corresponding driving wheel of the vehicle according to the rotation direction and the rotation amplitude of the steering wheel in the turning mode; the turning posture of the vehicle is controlled according to the output torque of the corresponding driving wheel of the vehicle, so that the problem that the drifting characteristic of the vehicle in the related technology can only be changed in a modified mode can be solved, the turning posture of the vehicle is flexibly controlled, the drifting characteristic of the vehicle is changed, and the effect of improving user experience is achieved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a block diagram of a hardware configuration of a mobile terminal of a vehicle turning posture control method according to an embodiment of the present invention;
FIG. 2 is a flowchart of a vehicle turning attitude control method according to an embodiment of the invention;
FIG. 3 is a flowchart of vehicle turning attitude control according to a preferred embodiment of the present invention;
fig. 4 is a block diagram of a vehicle turning posture control apparatus according to an embodiment of the invention;
fig. 5 is a first block diagram of a vehicle turning posture control apparatus according to a preferred embodiment of the present invention;
fig. 6 is a block diagram two of the vehicle turning posture control apparatus according to the preferred embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Example 1
The method provided by the first embodiment of the present application may be executed in a mobile terminal, a computer terminal, or a similar computing device. Taking a mobile terminal as an example, fig. 1 is a hardware structure block diagram of a mobile terminal of a vehicle turning posture control method according to an embodiment of the present invention, as shown in fig. 1, a mobile terminal 10 may include one or more processors 102 (only one is shown in fig. 1) (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), and a memory 104 for storing data, and optionally, the mobile terminal may further include a transmission device 106 for communication function and an input/output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration, and does not limit the structure of the mobile terminal. For example, the mobile terminal 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to the message receiving method in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the mobile terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal 10. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
Based on the above-mentioned mobile terminal, the present embodiment provides a vehicle turning posture control method, fig. 2 is a flowchart of the vehicle turning posture control method according to the embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:
step S202, acquiring the rotation direction and the rotation amplitude of a steering wheel of a vehicle through a sensor;
step S204, acquiring a turning mode of the vehicle;
step S206, determining the output torque of the corresponding driving wheel of the vehicle according to the rotation direction and the rotation amplitude of the steering wheel in the turning mode;
and S208, controlling the turning posture of the vehicle according to the output torque of the corresponding driving wheel of the vehicle.
Acquiring the rotation direction and the rotation amplitude of the steering wheel of the vehicle through the sensor through the steps S202 to S208; acquiring a turning mode of the vehicle; determining the output torque of a corresponding driving wheel of the vehicle according to the rotation direction and the rotation amplitude of the steering wheel in the turning mode; the turning gesture of the vehicle is controlled according to the output torque of the corresponding driving wheel of the vehicle, so that the problem that the drifting characteristic of the vehicle in the related technology can only be changed in a modified mode can be solved, the turning gesture of the vehicle is flexibly controlled by controlling the output torque of the corresponding driving wheel of the vehicle, the drifting characteristic of the vehicle is changed, and the effect of improving user experience is achieved.
In the embodiment of the invention, before the output torque of the corresponding driving wheel of the vehicle is determined according to the rotating direction and the rotating amplitude of the steering wheel, the minimum output torque ratio of the corresponding driving wheel is obtained according to the turning mode; determining the ratio of the rotation amplitude of the steering wheel to the maximum rotation amplitude of the steering wheel in the rotation direction as the ratio of the rotation amplitude of the steering wheel in the rotation direction; for example, if the steering wheel rotates clockwise by 30 degrees, the ratio of the rotation amplitude of the steering wheel can be obtained according to the percentage of the rotation amplitude of the steering wheel to the maximum rotation amplitude of the steering wheel in the rotation direction, and correspondingly, the step S206 may specifically include: and determining the output torque of the corresponding driving wheel of the vehicle according to the rotating direction and the rotating amplitude of the steering wheel, the minimum output torque ratio of the corresponding driving wheel and the rotating amplitude ratio.
Further, determining the ratio of the rotation direction and the rotation amplitude of the steering wheel to the maximum rotation amplitude of the rotation direction as the ratio of the rotation amplitudes of the steering wheel may specifically include: acquiring a gain parameter of the steering wheel; multiplying the rotation amplitude of the steering wheel by the gain parameter to obtain the final rotation amplitude of the steering wheel; and determining the ratio of the final rotation amplitude of the steering wheel to the final maximum rotation amplitude of the rotation direction as the rotation amplitude ratio of the steering wheel. Assuming that the maximum rotation angle of the steering wheel is 90 degrees, when the gain of the steering wheel sensor is 1, the rotation amplitude ratio is 0% when the steering wheel is not rotated, the rotation amplitude ratio is 100% when the steering wheel is rotated by 90 degrees, when the gain is 2, the rotation amplitude ratio is 0% when the steering wheel is not rotated, the rotation amplitude ratio is 100% when the steering wheel is rotated by 45 degrees, and so on. That is, the final rotation amplitude of the steering wheel (i.e. the position data of the steering wheel) can be determined according to the rotation amplitude and the gain parameter of the steering wheel, the rotation amplitude ratio of the steering wheel can be determined according to the position data of the steering wheel, the gain parameter of the steering wheel can increase the actual rotation amplitude of the direction, and a user can set the gain parameter as required, for example, the gain parameter of the steering wheel is 2, and when the rotation amplitude of the steering wheel is 30 degrees, the final rotation amplitude of the steering wheel is 60 degrees, so that a relatively obvious experience effect on the turning mode can be obtained even in a small turning.
The driving wheel in the embodiment of the present invention may be a rear driving wheel and a front driving wheel, and the two cases will be described below.
In one embodiment, in the case that the driving wheel is a rear driving wheel, if the rotation direction of the steering wheel is left steering and the corresponding rear driving wheel of the vehicle is left rear driving wheel, then
The output torque of the left rear driving wheel is equal to the maximum output torque x corresponding to the current throttle value (100% -the minimum output torque of the left rear driving wheel is in proportion to the ratio) × (100% -the rotation amplitude is in proportion to the ratio) + the minimum output torque of the left rear driving wheel is in proportion to the ratio);
if the rotation direction of the steering wheel is right steering and the corresponding rear driving wheel of the vehicle is a right rear driving wheel, then
The output torque of the right rear driving wheel is equal to the maximum output torque x corresponding to the current throttle value (100% -the minimum output torque of the right rear driving wheel is in proportion to the ratio) × (100% -the rotation amplitude is in proportion to the ratio) + the minimum output torque of the right rear driving wheel is in proportion to the ratio).
In another embodiment, if the steering wheel is turned left and the corresponding front driving wheel of the vehicle is a left front driving wheel, the driving wheel is a front driving wheel
The output torque of the left front driving wheel is equal to the maximum output torque x corresponding to the current throttle value (100% -the minimum output torque of the left front driving wheel is in proportion to the ratio) × (100% -the rotation amplitude is in proportion to the ratio) + the minimum output torque of the left front driving wheel is in proportion to the ratio);
if the rotation direction of the steering wheel is right steering and the corresponding front driving wheel of the vehicle is a right front driving wheel, then
The output torque of the right front driving wheel is equal to the maximum output torque x corresponding to the current throttle value (100% -the minimum output torque of the right front driving wheel is in proportion to the ratio) × (100% -the rotation amplitude is in proportion to the ratio) + the minimum output torque of the right front driving wheel is in proportion to the ratio).
In an embodiment of the present invention, the step S204 may specifically include:
acquiring a manually set turning mode of the vehicle, wherein the turning mode is manually set, and the system only needs to acquire the manually set turning mode; or,
acquiring a turning mode of the vehicle triggered by biological mode recognition, wherein the biological mode recognition can be used for recognizing the turning mode input by a user through voice, gestures or human faces; or
Acquiring a default turning mode of the vehicle.
The turning mode in the embodiment of the invention can be head pushing, tail flicking, smooth turning and the like.
Optionally, before the step S208 or S206, acquiring a real-time vehicle speed of the vehicle;
comparing the real-time speed of the vehicle with a preset turning effective minimum speed; and determining that the real-time speed of the vehicle is greater than the preset minimum turning effective speed.
Controlling the turning posture of the vehicle according to the output torque of a corresponding driving wheel of the vehicle under the condition that the real-time speed of the vehicle is greater than the preset turning effective minimum speed; or determining the output torque of the corresponding driving wheel of the vehicle according to the rotating direction and the rotating amplitude of the steering wheel under the condition that the real-time speed of the vehicle is greater than the preset minimum turning effective speed.
According to the embodiment of the invention, the driving output torque of the rear wheel of the vehicle is dynamically adjusted by detecting the current steering wheel rotating amplitude of the vehicle, so that the effect of changing the over-bending attitude of the vehicle is realized, and the problem that the over-bending attitude of the vehicle cannot be changed at present can be effectively solved. Fig. 3 is a flowchart of the vehicle turning posture control according to the preferred embodiment of the present invention, as shown in fig. 3, specifically including:
s302, detecting the rotation direction and the rotation amplitude of a steering wheel of a vehicle through a sensor;
s304, determining a control parameter used by the control system, wherein the control parameter may specifically include: the determination method includes the following steps: a set of default parameters are preset in the product factory, and if the user does not set parameters additionally, the default parameters are used for control calculation; the user can set each control parameter independently through cell-phone APP, and after setting, control system uses the parameter of user's setting to calculate.
The following description of the control parameters is provided:
(1) the lowest speed at which the control system takes effect: generally speaking, the turning attitude needs to be adjusted only when the vehicle turns over at a high speed, and considering that when the vehicle starts and the speed is too low, if the turning control system is switched on, the power of the vehicle is possibly reduced (for example, if the percentage of the minimum output torque of the left wheel when the left turn is set to be 0%, when the steering wheel of the vehicle is dead left and then starts, only the right wheel of the vehicle has output, which results in the loss of power of the vehicle), a minimum speed limit is set for the control system to take effect, and when the vehicle speed is greater than the minimum speed for the control system to take effect, the control system is effective, and the adjustable range of the parameter is: 0 to the maximum speed achievable by the vehicle;
(2) percentage of minimum output torque of left rear wheel when steering wheel turns left: this parameter determines the minimum output torque that the left rear wheel can produce when the vehicle is turning left; assuming that the value is set to X%, when the throttle value of the vehicle is constant and the steering wheel is not rotating in the forward direction, if the control system is not involved, the output torque of the left wheel of the vehicle is determined, assuming that P, after the control system is involved, the output torque of the left rear wheel of the vehicle will be between P X% and P according to the rotation amplitude of the steering wheel, when the steering wheel is not rotating in the center, the output torque of the left rear wheel is P, and when the steering wheel is dead-left, the output torque of the left rear wheel is P X%; the range of this parameter is: -100% to 100%;
(3) percentage of minimum output torque of the right rear wheel when the steering wheel is turned right: this parameter determines the minimum output torque that the right rear wheel can produce when the vehicle is turning to the right; assuming that the value is set to X%, when the throttle value of the vehicle is constant and the steering wheel is not rotating in the forward direction, if the control system is not involved, the output torque of the right wheel of the vehicle is determined, assuming that P, then after the control system is involved, the output torque of the right rear wheel of the vehicle will be between P X% and P, depending on the rotation amplitude of the steering wheel, when the steering wheel is not rotating in the center, the output torque of the right rear wheel is P, and when the steering wheel is dead-right, the output torque of the right rear wheel is P X%; the range of this parameter is: 0 to 100%;
(4) gain of steering wheel sensor: and the steering wheel sensitivity is adjusted, the steering wheel rotation amplitude detected by the sensor is Ang, the steering wheel amplitude actually participating in the calculation of the control system is Ang X%, when the calculation result exceeds the allowable maximum amplitude, the calculation is carried out by using the maximum amplitude, and the settable range of the parameter is 0% to 200%.
For the test vehicle, the following description is made regarding the effect of the above parameters on the vehicle cornering attitude adjustment:
(1) when the percentage of the minimum output torque of the left rear wheel is set to 65% during left turning, the over-bent attitude of the vehicle during left turning is biased to a balanced state, and the vehicle neither pushes the head nor swings the tail; under the condition of the pushing head, the steering is insufficient, the front wheels lose the grip force, and the front wheels cannot steer effectively; under the condition of tail flicking, the steering is excessive, the rear wheels lose the grip force, and the vehicle body rotates.
(2) When the percentage of the minimum output torque of the left rear wheel is set to be-100% -64% during left turning, the over-bent posture of the vehicle during left turning deviates to the tail flick, and the smaller the value is, the more obvious the tail flick effect is;
(3) when the percentage of the minimum output torque of the left rear wheel is set to be 66% -100% during left turning, the over-bent posture of the vehicle during left turning deviates to the push head, and the larger the value is, the more obvious the push head effect is;
(4) the overbending gesture during the right turn is the same as the left turn, and is not described herein again.
S306, the control system calculates according to the control parameters and the data detected by the steering wheel sensor to obtain the output torque of the left rear wheel or the output torque of the right rear wheel of the vehicle, and the specific steps are as follows:
(1) judging whether the current vehicle speed exceeds the lowest effective speed of the system, if so, performing subsequent steps, otherwise, controlling the system not to be effective;
(2) multiplying the data detected by the steering wheel sensor by the gain parameter to obtain the steering wheel position data participating in subsequent calculation;
(3) according to the steering wheel position data, the rotation direction and the percentage of the rotation amplitude of the steering wheel are calculated (relative to the maximum rotation amplitude of the rotation direction, if the maximum rotation amplitude of the steering wheel is 90 degrees, the gain of a steering wheel sensor is 1, the rotation is 0%, the rotation of the steering wheel is 90 degrees, the gain is 100%, the rotation is 0%, the rotation of the steering wheel is 45 degrees, and the like) and the output torque of the left rear wheel is calculated by combining the previously set minimum output torque percentage of the left rear wheel when the steering wheel rotates left, or the output torque of the right rear wheel is calculated by combining the minimum output torque percentage of the right rear wheel when the steering wheel rotates right.
When the steering wheel turns left, the calculation mode is as follows:
the left rear wheel output torque is equal to the maximum output torque corresponding to the current throttle value x (100% -left rear wheel minimum output torque percentage when the steering wheel turns left) × (100% -steering wheel rotation amplitude percentage) + left rear wheel minimum output torque percentage when the steering wheel turns left), and the right rear wheel output torque is equal to the maximum output torque corresponding to the current throttle value.
When the steering wheel turns right, the calculation mode is as follows:
the right rear wheel output torque is equal to the maximum output torque corresponding to the current throttle value x (100% -the right rear wheel minimum output torque percentage when the steering wheel is turned right) × (100% -the steering wheel rotation amplitude percentage) + the right rear wheel minimum output torque percentage when the steering wheel is turned right), and the left rear wheel output torque is equal to the maximum output torque corresponding to the current throttle value.
For example: when the steering wheel turns left and the rotation amplitude reaches 100%, setting the 'percentage of the minimum output torque of the left rear wheel when the steering wheel turns left' to be 0%, the output torque of the left rear wheel is 0, namely, the output torque is not output, and when the rotation amplitude is 50%, the output torque of the left rear wheel is 50% of the maximum output torque of the left rear wheel corresponding to the current throttle value. When the minimum output torque percentage of the left rear wheel when the steering wheel turns left is set to be-100%, and when the steering amplitude is 100%, the output torque of the left rear wheel is-100% of the maximum output torque of the left rear wheel corresponding to the current throttle value, namely, the output torque is reversely output with the current driving direction; when the steering amplitude is 50%, the output torque of the left rear wheel is 0% of the maximum output torque of the left rear wheel corresponding to the current throttle value, namely the output is not performed.
S308, the left rear wheel output torque or the right rear wheel output torque of the vehicle provides a certain steering force for the vehicle, the steering force interacts with the steering characteristic determined by the self characteristic of the vehicle, and the over-bending attitude of the vehicle is finally determined, so that the aim of adjusting the over-bending attitude of the vehicle is fulfilled.
In the embodiment of the present invention, when the driving wheel is a front wheel, the driving wheel is a rear wheel, and details thereof are not repeated herein.
Example 2
In this embodiment, a vehicle turning posture control device is also provided, which is used to implement the above embodiments and preferred embodiments, and the description thereof is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 4 is a block diagram of a vehicle turning posture control apparatus according to an embodiment of the present invention, as shown in fig. 4, including:
a first acquiring module 42, configured to acquire a rotation direction and a rotation amplitude of a steering wheel of a vehicle through a sensor;
a second obtaining module 44 for obtaining a turning mode of the vehicle;
a first determination module 46 for determining an output torque of a respective driving wheel of the vehicle according to a rotation direction and a rotation amplitude of the steering wheel in the turning mode;
a control module 48 for controlling a turning attitude of the vehicle based on output torques of respective drive wheels of the vehicle.
Fig. 5 is a block diagram one of a vehicle turning posture control apparatus according to a preferred embodiment of the present invention, as shown in fig. 5, further comprising:
a third obtaining module 52, configured to obtain a minimum output torque ratio of a corresponding driving wheel according to the turning mode;
a second determining module 54, configured to determine a ratio of the rotation amplitude of the steering wheel to a maximum rotation amplitude of the rotation direction as a ratio of the rotation amplitude of the steering wheel in the rotation direction;
the first determining module 46 is further configured to
And determining the output torque of the corresponding driving wheel of the vehicle according to the rotating direction and the rotating amplitude of the steering wheel, the minimum output torque ratio of the corresponding driving wheel and the rotating amplitude ratio.
Optionally, the drive wheel is a rear drive wheel.
Optionally, if the rotation direction of the steering wheel is left steering and the corresponding rear driving wheel of the vehicle is left rear driving wheel, then
The output torque of the left rear driving wheel is equal to the maximum output torque x corresponding to the current throttle value (100% -the minimum output torque of the left rear driving wheel is in proportion to the ratio) × (100% -the rotation amplitude is in proportion to the ratio) + the minimum output torque of the left rear driving wheel is in proportion to the ratio);
if the rotation direction of the steering wheel is right steering and the corresponding rear driving wheel of the vehicle is a right rear driving wheel, then
The output torque of the right rear driving wheel is equal to the maximum output torque x corresponding to the current throttle value (100% -the minimum output torque of the right rear driving wheel is in proportion to the ratio) × (100% -the rotation amplitude is in proportion to the ratio) + the minimum output torque of the right rear driving wheel is in proportion to the ratio).
Optionally, the drive wheel is a front drive wheel.
Optionally, if the rotation direction of the steering wheel is left steering and the corresponding front driving wheel of the vehicle is left front driving wheel, then
The output torque of the left front driving wheel is equal to the maximum output torque x corresponding to the current throttle value (100% -the minimum output torque of the left front driving wheel is in proportion to the ratio) × (100% -the rotation amplitude is in proportion to the ratio) + the minimum output torque of the left front driving wheel is in proportion to the ratio);
if the rotation direction of the steering wheel is right steering and the corresponding front driving wheel of the vehicle is a right front driving wheel, then
The output torque of the right front driving wheel is equal to the maximum output torque x corresponding to the current throttle value (100% -the minimum output torque of the right front driving wheel is in proportion to the ratio) × (100% -the rotation amplitude is in proportion to the ratio) + the minimum output torque of the right front driving wheel is in proportion to the ratio).
Optionally, the second determining module 54 is further configured to
Acquiring a gain parameter of the steering wheel;
multiplying the rotation amplitude of the steering wheel by the gain parameter to obtain the final rotation amplitude of the steering wheel;
and determining the ratio of the final rotation amplitude of the steering wheel to the maximum rotation amplitude of the rotation direction as the rotation amplitude ratio of the steering wheel in the rotation direction.
Optionally, the third obtaining module 52 is further configured to
Acquiring a turning mode of the vehicle which is manually set; or
Acquiring a turning mode of the vehicle triggered by biological mode recognition; or
Acquiring a default turning mode of the vehicle.
Fig. 6 is a block diagram two of a vehicle turning posture control apparatus according to a preferred embodiment of the present invention, and as shown in fig. 6, the control module 48 includes:
an obtaining unit 62, configured to obtain a real-time vehicle speed of the vehicle;
a comparison unit 64 for comparing the real-time vehicle speed of the vehicle with a preset minimum turning-effective speed;
and the control unit 66 is used for controlling the turning posture of the vehicle according to the output torque of the corresponding driving wheel of the vehicle under the condition that the real-time speed of the vehicle is greater than the preset turning effective minimum speed.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Example 3
Embodiments of the present invention also provide a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s11, acquiring the rotation direction and the rotation amplitude of the steering wheel of the vehicle through a sensor;
s12, acquiring the turning mode of the vehicle;
s13, determining the output torque of the corresponding driving wheel of the vehicle according to the rotation direction and the rotation amplitude of the steering wheel in the turning mode;
and S14, controlling the turning posture of the vehicle according to the output torque of the corresponding driving wheel of the vehicle.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Example 4
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s11, acquiring the rotation direction and the rotation amplitude of the steering wheel of the vehicle through a sensor;
s12, acquiring the turning mode of the vehicle;
s13, determining the output torque of the corresponding driving wheel of the vehicle according to the rotation direction and the rotation amplitude of the steering wheel in the turning mode;
and S14, controlling the turning posture of the vehicle according to the output torque of the corresponding driving wheel of the vehicle.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.

Claims (14)

1. A vehicle turning posture control method characterized by comprising:
acquiring the rotation direction and the rotation amplitude of a steering wheel of a vehicle through a sensor;
acquiring a turning mode of the vehicle;
determining the output torque of a corresponding driving wheel of the vehicle according to the rotation direction and the rotation amplitude of the steering wheel in the turning mode;
controlling the turning posture of the vehicle according to the output torque of the corresponding driving wheel of the vehicle;
before determining the output torque of the corresponding driving wheel of the vehicle according to the rotating direction and the rotating amplitude of the steering wheel, the method further comprises the following steps:
acquiring the minimum output torque ratio of the corresponding driving wheel according to the turning mode;
determining the ratio of the rotation amplitude of the steering wheel to the maximum rotation amplitude of the rotation direction as the ratio of the rotation amplitude of the steering wheel in the rotation direction;
the determining the output torque of the corresponding driving wheel of the vehicle according to the rotation direction and the rotation amplitude of the steering wheel comprises:
and determining the output torque of the corresponding driving wheel of the vehicle according to the rotating direction and the rotating amplitude of the steering wheel, the minimum output torque ratio of the corresponding driving wheel and the rotating amplitude ratio.
2. The vehicle turning attitude control method according to claim 1, characterized in that the drive wheel is a rear drive wheel.
3. The vehicle turning attitude control method according to claim 2,
if the rotation direction of the steering wheel is left steering and the corresponding rear driving wheel of the vehicle is left rear driving wheel, then
The output torque of the left rear driving wheel is equal to the maximum output torque x corresponding to the current throttle value (100% -the minimum output torque of the left rear driving wheel is in proportion to the ratio) × (100% -the rotation amplitude is in proportion to the ratio) + the minimum output torque of the left rear driving wheel is in proportion to the ratio);
if the rotation direction of the steering wheel is right steering and the corresponding rear driving wheel of the vehicle is a right rear driving wheel, then
The output torque of the right rear driving wheel is equal to the maximum output torque x corresponding to the current throttle value (100% -the minimum output torque of the right rear driving wheel is in proportion to the ratio) × (100% -the rotation amplitude is in proportion to the ratio) + the minimum output torque of the right rear driving wheel is in proportion to the ratio).
4. The vehicle turning attitude control method according to claim 1, characterized in that the drive wheels are front drive wheels.
5. The vehicle turning attitude control method according to claim 4,
if the rotation direction of the steering wheel is left steering and the corresponding front driving wheel of the vehicle is a left front driving wheel, then
The output torque of the left front driving wheel is equal to the maximum output torque x corresponding to the current throttle value (100% -the minimum output torque of the left front driving wheel is in proportion to the ratio) × (100% -the rotation amplitude is in proportion to the ratio) + the minimum output torque of the left front driving wheel is in proportion to the ratio);
if the rotation direction of the steering wheel is right steering and the corresponding front driving wheel of the vehicle is a right front driving wheel, then
The output torque of the right front driving wheel is equal to the maximum output torque x corresponding to the current throttle value (100% -the minimum output torque of the right front driving wheel is in proportion to the ratio) × (100% -the rotation amplitude is in proportion to the ratio) + the minimum output torque of the right front driving wheel is in proportion to the ratio).
6. The vehicle turning attitude control method according to any one of claims 1 to 5, characterized in that determining the ratio of the magnitude of rotation of the steering wheel to the maximum magnitude of rotation of the turning direction as the ratio of the magnitude of rotation of the steering wheel in the turning direction includes:
acquiring a gain parameter of the steering wheel;
multiplying the rotation amplitude of the steering wheel by the gain parameter to obtain the final rotation amplitude of the steering wheel;
and determining the ratio of the final rotation amplitude of the steering wheel to the maximum rotation amplitude of the rotation direction as the rotation amplitude ratio of the steering wheel in the rotation direction.
7. The vehicle turning posture control method according to any one of claims 1 to 5, characterized in that the acquiring of the turning mode of the vehicle includes:
acquiring a turning mode of the vehicle which is manually set; or
Acquiring a turning mode of the vehicle triggered by biological mode recognition; or
Acquiring a default turning mode of the vehicle.
8. The vehicle turning attitude control method according to claim 7, characterized in that the controlling of the turning attitude of the vehicle in accordance with the output torques of respective drive wheels of the vehicle includes:
acquiring the real-time speed of the vehicle;
comparing the real-time speed of the vehicle with a preset turning effective minimum speed;
and controlling the turning posture of the vehicle according to the output torque of the corresponding driving wheel of the vehicle under the condition that the real-time speed of the vehicle is greater than the preset turning effective minimum speed.
9. A vehicle turning posture control device characterized by comprising:
the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the rotation direction and the rotation amplitude of a steering wheel of a vehicle through a sensor;
the second acquisition module is used for acquiring the turning mode of the vehicle;
the first determining module is used for determining the output torque of a corresponding driving wheel of the vehicle according to the rotating direction and the rotating amplitude of the steering wheel in the turning mode;
the control module is used for controlling the turning posture of the vehicle according to the output torque of a corresponding driving wheel of the vehicle;
wherein the apparatus further comprises:
the third acquisition module is used for acquiring the minimum output torque ratio of the corresponding driving wheel according to the turning mode;
the second determining module is used for determining the ratio of the rotation amplitude of the steering wheel to the maximum rotation amplitude of the rotation direction as the ratio of the rotation amplitude of the steering wheel in the rotation direction;
the first determining module is further used for
And determining the output torque of the corresponding driving wheel of the vehicle according to the rotating direction and the rotating amplitude of the steering wheel, the minimum output torque ratio of the corresponding driving wheel and the rotating amplitude ratio.
10. The vehicle turning attitude control apparatus according to claim 9, characterized in that the second determination module is further configured to
Acquiring a gain parameter of the steering wheel;
multiplying the rotation amplitude of the steering wheel by the gain parameter to obtain the final rotation amplitude of the steering wheel;
and determining the ratio of the final rotation amplitude of the steering wheel to the maximum rotation amplitude of the rotation direction as the rotation amplitude ratio of the steering wheel in the rotation direction.
11. The vehicle turning attitude control apparatus according to claim 9, characterized in that the third acquisition module is further configured to
Acquiring a turning mode of the vehicle which is manually set; or
Acquiring a turning mode of the vehicle triggered by biological mode recognition; or
Acquiring a default turning mode of the vehicle.
12. The vehicle turning attitude control device according to claim 11, characterized in that the control module includes:
the acquisition unit is used for acquiring the real-time speed of the vehicle;
the comparison unit is used for comparing the real-time speed of the vehicle with a preset turning effective lowest speed;
and the control unit is used for controlling the turning posture of the vehicle according to the output torque of the corresponding driving wheel of the vehicle under the condition that the real-time speed of the vehicle is greater than the preset turning effective minimum speed.
13. A storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the method of any of claims 1 to 8 when executed.
14. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 8.
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EP2170678A2 (en) * 2007-06-13 2010-04-07 Renault SAS System and method for controlling the turn of the steering wheels of an automobile in a braking situation with asymmetrical adhesion
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