CN111824241A - Auxiliary steering control method and device and vehicle - Google Patents
Auxiliary steering control method and device and vehicle Download PDFInfo
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- CN111824241A CN111824241A CN201910300768.3A CN201910300768A CN111824241A CN 111824241 A CN111824241 A CN 111824241A CN 201910300768 A CN201910300768 A CN 201910300768A CN 111824241 A CN111824241 A CN 111824241A
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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
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
Abstract
The disclosure relates to a control method and a control device for auxiliary steering and a vehicle, relates to the field of vehicle control, and is applied to the vehicle, wherein the method comprises the following steps: when the vehicle meets a first preset condition, determining a first torque and a second torque according to the depth of an accelerator pedal of the vehicle, controlling the first torque to be applied to an outer wheel of the vehicle, and controlling the second torque to be applied to an inner wheel of the vehicle, wherein the inner wheel is a driving wheel on the same side with the steering direction of the vehicle, the outer wheel is a driving wheel on the opposite side with the steering direction, and the direction of the first torque is opposite to the direction of the second torque. The auxiliary steering device effectively assists the steering of the vehicle on the premise of not additionally increasing a control mechanism, is simple to control, wide in application range and low in cost, and can reduce the steering radius of the vehicle and improve the operability of the vehicle.
Description
Technical Field
The disclosure relates to the field of vehicle control, in particular to a control method and device for auxiliary steering and a vehicle.
Background
In the related technical field, with the increasing of the automobile keeping quantity in China, the running and parking environments of the automobile are more and more complex, in order to ensure the running safety of the automobile, the requirement of people on the steering performance of the automobile is higher and higher, and the improvement of the steering performance of the automobile is mainly realized through a steering control system on the automobile. In the prior art, a steering control system of a vehicle determines torque applied to a driving wheel through the depth of stepping on an accelerator pedal and the rotation angle of a steering wheel by a driver, and is generally only suitable for a single driving mode, small in application range and low in universality. If the steering of the vehicle with multiple driving modes needs to be controlled, an additional steering mechanism needs to be added, the control strategy is complex, and the cost is high.
Disclosure of Invention
The invention aims to provide a control method and device for auxiliary steering and a vehicle, which are used for solving the problems of small application range and complex implementation of a steering control system of the vehicle in the prior art.
In order to achieve the above object, according to a first aspect of an embodiment of the present disclosure, there is provided a control method of assisting steering, applied to a vehicle, the method including:
when the vehicle meets a first preset condition, determining a first torque and a second torque according to the depth of an accelerator pedal of the vehicle;
and controlling the first torque to be applied to an outer wheel of the vehicle and controlling the second torque to be applied to an inner wheel of the vehicle, wherein the inner wheel is a driving wheel on the same side with the steering direction of the vehicle, the outer wheel is a driving wheel on the opposite side with the steering direction, and the direction of the first torque is opposite to that of the second torque.
Optionally, the method further comprises:
determining a third torque according to the accelerator pedal depth when the vehicle does not meet the first preset condition;
controlling the third torque to be applied to at least one driving wheel of the vehicle.
Optionally, the method further comprises:
obtaining status information of the vehicle, the status information including: the accelerator pedal depth, the vehicle's travel speed, steering wheel angle, yaw rate, and brake pedal depth;
when the vehicle meets a first preset condition, determining a first torque and a second torque according to the depth of an accelerator pedal of the vehicle comprises the following steps:
determining the first torque and the second torque according to the depth of the accelerator pedal when four conditions that the absolute value of the steering wheel angle is greater than a first threshold value, the travel speed is less than or equal to a second threshold value, the absolute value of the yaw rate is less than or equal to a third threshold value, and the depth of the brake pedal is zero are met;
when the vehicle does not meet the first preset condition, determining a third torque according to the accelerator pedal depth comprises the following steps:
and determining a third torque according to the accelerator pedal depth when at least one of four conditions, namely, the absolute value of the steering wheel angle is less than or equal to the first threshold, the travel speed is greater than the second threshold, the absolute value of the yaw rate is greater than a third threshold, and the brake pedal depth is greater than zero, is met.
Optionally, the controlling the first torque to be applied to an outer wheel of the vehicle and the controlling the second torque to be applied to an inner wheel of the vehicle comprises:
controlling an outer motor corresponding to the outer wheel to output the first torque;
and controlling the inner motor corresponding to the inner wheel to output the second torque.
Optionally, the determining the first torque and the second torque according to the accelerator pedal depth of the vehicle comprises:
determining the first torque and the second torque according to a preset corresponding relation between the depth of the accelerator pedal and the torque;
wherein the absolute value of the first torque and the absolute value of the second torque are both positively correlated with the accelerator pedal depth, and the absolute value of the first torque is greater than the absolute value of the second torque.
Optionally, the method further comprises:
and sending prompt information, wherein the prompt information is used for showing the first torque, the second torque, the first driving force and the second driving force, the first driving force is a reaction force generated by the outer side wheel and generated by the ground when the first torque is applied to the outer side wheel, and the second driving force is a reaction force generated by the inner side wheel and generated by the ground when the second torque is applied to the inner side wheel.
According to a second aspect of the embodiments of the present disclosure, there is provided a control device for assisting steering, applied to a vehicle, the device including:
the determining module is used for determining a first torque and a second torque according to the depth of an accelerator pedal of the vehicle when the vehicle meets a first preset condition;
the control module is used for controlling the first torque to be applied to an outer side wheel of the vehicle and controlling the second torque to be applied to an inner side wheel of the vehicle, the inner side wheel is a driving wheel on the same side with the steering direction of the vehicle, the outer side wheel is a driving wheel on the opposite side with the steering direction, and the direction of the first torque is opposite to that of the second torque.
Optionally, the determining module is further configured to determine a third torque according to the accelerator pedal depth when the vehicle does not satisfy the first preset condition;
the control module is further configured to control the third torque to be applied to at least one drive wheel of the vehicle.
Optionally, the apparatus further comprises:
an obtaining module configured to obtain status information of the vehicle, the status information including: the accelerator pedal depth, the vehicle's travel speed, steering wheel angle, yaw rate, and brake pedal depth;
the determining module is further used for determining the first torque and the second torque according to the depth of the accelerator pedal when four conditions that the absolute value of the steering wheel angle is larger than a first threshold value, the running speed is smaller than or equal to a second threshold value, the absolute value of the yaw rate is smaller than or equal to a third threshold value, and the depth of the brake pedal is zero are met;
the determination module is further configured to determine a third torque according to the accelerator pedal depth when at least one of four conditions, that is, the absolute value of the steering wheel angle is less than or equal to the first threshold, the travel speed is greater than the second threshold, the absolute value of the yaw rate is greater than a third threshold, and the brake pedal depth is greater than zero, is met.
Optionally, the control module is further configured to:
controlling an outer motor corresponding to the outer wheel to output the first torque;
and controlling the inner motor corresponding to the inner wheel to output the second torque.
Optionally, the determining module is further configured to determine the first torque and the second torque according to a preset corresponding relationship between the depth of the accelerator pedal and the torque;
wherein the absolute value of the first torque and the absolute value of the second torque are both positively correlated with the accelerator pedal depth, and the absolute value of the first torque is greater than the absolute value of the second torque.
Optionally, the apparatus further comprises:
the prompting module is used for sending out prompting information, the prompting information is used for displaying the first torque, the second torque, the first driving force and the second driving force, the first driving force is applied to the reaction force generated by the outer wheel when the first torque is applied to the outer wheel, the ground is opposite to the reaction force generated by the inner wheel when the second torque is applied to the inner wheel, and the ground is opposite to the reaction force generated by the inner wheel.
According to a third aspect of the embodiments of the present disclosure, there is provided a vehicle provided with any one of the steering assist control apparatuses provided in the second aspect of the embodiments of the present disclosure.
Through the technical scheme, when the vehicle meets the first preset condition, the first torque and the second torque are determined according to the depth of an accelerator pedal of the vehicle, the first torque is controlled to be applied to the outer side wheel of the vehicle, the second torque is controlled to be applied to the inner side wheel of the vehicle, the inner side wheel is a driving wheel on the same side with the steering direction of the vehicle, the outer side wheel is a driving wheel on the opposite side of the steering direction, and the direction of the first torque is opposite to that of the second torque. The auxiliary steering device effectively assists the steering of the vehicle on the premise of not additionally increasing a control mechanism, is simple to control, wide in application range and low in cost, and can reduce the steering radius of the vehicle and improve the operability of the vehicle.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a method of controlling auxiliary steering according to an exemplary embodiment;
FIG. 2 is a flow chart illustrating another method of controlling assisted steering according to an exemplary embodiment;
FIG. 3 is a flow chart illustrating another method of controlling assisted steering according to an exemplary embodiment;
FIG. 4 is a flow chart of one step 102 shown in the embodiment of FIG. 1;
FIG. 5 is a schematic illustration of an accelerator pedal depth to torque relationship for the embodiment of FIG. 1;
FIG. 6 is a flow chart illustrating yet another method of controlling auxiliary steering in accordance with an exemplary embodiment;
FIG. 7 is a block diagram illustrating a control arrangement for assisting steering according to an exemplary embodiment;
FIG. 8 is a block diagram illustrating another control arrangement for assisting steering according to an exemplary embodiment;
FIG. 9 is a block diagram illustrating yet another control arrangement for assisting steering, according to an exemplary embodiment;
FIG. 10 is a block diagram of a vehicle shown in accordance with an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Before describing the control method, device and vehicle for auxiliary steering provided by the present disclosure, an application scenario related to various embodiments of the present disclosure is first described. The application scenario includes a vehicle provided with a controller for assisting the vehicle in steering and a data collector for collecting status information of the vehicle. The controller may be a processor having a Control function, such as a VCU (Vehicle Control Unit, chinese) or an MCU (Micro Control Unit, chinese), and the data collector may include various sensors for collecting status information of the Vehicle, such as an accelerator pedal depth sensor, a Vehicle speed sensor, a steering wheel angle sensor, a yaw rate sensor, a brake pedal depth sensor, a camera, and a radar. The vehicle is an automatic transmission vehicle driven by a single wheel independently, is not limited to a traditional vehicle, a pure electric vehicle or a hybrid vehicle, and can be applied to other types of motor vehicles.
FIG. 1 is a flow chart illustrating a method of controlling auxiliary steering according to an exemplary embodiment. As shown in fig. 1, applied to a vehicle, the method includes the steps of:
And 102, controlling a first torque to be applied to an outer wheel of the vehicle and controlling a second torque to be applied to an inner wheel of the vehicle, wherein the inner wheel is a driving wheel on the same side with the steering direction of the vehicle, the outer wheel is a driving wheel on the opposite side with the steering direction, and the direction of the first torque is opposite to the direction of the second torque.
For example, during the driving of the vehicle, the driver may select whether to turn on the auxiliary steering function according to actual requirements, for example, a steering enhancement button may be provided on the vehicle, the driver presses the steering enhancement button when the auxiliary steering function needs to be turned on to send an auxiliary steering function turning-on signal to the vehicle, and the vehicle turns on the auxiliary steering function of the vehicle after receiving the auxiliary steering function turning-on signal. The driver may transmit the auxiliary steering function off signal to the vehicle by pressing the steering enhancement button again, and the vehicle turns off the auxiliary steering function of the vehicle after receiving the auxiliary steering function off signal. The steering enhancement button may be a physical button provided on a vehicle console, a control lever, or a steering wheel, or may be a virtual button on a display interface of a center control display.
Specifically, in the steering process of the vehicle, based on the vehicle independently driven by a single wheel, the torque of the driving wheels at two coaxial sides can be independently adjusted, the torque in different directions can be applied to the wheels at the inner side and the outer side of the vehicle, so that the vehicle can generate a yaw moment M which can cause the vehicle to rotate, when the yaw moment reaches a certain value, can cause the lateral sliding of the vehicle, can effectively reduce the steering radius by utilizing the lateral sliding, thereby playing the role of assisting the steering of the vehicle, wherein the inner side wheel is a driving wheel on the same side with the steering direction of the vehicle, the outer side wheel is a driving wheel on the opposite side with the steering direction, that is, when the vehicle turns left, the inner wheel is the driving wheel on the left side of the vehicle, the outer wheel is the driving wheel on the right side of the vehicle, when the vehicle turns to the right, the inner wheels are the drive wheels on the right side of the vehicle, and the outer wheels are the drive wheels on the left side of the vehicle. Therefore, the torques in different directions can be applied to the wheels on the inner side and the outer side of the vehicle according to the depth of the accelerator pedal of the vehicle. Considering the complexity of the running road of the vehicle, namely the value of the yaw moment M causing the lateral slip of the vehicle is not fixed, the magnitude of torques in different directions applied to the wheels on the inner side and the outer side of the vehicle is controlled by adopting the accelerator pedal, so that the yaw moment M is controlled, a driver can adjust the turning radius and speed of the vehicle, the operation of the driver is convenient, and the application range of the vehicle is wide.
It should be noted that if the driver turns on the auxiliary steering function and the vehicle always performs the control method of the auxiliary steering provided in steps 101 to 102 to steer, the vehicle always uses the lateral slip to reduce the steering radius, which may affect the stability of the vehicle. Therefore, when the driver turns on the assist steering function (for example, turns on the assist steering function by pressing the steering enhancement button), the vehicle may be controlled to enter the steering enhancement standby mode in order to secure the stability of the vehicle. And when the vehicle meets a first preset condition, controlling the vehicle to enter a steering enhancement mode. After the vehicle enters a steering enhancement mode, a driver steps on an accelerator pedal, a first torque and a second torque are determined according to the depth of the accelerator pedal according to a control strategy under the steering enhancement mode, the first torque is controlled to be applied to the outer wheels of the vehicle, the second torque is controlled to be applied to the inner wheels of the vehicle, the direction of the first torque is opposite to that of the second torque so as to assist the vehicle in steering, the larger the depth of the accelerator pedal is, the smaller the steering radius of the vehicle is, and when the depth of the accelerator pedal is the maximum, the vehicle stops moving forwards and enters a pivot steering process. For example, the first torque may direct a reaction force generated by the ground on the outer wheel toward the front of the outer wheel, and the second torque may direct a reaction force generated by the ground on the inner wheel toward the rear of the inner wheel.
In summary, in the present disclosure, when the vehicle satisfies the first preset condition, the first torque and the second torque are determined according to the depth of the accelerator pedal of the vehicle, and then the first torque is controlled to be applied to the outer wheels of the vehicle, while the second torque is controlled to be applied to the inner wheels of the vehicle, where the inner wheels are driving wheels on the same side as the turning direction of the vehicle, the outer wheels are driving wheels on the opposite side of the turning direction, and the direction of the first torque is opposite to the direction of the second torque. The auxiliary steering device effectively assists the steering of the vehicle on the premise of not additionally increasing a control mechanism, is simple to control, wide in application range and low in cost, and can reduce the steering radius of the vehicle and improve the operability of the vehicle.
FIG. 2 is a flow chart illustrating another method of controlling assisted steering, according to an exemplary embodiment, as shown in FIG. 2, further including the steps of:
and 103, determining a third torque according to the depth of an accelerator pedal when the vehicle does not meet the first preset condition.
And step 104, controlling the third torque to be applied to at least one driving wheel of the vehicle.
For example, during the steering of the vehicle, depending on the driver's different needs and the performance of the vehicle itself, a situation may arise in which it is not appropriate to perform control for assisting steering. Therefore, it is possible to automatically exit the steering enhancement mode when the vehicle does not satisfy the first preset condition, stop the execution of the control of the auxiliary steering, thereafter determine the third torque according to the accelerator pedal depth in accordance with the control strategy in the normal running mode, and control the third torque to be applied to at least one driving wheel of the vehicle. For example, the third torque may be determined according to a preset corresponding relationship between the depth of the accelerator pedal and the torque, wherein the preset corresponding relationship may be a function relationship between the depth of the accelerator pedal and the torque, or may be a relationship table between the depth of the accelerator pedal and the torque (for example, a relationship table established according to empirical data and/or experimental data).
FIG. 3 is a flow chart illustrating another method of controlling assisted steering, according to an exemplary embodiment, as shown in FIG. 3, further including the steps of:
For example, when the driver turns on the auxiliary steering function, it does not indicate that the auxiliary steering of the vehicle has been started, but only a necessary condition for entering the steering enhancement mode, and it is necessary to obtain the state information of the vehicle to determine whether the vehicle satisfies the condition for entering/exiting the steering enhancement mode (i.e., whether the first preset condition is satisfied). The vehicle may acquire the vehicle state information by a data collector provided on the vehicle. Wherein the state information may include: accelerator pedal depth (which may be collected by an accelerator pedal depth sensor), vehicle speed (which may be collected by a vehicle speed sensor), steering wheel angle (which may be collected by a steering wheel angle sensor), yaw rate (which may be collected by a yaw rate sensor), and brake pedal depth (which may be collected by a brake pedal depth sensor).
It should be noted that, the execution sequence of each step in the control method for assisting steering shown in fig. 3 is only an example of a specific embodiment in the present disclosure, and the specific execution sequence of each step in the present disclosure is not limited, in order to ensure that the vehicle can enter/exit the steering enhancement mode in time, the state information of the vehicle needs to be obtained in real time (for example, the state information may be obtained continuously according to a preset frequency), and the execution sequence of the present disclosure is not limited specifically, and the first torque and the second torque may be determined according to the accelerator pedal depth of the vehicle, or after the first torque and the second torque are determined according to the accelerator pedal depth of the vehicle, that is, the step 105 may be placed before the step 101, or the step 101 may be placed after the step 105.
Step 101 may be implemented by:
and when the absolute value of the steering wheel angle is larger than a first threshold value, the running speed is smaller than or equal to a second threshold value, the absolute value of the yaw rate is smaller than or equal to a third threshold value, the depth of a brake pedal is zero, and the four conditions are met, determining a first torque and a second torque according to the depth of the accelerator pedal.
For example, after the state information of the vehicle is acquired, it is determined whether the vehicle meets a first preset condition, where the first preset condition is: the absolute value of the steering wheel angle is greater than a first threshold value (the first threshold value may be represented by s), the travel speed is less than or equal to a second threshold value (the second threshold value may be represented by Vs), the absolute value of the yaw rate is less than or equal to a third threshold value (the third threshold value may be represented by γ s), the brake pedal depth is zero (i.e., the driver fully lifts the brake pedal), and all four conditions are satisfied. When the vehicle meets a first preset condition, the vehicle is controlled to enter a steering enhancement mode, and a first torque and a second torque are determined according to the depth of an accelerator pedal according to a control strategy in the steering enhancement mode, so that the vehicle is assisted to steer. Further, in order to improve the safety of the vehicle during traveling, whether the depth signal of the accelerator pedal of the vehicle crosses zero may be determined under the condition that the vehicle meets a first preset condition, and the vehicle may be controlled to enter the steering enhancement mode only after the depth signal of the accelerator pedal crosses zero (i.e., after the driver completely lifts the accelerator pedal and re-depresses the accelerator pedal is detected).
The first threshold value (i.e., s) is a threshold value of an absolute value of a steering wheel angle that determines whether or not to assist the vehicle in steering, and it is possible to assist the vehicle in steering only when the absolute value of the steering wheel angle is greater than s and less than or equal to the maximum steering wheel angle. The second threshold value (i.e., Vs) is a threshold value of the travel speed that determines whether to assist the vehicle in steering, and it is possible to assist the vehicle in steering only when the travel speed is greater than or equal to 0 and less than or equal to Vs. The third threshold value (i.e., γ s) is a threshold value for determining the absolute value of the yaw rate that maintains the stability of the vehicle during the steering of the assist vehicle, and it is possible to assist the steering of the vehicle only when the absolute value of the yaw rate is greater than or equal to 0 and less than or equal to γ s. s, Vs and γ s can be obtained by combining the results of simulation analysis and test calibration.
Step 103 may be implemented by:
and when the absolute value of the steering wheel angle is smaller than or equal to a first threshold value, the running speed is larger than a second threshold value, the absolute value of the yaw rate is larger than a third threshold value, the depth of a brake pedal is larger than zero, and at least one of the four conditions is met, determining a third torque according to the depth of the accelerator pedal.
For example, when the vehicle does not satisfy a first preset condition, namely when detecting that the absolute value of the steering wheel angle is smaller than or equal to a first threshold value, the running speed is larger than a second threshold value, the absolute value of the yaw rate is larger than a third threshold value, and the depth of the brake pedal is larger than zero, and at least one of the four conditions is satisfied, the vehicle is controlled to exit the steering enhancement mode, the vehicle returns to the normal running mode, and a normal vehicle speed control strategy is adopted to determine a third torque according to the depth of the accelerator pedal. In the process that the vehicle exits the steering enhancement mode, if the accelerator pedal depth signal is detected to be not zero, the torque of all driving wheels of the vehicle is reduced to zero, and when the accelerator pedal depth signal is detected to be zero, namely when the driver is detected to completely lift the accelerator pedal and re-step the accelerator pedal, the third torque is determined according to the accelerator pedal depth.
When the vehicle exits the steering enhancement mode due to the fact that the absolute value of the yaw rate is larger than the third threshold value, after the vehicle is switched to the normal running mode, in order to guarantee running safety of the vehicle, the vehicle cannot be automatically switched to the steering enhancement mode again, the driver needs to start the auxiliary steering function again, and whether the vehicle enters the steering enhancement mode again can be judged according to whether the first preset condition is met. When the steering wheel angle, the running speed and the depth of the brake pedal do not meet the first preset condition, the vehicle is controlled to exit the steering enhancement mode to enter the steering enhancement standby mode, and the vehicle enters the steering enhancement mode again after meeting the first preset condition again.
Fig. 4 is a flow chart illustrating one step 102 of the embodiment shown in fig. 1, and as shown in fig. 4, step 102 includes the following steps:
and step 1021, controlling the outer motor corresponding to the outer wheel to output a first torque.
And step 1022, controlling the inner motor corresponding to the inner wheel to output a second torque.
Specifically, after the vehicle enters the steering enhancement mode, the steering direction of the vehicle is determined according to the steering wheel angle, and the inner side wheel and the outer side wheel of the vehicle, as well as the inner side motor and the outer side motor are determined according to the steering direction of the vehicle, wherein the inner side motor is a motor corresponding to the inner side wheel (namely, the inner side motor comprises a plurality of motors corresponding to a plurality of inner side wheels), and the outer side motor is a motor corresponding to the outer side wheel (namely, the outer side motor comprises a plurality of motors corresponding to a plurality of outer side wheels). And then controlling an outer side motor corresponding to the outer side wheel to output a first torque, and simultaneously controlling an inner side motor corresponding to the inner side wheel to output a second torque. The control of the first torque and the second torque output by the outer motor and the inner motor respectively can be directly controlled by a controller of the vehicle, and can also be controlled by controlling a motor controller connected with the outer motor and the inner motor by the controller of the vehicle.
Alternatively, step 101 may be implemented by:
and determining the first torque and the second torque according to the preset corresponding relation between the depth of the accelerator pedal and the torque.
The absolute value of the first torque and the absolute value of the second torque are positively correlated with the depth of the accelerator pedal, and the absolute value of the first torque is larger than the absolute value of the second torque.
For example, the vehicle may determine the first torque and the second torque according to a preset corresponding relationship between the depth of the accelerator pedal and the torque, wherein the preset corresponding relationship may be a function relationship between the depth of the accelerator pedal and the torque, or may be a relationship table between the depth of the accelerator pedal and the torque (for example, a relationship table established according to empirical data and/or experimental data). The direction of the first torque is opposite to that of the second torque, the absolute value of the first torque and the absolute value of the second torque are positively correlated with the depth of the accelerator pedal, and the absolute value of the first torque is larger than that of the second torque. As shown in fig. 5, the correspondence relationship between the accelerator pedal depth and the first and second torques may be, for example:
the first torque is: f. of1(x)＝kx
The second torque is:
wherein x is the accelerator pedal depth, and ranges from 0 to 1 (i.e., 0 corresponds to no accelerator pedal being stepped on, 1 corresponds to accelerator pedal being stepped on to the bottom), and f1(x) Is a first torque, f2(x) For the second torque, k and b are scalar parameters, with a negative sign indicating that the direction of the second torque is opposite to the direction of the first torque. The k value can be calibrated and determined according to the peak torque of the motor and the factors of stability, safety, comfort and the like of the vehicle in the test process, and the b value can be calibrated and determined according to the factors of the running speed of the vehicle, the stability of the vehicle and the like in the test process.
FIG. 6 is a flow chart illustrating yet another method of controlling auxiliary steering, as shown in FIG. 6, according to an exemplary embodiment, further including the steps of:
and 106, sending out prompt information, wherein the prompt information is used for displaying a first torque, a second torque, a first driving force and a second driving force, the first driving force is a reaction force generated by the ground to the outer wheel when the first torque is applied to the outer wheel, and the second driving force is a reaction force generated by the ground to the inner wheel when the second torque is applied to the inner wheel.
For example, when the vehicle enters the steering enhancement mode, a prompt message can be sent to show the first torque, the second torque, the first driving force and the second driving force, so that the current steering condition of the vehicle can be effectively prompted to a driver, and the driver can better drive the vehicle to steer. The first driving force is a reaction force generated to face the outer wheel when the first torque is applied to the outer wheel, the second driving force is a reaction force generated to face the inner wheel when the second torque is applied to the inner wheel, the first driving force includes a magnitude and a direction of the reaction force generated to face the outer wheel, and the second driving force includes a magnitude and a direction of the reaction force generated to face the inner wheel. The manner of sending the prompt message may be by displaying a diagram of the first torque, the second torque, the first driving force and the second driving force on a display interface of a central control display screen of the vehicle, and further, when the vehicle enters/exits the steering enhancement mode, the driver may be prompted by controlling an indicator lamp on the vehicle to flash in a preset manner (for example, controlling the indicator lamp to flash in a preset frequency and color) or by controlling a speaker on the vehicle to send a voice prompt to prompt the driver that the vehicle has currently entered/exited the steering enhancement mode.
In summary, in the present disclosure, when the vehicle satisfies the first preset condition, the first torque and the second torque are determined according to the depth of the accelerator pedal of the vehicle, and then the first torque is controlled to be applied to the outer wheels of the vehicle, while the second torque is controlled to be applied to the inner wheels of the vehicle, where the inner wheels are driving wheels on the same side as the turning direction of the vehicle, the outer wheels are driving wheels on the opposite side of the turning direction, and the direction of the first torque is opposite to the direction of the second torque. The auxiliary steering device effectively assists the steering of the vehicle on the premise of not additionally increasing a control mechanism, is simple to control, wide in application range and low in cost, and can reduce the steering radius of the vehicle and improve the operability of the vehicle.
Fig. 7 is a block diagram illustrating a control apparatus for assisting steering, as shown in fig. 7, applied to a vehicle, according to an exemplary embodiment, the apparatus 200 including:
the determining module 201 is configured to determine the first torque and the second torque according to an accelerator pedal depth of the vehicle when the vehicle meets a first preset condition.
The control module 202 is configured to control a first torque to be applied to an outer wheel of the vehicle and a second torque to be applied to an inner wheel of the vehicle, the inner wheel being a driving wheel on a same side of a steering direction of the vehicle, the outer wheel being a driving wheel on an opposite side of the steering direction, and the first torque being opposite to the second torque.
It should be noted that the apparatus 200 may be a controller, for example, a processor having a control function, such as a VCU or an MCU in a vehicle, and the disclosure is not limited thereto.
Optionally, the determining module 201 is further configured to determine the third torque according to the accelerator pedal depth when the vehicle does not satisfy the first preset condition.
A control module 202 further configured to control the third torque to be applied to at least one driving wheel of the vehicle.
Fig. 8 is a block diagram illustrating another steering assist control apparatus according to an exemplary embodiment, and as shown in fig. 8, the apparatus 200 further includes:
an obtaining module 203, configured to obtain status information of the vehicle, where the status information includes: accelerator pedal depth, vehicle travel speed, steering wheel angle, yaw rate, and brake pedal depth.
The determining module 201 is further configured to determine the first torque and the second torque according to the depth of the accelerator pedal when the absolute value of the steering wheel angle is greater than a first threshold, the driving speed is less than or equal to a second threshold, the absolute value of the yaw rate is less than or equal to a third threshold, the depth of the brake pedal is zero, and all four conditions are met.
The determining module 201 is further configured to determine the third torque according to the accelerator pedal depth when the absolute value of the steering wheel angle is less than or equal to a first threshold, the driving speed is greater than a second threshold, the absolute value of the yaw rate is greater than a third threshold, and the depth of the brake pedal is greater than zero, wherein at least one of the four conditions is satisfied.
Optionally, the control module 202 is further configured to:
and controlling the outer motor corresponding to the outer wheel to output a first torque.
And controlling the inner motor corresponding to the inner wheel to output a second torque.
Optionally, the determining module 201 is further configured to determine the first torque and the second torque according to a preset corresponding relationship between the depth of the accelerator pedal and the torque.
The absolute value of the first torque and the absolute value of the second torque are positively correlated with the depth of the accelerator pedal, and the absolute value of the first torque is larger than the absolute value of the second torque.
Fig. 9 is a block diagram illustrating still another control apparatus for assisting steering according to an exemplary embodiment, and as shown in fig. 9, the apparatus 200 further includes:
the prompt module 204 is configured to send a prompt message, where the prompt message is used to show a first torque, a second torque, a first driving force and a second driving force, the first driving force is a reaction force generated by the ground to the outer wheel when the first torque is applied to the outer wheel, and the second driving force is a reaction force generated by the ground to the inner wheel when the second torque is applied to the inner wheel.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
In summary, in the present disclosure, when the vehicle satisfies the first preset condition, the first torque and the second torque are determined according to the depth of the accelerator pedal of the vehicle, and then the first torque is controlled to be applied to the outer wheels of the vehicle, while the second torque is controlled to be applied to the inner wheels of the vehicle, where the inner wheels are driving wheels on the same side as the turning direction of the vehicle, the outer wheels are driving wheels on the opposite side of the turning direction, and the direction of the first torque is opposite to the direction of the second torque. The auxiliary steering device effectively assists the steering of the vehicle on the premise of not additionally increasing a control mechanism, is simple to control, wide in application range and low in cost, and can reduce the steering radius of the vehicle and improve the operability of the vehicle.
FIG. 10 is a block diagram of a vehicle shown in accordance with an exemplary embodiment. As shown in fig. 10, a vehicle 300 may be provided with a data collector 301 for collecting vehicle state information, a driving motor 302 for controlling rotation of driving wheels 303, and any one of the steering assist control devices 200 shown in fig. 7 to 9.
It should be noted that the block diagram of the vehicle shown in fig. 10 is merely an illustration of a specific embodiment in the present disclosure, and the structure of the vehicle in the present disclosure is not particularly limited. The vehicle in the present disclosure may be a front two-wheel independently driven vehicle, a rear two-wheel independently driven vehicle, or a four-wheel independently driven vehicle, and fig. 10 is a block diagram of the four-wheel independently driven vehicle.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
In summary, in the present disclosure, when the vehicle satisfies the first preset condition, the first torque and the second torque are determined according to the depth of the accelerator pedal of the vehicle, and then the first torque is controlled to be applied to the outer wheels of the vehicle, while the second torque is controlled to be applied to the inner wheels of the vehicle, where the inner wheels are driving wheels on the same side as the turning direction of the vehicle, the outer wheels are driving wheels on the opposite side of the turning direction, and the direction of the first torque is opposite to the direction of the second torque. The auxiliary steering device effectively assists the steering of the vehicle on the premise of not additionally increasing a control mechanism, is simple to control, wide in application range and low in cost, and can reduce the steering radius of the vehicle and improve the operability of the vehicle.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (13)
1. A control method of assisted steering, characterized by being applied to a vehicle, the method comprising:
when the vehicle meets a first preset condition, determining a first torque and a second torque according to the depth of an accelerator pedal of the vehicle;
and controlling the first torque to be applied to an outer wheel of the vehicle and controlling the second torque to be applied to an inner wheel of the vehicle, wherein the inner wheel is a driving wheel on the same side with the steering direction of the vehicle, the outer wheel is a driving wheel on the opposite side with the steering direction, and the direction of the first torque is opposite to that of the second torque.
2. The method of claim 1, further comprising:
determining a third torque according to the accelerator pedal depth when the vehicle does not meet the first preset condition;
controlling the third torque to be applied to at least one driving wheel of the vehicle.
3. The method of claim 2, further comprising:
obtaining status information of the vehicle, the status information including: the accelerator pedal depth, the vehicle's travel speed, steering wheel angle, yaw rate, and brake pedal depth;
when the vehicle meets a first preset condition, determining a first torque and a second torque according to the depth of an accelerator pedal of the vehicle comprises the following steps:
determining the first torque and the second torque according to the depth of the accelerator pedal when four conditions that the absolute value of the steering wheel angle is greater than a first threshold value, the travel speed is less than or equal to a second threshold value, the absolute value of the yaw rate is less than or equal to a third threshold value, and the depth of the brake pedal is zero are met;
when the vehicle does not meet the first preset condition, determining a third torque according to the accelerator pedal depth comprises the following steps:
and determining a third torque according to the accelerator pedal depth when at least one of four conditions, namely, the absolute value of the steering wheel angle is less than or equal to the first threshold, the travel speed is greater than the second threshold, the absolute value of the yaw rate is greater than a third threshold, and the brake pedal depth is greater than zero, is met.
4. The method of claim 1, wherein the controlling the first torque to be applied to an outboard wheel of the vehicle and the controlling the second torque to be applied to an inboard wheel of the vehicle comprises:
controlling an outer motor corresponding to the outer wheel to output the first torque;
and controlling the inner motor corresponding to the inner wheel to output the second torque.
5. The method of claim 1, wherein determining the first and second torques as a function of an accelerator pedal depth of the vehicle comprises:
determining the first torque and the second torque according to a preset corresponding relation between the depth of the accelerator pedal and the torque;
wherein the absolute value of the first torque and the absolute value of the second torque are both positively correlated with the accelerator pedal depth, and the absolute value of the first torque is greater than the absolute value of the second torque.
6. The method according to any one of claims 1-5, further comprising:
and sending prompt information, wherein the prompt information is used for showing the first torque, the second torque, the first driving force and the second driving force, the first driving force is a reaction force generated by the outer side wheel and generated by the ground when the first torque is applied to the outer side wheel, and the second driving force is a reaction force generated by the inner side wheel and generated by the ground when the second torque is applied to the inner side wheel.
7. A steering assist control apparatus, applied to a vehicle, the apparatus comprising:
the determining module is used for determining a first torque and a second torque according to the depth of an accelerator pedal of the vehicle when the vehicle meets a first preset condition;
the control module is used for controlling the first torque to be applied to an outer side wheel of the vehicle and controlling the second torque to be applied to an inner side wheel of the vehicle, the inner side wheel is a driving wheel on the same side with the steering direction of the vehicle, the outer side wheel is a driving wheel on the opposite side with the steering direction, and the direction of the first torque is opposite to that of the second torque.
8. The apparatus of claim 7, wherein the determining module is further configured to determine a third torque based on the accelerator pedal depth when the vehicle does not satisfy the first preset condition;
the control module is further configured to control the third torque to be applied to at least one drive wheel of the vehicle.
9. The apparatus of claim 8, further comprising:
an obtaining module configured to obtain status information of the vehicle, the status information including: the accelerator pedal depth, the vehicle's travel speed, steering wheel angle, yaw rate, and brake pedal depth;
the determining module is further used for determining the first torque and the second torque according to the depth of the accelerator pedal when four conditions that the absolute value of the steering wheel angle is larger than a first threshold value, the running speed is smaller than or equal to a second threshold value, the absolute value of the yaw rate is smaller than or equal to a third threshold value, and the depth of the brake pedal is zero are met;
the determination module is further configured to determine a third torque according to the accelerator pedal depth when at least one of four conditions, that is, the absolute value of the steering wheel angle is less than or equal to the first threshold, the travel speed is greater than the second threshold, the absolute value of the yaw rate is greater than a third threshold, and the brake pedal depth is greater than zero, is met.
10. The apparatus of claim 7, wherein the control module is further configured to:
controlling an outer motor corresponding to the outer wheel to output the first torque;
and controlling the inner motor corresponding to the inner wheel to output the second torque.
11. The apparatus of claim 7, wherein the determining module is further configured to determine the first torque and the second torque according to a preset correspondence between the accelerator pedal depth and the torque;
wherein the absolute value of the first torque and the absolute value of the second torque are both positively correlated with the accelerator pedal depth, and the absolute value of the first torque is greater than the absolute value of the second torque.
12. The apparatus according to any one of claims 7-11, further comprising:
the prompting module is used for sending out prompting information, the prompting information is used for displaying the first torque, the second torque, the first driving force and the second driving force, the first driving force is applied to the reaction force generated by the outer wheel when the first torque is applied to the outer wheel, the ground is opposite to the reaction force generated by the inner wheel when the second torque is applied to the inner wheel, and the ground is opposite to the reaction force generated by the inner wheel.
13. A vehicle characterized in that the vehicle is provided with the steering assist control apparatus according to any one of claims 7 to 12.
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