CN111874089A - C-EPS-based transverse control method adopting angle interface - Google Patents

C-EPS-based transverse control method adopting angle interface Download PDF

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Publication number
CN111874089A
CN111874089A CN202010672785.2A CN202010672785A CN111874089A CN 111874089 A CN111874089 A CN 111874089A CN 202010672785 A CN202010672785 A CN 202010672785A CN 111874089 A CN111874089 A CN 111874089A
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value
motor torque
eps motor
eps
torque
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CN111874089B (en
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黄晓慧
马文峰
节忠海
王亮
雷凯
白一迪
李成浩
王瑞琳
杨冉
张诗宇
赵一
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Faw Besturn Automotive Co ltd
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FAW Bestune Car Co Ltd
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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
    • 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
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention relates to a C-EPS-based transverse control method adopting an angle interface, which comprises the following steps: the ADAS system outputs the steering wheel angle request value and the ADAS request torque limit value to the EPS; simultaneously converting the ADAS request torque limit value into a corresponding external EPS motor torque limit value in the EPS; the EPS is used for converting a steering wheel corner request value into an EPS motor torque request value through internal PID control, the EPS motor torque request value is subjected to double limitation of an external EPS motor torque limit value and an internal EPS motor torque limit value, and then is superposed with a hand motor torque value to obtain an EPS motor torque sum, namely the control output of the EPS motor. The invention avoids the network transmission delay of the torque as a transverse control interface, and improves the accuracy and the dynamic property of control.

Description

C-EPS-based transverse control method adopting angle interface
The technical field is as follows:
the invention belongs to the field of safe auxiliary driving and intelligent control, relates to a design method of vehicle transverse control, and particularly relates to a transverse control method based on a C-EPS (column electric power steering) and adopting an angle interface.
Background art:
the vehicle transverse control is a key technology of automatic driving of an automobile, and is technically characterized in that an angle or torque interface is adopted, and transverse movement tracks of the vehicle are tracked and controlled through an EPS (electric power steering) system, so that the vehicle is prevented from deviating from a lane when a driver is unconscious, the vehicle is ensured to run in the lane, or the vehicle is controlled to autonomously change lanes under a safe working condition.
The traditional transverse control usually adopts a torque interface and has the following defects: the operation cycle of an angle controller in the ADAS system is larger than that of an EPS (evolved packet system), and network transmission delay exists; meanwhile, the ADAS system cannot compensate or process the internal friction of the EPS and the internal nonlinear relation, so that the control accuracy and the dynamic property are poorer than those of an angle interface. The transverse control method adopting an angle interface needs to be researched, so that the accuracy and the real-time performance of the transverse motion trajectory tracking are ensured.
The invention content is as follows:
the invention aims to provide a C-EPS-based transverse control method adopting an angle interface, which can improve the accuracy and the dynamic property of control.
In order to solve the technical problem, the transverse control method based on the C-EPS adopting the angle interface comprises the following steps:
step 1: the ADAS system outputs the steering wheel angle request value and the ADAS request torque limit value to the EPS; simultaneously converting the ADAS request torque limit value into a corresponding external EPS motor torque limit value in the EPS;
step 2: the EPS is used for converting a steering wheel corner request value into an EPS motor torque request value through internal PID control, the EPS motor torque request value is subjected to double limitation of an external EPS motor torque limit value and an internal EPS motor torque limit value, and then is superposed with a hand motor torque value to obtain an EPS motor torque sum, namely the control output of the EPS motor.
In step 1, the requested steering wheel angle value is obtained by converting the requested wheel angle value.
In step 1, the ADAS requested torque limit is obtained by: in the EPS, the torque limit value of an internal EPS motor is inversely converted through the Assist Curve to obtain the corresponding torque limit value of a steering wheel torsion bar, and the torque limit value is output to an ADAS system; and calculating the ADAS request torque limit value according to the steering wheel torsion bar torque limit value in the ADAS system.
In the step 2, the torque value of the hand-powered motor is obtained by converting the hand torque of the driver through Assist Curve.
In step 2, the method for doubly limiting the requested EPS motor torque value by the external EPS motor torque limit value and the internal EPS motor torque limit value is as follows:
if the EPS motor torque request value is less than the external EPS motor torque minimum value, the EPS motor torque request value is made to be the external EPS motor torque minimum value and is made to be the EPS motor torque first round filtering value;
if the EPS motor torque request value is larger than the external EPS motor torque maximum value, the EPS motor torque request value is made to be the external EPS motor torque maximum value and is made to be the EPS motor torque first round filtering value;
the minimum value of the external EPS motor torque is less than or equal to the requested value of the EPS motor torque and less than or equal to the maximum value of the external EPS motor torque, and the requested value of the EPS motor torque is equal to the first filtering value of the EPS motor torque;
if the minimum external EPS motor torque is equal to the maximum external EPS motor torque, the requested EPS motor torque value is equal to the minimum external EPS motor torque value, which is equal to the maximum external EPS motor torque value, which is equal to the first EPS motor torque filtering value;
if the EPS motor torque first filtering value is smaller than the internal EPS motor torque minimum value, the EPS motor torque first filtering value is made to be the internal EPS motor torque minimum value and is made to be the EPS motor torque second filtering value;
if the EPS motor torque first filtering value is larger than the internal EPS motor torque maximum value, the EPS motor torque first filtering value is made to be the internal EPS motor torque maximum value and is made to be the EPS motor torque second filtering value;
if the minimum value of the internal EPS motor torque is not more than the maximum value of the internal EPS motor torque, and if the first filtering value of the EPS motor torque is not more than the maximum value of the internal EPS motor torque, the first filtering value of the EPS motor torque is set as a second filtering value of the EPS motor torque;
and if the minimum value of the internal EPS motor torque is equal to the maximum value of the internal EPS motor torque, the first filtering value of the EPS motor torque is equal to the maximum value of the internal EPS motor torque which is equal to the second filtering value of the EPS motor torque.
Further, the invention also comprises a step 3;
and step 3: and converting the EPS motor torque second wheel filter value into a steering wheel torsion bar torque feedback value through the Assist Curve inverse transformation, and outputting the steering wheel torsion bar torque feedback value to the ADAS system, wherein the ADAS system superposes the steering wheel torsion bar torque feedback value and the hand torque of a driver, and corrects the steering wheel corner request value in real time to form closed-loop transverse control.
The invention has the advantages that: the control method of the invention avoids the network transmission delay of the torque as the transverse control interface, designs the closed-loop transverse control method adopting the angle interface, and improves the accuracy and the dynamic property of the control; from the aspects of compensating the internal friction of the EPS, processing the internal nonlinear relation of the EPS and the like, an angle conversion torque module is integrated in the ESP, the torque of an ESP motor is limited by an external torque limit value and an internal safety limit value, the instability of the system is inhibited, meanwhile, the torque control of the EPS motor is fed back to an ADAS system, the ADAS system corrects the steering wheel corner request value in real time according to the value, and the accuracy and the real-time performance of transverse control can be effectively guaranteed.
Description of the drawings:
FIG. 1 is a lateral control flow diagram based on C-EPS employing an angular interface.
Fig. 2 is a control pattern explanatory diagram.
The specific implementation mode is as follows:
the present invention will be described in detail below with reference to the accompanying drawings and examples.
The noun explains:
EPS motor torque request value: the steering wheel corner request value is converted into an EPS motor torque request value through the EPS internal PID control;
internal EPS motor torque limit: EPS motor torque limit values stored inside the EPS, including an internal EPS motor torque minimum value and a maximum value;
ADAS requested torque limit: the internal EPS motor torque limit value is inversely converted through the Assist Curve, and an ADAS request torque limit value is obtained through internal calculation of an ADAS system;
external EPS motor torque limit: the ADAS request torque limit value is converted by the EPS internal Assist Curve to obtain an external EPS motor torque limit value which comprises a minimum value and a maximum value of the external EPS motor torque;
EPS motor torque first round filter value: the EPS motor torque request value filtered by the external EPS motor torque limit.
A EPS motor torque second round filtering value; and the EPS motor torque first round filtering value is filtered through the internal EPS motor torque limit value.
Referring to fig. 1, a lateral control method using an angle interface based on C-EPS designs a steering wheel corner interface to form closed-loop control, including the steps of:
step 1: the ADAS system outputting the requested steering wheel angle value and the ADAS requested torque limit to the EPS includes the substeps of:
step 1.1: through the KC test data of the real vehicle, the ADAS system converts the wheel corner request value into a steering wheel corner request value inside the ADAS system and outputs the steering wheel corner request value to the EPS;
step 1.2: in the EPS, the torque limit value (including the minimum value and the maximum value of the torque of the internal EPS motor) of the internal EPS motor is reversely converted into the corresponding torque limit value (including the minimum value and the maximum value of the torque of a torsion bar of a steering wheel) of the torsion bar of the steering wheel through the Assist Curve, and the torque limit value is output to an ADAS system; calculating an ADAS request torque limit value (including an ADAS request torque minimum value and an ADAS request torque maximum value) in the ADAS system according to a steering wheel torsion bar torque limit value;
wherein: assist Curve is the pre-calibrated EPS motor torque MMOTTorsion bar torque M of steering wheelTBTThe transfer curve of (2);
step 1.3: outputting the ADAS request torque limit value obtained in the step 1.2 to the EPS, and converting the ADAS request torque limit value in the EPS into a corresponding external EPS motor torque limit value (including a minimum value and a maximum value of an external EPS motor torque) through Assist Curve;
wherein: assist Curve is the pre-calibrated EPS motor torque MMOTTorsion bar torque M of steering wheelTBTThe transfer curve of (2);
the step is used for establishing an angle interface between the ADAS system and the EPS, changing a steering wheel corner interface to the C-EPS system because the C-EPS can not judge the response time of a wheel corner, and establishing a motor torque limit interface between the ADAS system and the EPS;
step 2: the EPS converts the steering wheel angle request value into an EPS motor torque request value, and finally outputs an EPS torque sum value through the dual limitation of an external EPS motor torque limit value and an internal EPS motor torque limit value, and the EPS torque sum value comprises the following substeps:
step 2.1: the steering wheel corner request value is converted into an EPS motor torque request value through EPS internal PID control;
step 2.2: judging whether the requested value of the EPS motor torque obtained in the step 2.1 exceeds an external EPS motor torque limit value or not, and obtaining a first filtering value of the EPS motor torque filtered by the external EPS motor torque limit value;
if the EPS motor torque request value is less than the external EPS motor torque minimum value, the EPS motor torque request value is made to be the external EPS motor torque minimum value and is made to be the EPS motor torque first round filtering value;
if the EPS motor torque request value is larger than the external EPS motor torque maximum value, the EPS motor torque request value is made to be the external EPS motor torque maximum value and is made to be the EPS motor torque first round filtering value;
the minimum value of the external EPS motor torque is less than or equal to the requested value of the EPS motor torque and less than or equal to the maximum value of the external EPS motor torque, and the requested value of the EPS motor torque is equal to the first filtering value of the EPS motor torque;
if the minimum external EPS motor torque is equal to the maximum external EPS motor torque, the requested EPS motor torque value is equal to the minimum external EPS motor torque value, which is equal to the maximum external EPS motor torque value, which is equal to the first EPS motor torque filtering value;
referring to fig. 2, for ADAS system internal control logic, the steering angle control modes (1) and (3) are comfort conditions for lateral control, such as LKA (lane keeping assist), where the external EPS motor torque minimum value < the external EPS motor torque maximum value, when lateral control is performed according to the EPS motor torque request value converted from the steering wheel steering angle request value, where the external EPS motor torque minimum value < EPS motor torque request value < external EPS motor torque maximum value; (2) the torque control mode shown is an emergency mode of lateral control, such as ELK (emergency lane keeping), where the external EPS motor torque minimum is the external EPS motor torque maximum, and lateral control is performed according to the external EPS motor torque limit, i.e., the EPS motor torque request value is the external EPS motor torque minimum and the external EPS motor torque maximum.
Step 2.3: considering functional safety, the functional safety requirement of the EPS is ASIL D, namely that the transverse offset of the vehicle is not more than 0.6m within 1s, calculating the torque limit value of the EPS motor, judging whether the first round of filtering value of the EPS motor torque obtained in the step 2.2 exceeds the internal EPS motor torque limit value or not, and obtaining a second round of filtering value of the EPS motor torque which is safely filtered by the internal EPS motor torque limit value;
if the EPS motor torque first filtering value is smaller than the internal EPS motor torque minimum value, the EPS motor torque first filtering value is made to be the internal EPS motor torque minimum value and is made to be the EPS motor torque second filtering value;
if the EPS motor torque first filtering value is larger than the internal EPS motor torque maximum value, the EPS motor torque first filtering value is made to be the internal EPS motor torque maximum value and is made to be the EPS motor torque second filtering value;
if the minimum value of the internal EPS motor torque is not more than the maximum value of the internal EPS motor torque, and if the first filtering value of the EPS motor torque is not more than the maximum value of the internal EPS motor torque, the first filtering value of the EPS motor torque is set as a second filtering value of the EPS motor torque;
if the minimum value of the internal EPS motor torque is equal to the maximum value of the internal EPS motor torque, enabling a first filtering value of the EPS motor torque to be equal to the maximum value of the internal EPS motor torque which is equal to a second filtering value of the EPS motor torque;
step 2.4: converting the hand torque of the driver into a corresponding hand motor torque value through the Assist Curve, and superposing the hand torque value with the EPS motor torque second round filtering value obtained in the step 2.3 to obtain an EPS motor torque sum value, namely the control output of the EPS motor;
wherein: assist Curve is the pre-calibrated EPS motor torque MMOTTorsion bar torque M of steering wheelTBTThe transfer curve of (2);
the step has the effects that ESP motor torque which is limited by an external EPS motor torque limit value and an internal EPS motor torque limit value is output, and simultaneously, the ESP motor torque is superposed with the hand torque of a driver to obtain an EPS motor torque sum, namely EPS motor control output;
and step 3: the EPS motor torque second wheel filter value obtained in the step 2.3 is inversely converted into a steering wheel torsion bar torque feedback value through the Assist cut, and the steering wheel torsion bar torque feedback value is output to an ADAS system, the ADAS system superposes the steering wheel torsion bar torque feedback value and the hand torque of a driver, and the steering wheel corner request value is corrected in real time to form closed-loop transverse control;
wherein: assist Curve is the pre-calibrated EPS motor torque MMOTTorsion bar torque M of steering wheelTBTThe transfer curve of (2);
the step has the effects that according to the superposition of the EPS motor torque second round filtering value fed back by the EPS in real time and the hand torque of a driver, the ADAS system corrects the steering wheel corner request value in real time to form closed-loop transverse control, and the accuracy and the real-time performance of the control are guaranteed.
The invention provides a transverse control method adopting an angle interface, which avoids network transmission delay of a torque as a transverse control interface and improves the accuracy and the dynamic property of control; from the aspects of compensating the internal friction of the EPS, processing the internal nonlinear relation of the EPS and the like, an angle conversion torque module is integrated in the ESP, the torque of an ESP motor is limited by an external torque limit value and an internal safety limit value, the instability of the system is inhibited, meanwhile, the control value of the torque of the EPS motor is fed back to an ADAS (advanced driving assistance system), the ADAS corrects the steering wheel corner request value in real time according to the value, and the real-time performance and the accuracy of transverse control can be effectively guaranteed.

Claims (6)

1. A transverse control method based on a C-EPS adopted angle interface comprises the following steps:
step 1: the ADAS system outputs the steering wheel angle request value and the ADAS request torque limit value to the EPS; simultaneously converting the ADAS request torque limit value into a corresponding external EPS motor torque limit value in the EPS;
step 2: the EPS is used for converting a steering wheel corner request value into an EPS motor torque request value through internal PID control, the EPS motor torque request value is subjected to double limitation of an external EPS motor torque limit value and an internal EPS motor torque limit value, and then is superposed with a hand motor torque value to obtain an EPS motor torque sum, namely the control output of the EPS motor.
2. The C-EPS based lateral control method employing an angle interface according to claim 1, wherein in the step 1, the requested steering wheel angle value is converted from the requested wheel angle value.
3. The method for lateral control based on C-EPS employing angular interface of claim 1, wherein in step 1, ADAS requested torque limit is obtained by: in the EPS, the torque limit value of an internal EPS motor is inversely converted by AssistCurve to obtain a corresponding torque limit value of a steering wheel torsion bar, and the torque limit value is output to an ADAS system; and calculating the ADAS request torque limit value according to the steering wheel torsion bar torque limit value in the ADAS system.
4. The lateral control method based on C-EPS adopting angle interface of claim 1, wherein in the step 2, the hand-force motor torque value is obtained by converting the driver hand torque through Assist Curve.
5. The lateral control method based on the C-EPS adopting angle interface as claimed in claim 1, wherein in the step 2, the EPS motor torque request value is doubly limited by an external EPS motor torque limit value and an internal EPS motor torque limit value by the following method:
if the EPS motor torque request value is less than the external EPS motor torque minimum value, the EPS motor torque request value is made to be the external EPS motor torque minimum value and is made to be the EPS motor torque first round filtering value;
if the EPS motor torque request value is larger than the external EPS motor torque maximum value, the EPS motor torque request value is made to be the external EPS motor torque maximum value and is made to be the EPS motor torque first round filtering value;
the minimum value of the external EPS motor torque is less than or equal to the requested value of the EPS motor torque and less than or equal to the maximum value of the external EPS motor torque, and the requested value of the EPS motor torque is equal to the first filtering value of the EPS motor torque;
if the minimum external EPS motor torque is equal to the maximum external EPS motor torque, the requested EPS motor torque value is equal to the minimum external EPS motor torque value, which is equal to the maximum external EPS motor torque value, which is equal to the first EPS motor torque filtering value;
if the EPS motor torque first filtering value is smaller than the internal EPS motor torque minimum value, the EPS motor torque first filtering value is made to be the internal EPS motor torque minimum value and is made to be the EPS motor torque second filtering value;
if the EPS motor torque first filtering value is larger than the internal EPS motor torque maximum value, the EPS motor torque first filtering value is made to be the internal EPS motor torque maximum value and is made to be the EPS motor torque second filtering value;
if the minimum value of the internal EPS motor torque is not more than the maximum value of the internal EPS motor torque, and if the first filtering value of the EPS motor torque is not more than the maximum value of the internal EPS motor torque, the first filtering value of the EPS motor torque is set as a second filtering value of the EPS motor torque;
and if the minimum value of the internal EPS motor torque is equal to the maximum value of the internal EPS motor torque, the first filtering value of the EPS motor torque is equal to the maximum value of the internal EPS motor torque which is equal to the second filtering value of the EPS motor torque.
6. The lateral control method based on the C-EPS adoption angle interface of claim 5, characterized by further comprising the steps of 3;
and step 3: and converting the EPS motor torque second wheel filter value into a steering wheel torsion bar torque feedback value through the Assist Curve inverse transformation, and outputting the steering wheel torsion bar torque feedback value to the ADAS system, wherein the ADAS system superposes the steering wheel torsion bar torque feedback value and the hand torque of a driver, and corrects the steering wheel corner request value in real time to form closed-loop transverse control.
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113525508A (en) * 2021-07-23 2021-10-22 深圳华一精品科技有限公司 Control method and control system of steering wheel, vehicle, computer equipment and computer readable storage medium
CN113525508B (en) * 2021-07-23 2022-04-15 深圳华一精品科技有限公司 Control method and control system of steering wheel, vehicle, computer equipment and computer readable storage medium

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