CN112124417B - Vehicle deviation identification reminding method and device and electric steering system - Google Patents
Vehicle deviation identification reminding method and device and electric steering system Download PDFInfo
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- CN112124417B CN112124417B CN202010878336.3A CN202010878336A CN112124417B CN 112124417 B CN112124417 B CN 112124417B CN 202010878336 A CN202010878336 A CN 202010878336A CN 112124417 B CN112124417 B CN 112124417B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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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
- B62D5/0481—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 monitoring the steering system, e.g. failures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
Abstract
The invention provides a vehicle deviation identification reminding method, a vehicle deviation identification reminding device and an electric steering system, wherein the vehicle deviation identification reminding method comprises the following steps: acquiring a current yaw compensation moment; acquiring a first count value according to the magnitude relation between the current cornering stiffness compensation moment and a first threshold value, wherein the first threshold value is a normal compensation moment; and when the first counting value is larger than the second threshold value, confirming the vehicle lateral deviation, and displaying reminding information to remind a driver of after-sale maintenance. The vehicle deviation identification reminding method, the vehicle deviation identification reminding device and the electric steering system can output the lateral deviation compensation torque when the vehicle deviates, so as to prevent the vehicle from deviating; and when the deviation of the vehicle is in an unreasonable range, reminding information can be displayed for the driver, so that the driver can know the deviation state of the vehicle in time, and the condition that the health of the vehicle is not clear due to lateral deviation compensation is avoided.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle deviation identification reminding method and device and an electric steering system.
Background
The vehicle deviation refers to the phenomenon that the vehicle which should go straight deviates in the running process. The deviation of the automobile forces a driver to always correct the direction, so that the problems of driving fatigue, aggravation of tire wear, increase of oil consumption, increase of tire noise and the like are caused.
During the running process of the vehicle, the vehicle can be deviated due to the influence of external environments such as a road surface, a side wind and the like and the influence of the vehicle due to reasons. The existing method can not be used for identifying whether the reason of the vehicle deviation is the deviation caused by the vehicle or the cross wind and uneven road surface; the deviation trend caused by the self reason of the vehicle can not be judged; the reminding method does not relate to how to remind the driver when the vehicle deviates due to the reason.
Therefore, a method and a device for identifying and reminding vehicle deviation and an electric steering system are needed to solve the above technical problems.
Disclosure of Invention
The invention solves the technical problem that a vehicle deviation identification reminding method, a vehicle deviation identification reminding device and an electric steering system are provided, and lateral deviation compensation torque can be output to prevent a vehicle from deviating when the vehicle deviates; and when the deviation of the vehicle is in an unreasonable range, reminding information can be displayed for the driver, so that the driver can know the deviation state of the vehicle in time, and the condition that the health of the vehicle is not clear due to lateral deviation compensation is avoided.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a vehicle deviation identification reminding method comprises the following steps: acquiring a current yaw compensation moment; acquiring a first count value according to the magnitude relation between the current cornering stiffness compensation moment and a first threshold value, wherein the first threshold value is a normal stiffness compensation moment; and when the first counting value is larger than the second threshold value, confirming the vehicle lateral deviation, and displaying reminding information to remind a driver of performing after-sale maintenance.
In a preferred embodiment of the present invention, the step of obtaining the first count value according to a magnitude relationship between the current cornering stiffness compensation torque and a first threshold, where the first threshold is a normal compensation torque, includes: judging whether the current yaw compensation moment is larger than a first threshold value or not; if yes, adding one to the first counting value; if not, the first count value is decreased by one.
In a preferred embodiment of the present invention, after the step of obtaining the current cornering drag compensation torque, the method includes:
acquiring the lateral deviation compensation torque of the previous ignition cycle; and acquiring a second counting value according to the magnitude relation between the lateral deviation compensation torque of the previous ignition cycle and the current lateral deviation compensation torque.
In a preferred embodiment of the present invention, the step of obtaining the second count value according to the magnitude relationship between the yaw compensation torque of the previous ignition cycle and the current yaw compensation torque includes: judging whether the current yaw compensation moment is larger than the previous ignition cycle yaw compensation moment or not; if yes, adding one to the second counting value; if not, the second count value is decreased by one.
In a preferred embodiment of the present invention, the step of confirming the vehicle lateral deviation and displaying the reminding information to remind the driver to perform after-sales maintenance when the first count value is greater than the second threshold value includes: judging whether the second count value is greater than a third threshold value; if so, confirming that the vehicle self lateral deviation has a further deterioration trend, and displaying a serious alarm reminding message; if not, confirming that the vehicle self lateral deviation is not deteriorated, and displaying the common alarm reminding information.
In a preferred embodiment of the present invention, before the step of determining whether the current cornering compensation torque is greater than the cornering compensation torque of the previous firing cycle, the method includes: judging whether the current ignition cycle is finished or not; if so, judging whether the current yaw compensation torque is larger than the previous ignition cycle yaw compensation torque; if not, continuously acquiring the sideslip compensation torque of the ignition cycle.
In a preferred embodiment of the present invention, the step of obtaining the current yaw compensation torque includes: when the vehicle deviation is detected, activating a torque control module; judging whether the PDC self-learning condition is met, wherein the PDC self-learning condition comprises the following steps: the method comprises the following steps of (1) vehicle speed, vehicle speed change rate, yaw rate, steering wheel angle range and steering wheel signal significance; if so, updating and outputting the current yaw compensation torque by the torque control module according to the PDC self-learning condition; if not, the moment control module outputs an ignition cycle sideslip compensation moment.
A vehicle deviation identification reminding device comprises: the system comprises a memory, a processor and a vehicle deviation identification reminding program which is stored in the memory and runs on the processor, wherein when the vehicle deviation identification reminding program is executed by the processor, the steps of any one of the vehicle deviation identification reminding methods are realized.
An electric power steering system characterized by comprising: the vehicle deviation identifying and reminding device and the vehicle deviation compensating device according to claim 8; the lateral deviation compensation device comprises a mechanical steering device and a power assisting device arranged on the mechanical steering device.
The technical effect achieved by adopting the technical scheme is as follows: the lateral deviation compensation torque can be output when the vehicle deviates to prevent the vehicle from deviating, the deviation caused by the vehicle can be identified, and different reminding information can be displayed to a driver when the deviation of the vehicle is in an unreasonable range; the method is beneficial to the driver to know the vehicle deviation state in time and avoids the situation that the vehicle health is not clear due to the lateral deviation compensation.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are specifically described in detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a flowchart of a vehicle deviation identification reminding method according to a first embodiment of the present invention.
Fig. 2 is a flowchart illustrating a method for comparing yaw compensation torques according to a first embodiment of the present invention.
Fig. 3 is a flowchart illustrating a method for identifying a deviation factor of a vehicle according to a second embodiment of the present invention.
Fig. 4 is a diagram illustrating a method for determining and reminding factors of a vehicle according to a second embodiment of the present invention.
Fig. 5 is a schematic diagram illustrating the operation of the sideslip compensation according to the third embodiment of the present invention.
Fig. 6 is a diagram of a sideslip compensation and reminder algorithm according to a fourth embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a vehicle deviation identification and reminding device according to a fifth embodiment of the invention.
Fig. 8 is an electric control block diagram of an electric power steering system according to a sixth embodiment of the present invention.
Fig. 9 is a schematic structural view of an electric power steering system according to a sixth embodiment of the present invention.
Detailed Description
To further illustrate the technical measures and effects taken by the present invention to achieve the intended objects, embodiments of the present invention will be described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below are only a part of the embodiments of the present invention, and not all of them. All other embodiments that can be obtained by a person skilled in the art based on the embodiments of the present invention without any inventive step belong to the scope of the embodiments of the present invention. While the present invention has been described in connection with the preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but is intended to cover various modifications, equivalent arrangements, and specific embodiments thereof.
First embodiment
Referring to fig. 1, fig. 1 is a flowchart illustrating a vehicle deviation identification and reminding method according to a first embodiment of the present invention. In the present embodiment, the running deviation of the vehicle occurs in a state where the vehicle is running straight at a constant speed.
As shown in fig. 1, a vehicle deviation identification reminding method according to a first embodiment of the present invention includes the following steps:
step S11: and acquiring the current yaw compensation moment.
Specifically, the yaw compensation torque is obtained while maintaining the straight-ahead running of the vehicle by means of an existing yaw compensation algorithm. The vehicle state of straight running at constant speed can be identified through the calibration parameter setting.
In one embodiment, step S11: acquiring the current cornering power compensation moment, and then: acquiring the lateral deviation compensation torque of the previous ignition cycle; and acquiring a second counting value according to the magnitude relation between the lateral deviation compensation torque of the previous ignition cycle and the current lateral deviation compensation torque.
Referring to fig. 2, fig. 2 is a flowchart illustrating a method for comparing yaw compensation torque according to a first embodiment of the present invention. The step of obtaining a second count value according to the magnitude relation between the previous ignition cycle yaw compensation torque and the current yaw compensation torque comprises the following steps: judging whether the current yaw compensation moment is larger than the previous ignition cycle yaw compensation moment or not; if yes, adding one to the second counting value; if not, the second count value is decreased by one.
In one embodiment, the second count value is at least zero.
In one embodiment, before the step of determining whether the current cornering drag compensation torque is greater than the previous firing cycle cornering drag compensation torque, the method includes: judging whether the current ignition cycle is finished or not; if so, judging whether the current yaw compensation torque is larger than the previous ignition cycle yaw compensation torque; if not, continuously acquiring the sideslip compensation torque of the ignition cycle.
In one embodiment, step S11: obtaining the current cornering power compensation moment, which comprises the following steps: when the vehicle deviation is detected, activating a torque control module; judging whether the PDC self-learning condition is met, wherein the PDC self-learning condition comprises the following steps: the method comprises the following steps of (1) vehicle speed, vehicle speed change rate, yaw rate, steering wheel angle range and steering wheel signal significance; if so, updating and outputting the current yaw compensation torque by the torque control module according to the PDC self-learning condition; if not, the moment control module outputs an ignition cycle sideslip compensation moment.
Specifically, whether the vehicle is in a straight-ahead state can be judged according to PDC self-learning conditions/input conditions such as vehicle speed, yaw rate and steering wheel angle.
Step S12: and acquiring a first counting value according to the magnitude relation between the current cornering stiffness compensation torque and a first threshold value, wherein the first threshold value is a normal compensation torque.
Specifically, the first threshold is used to set whether the yaw compensation is greater than a value, such as 0.5Nm, which determines that a large amount of data is required to establish the vehicle yaw degree versus steering torque compensation relationship.
Specifically, the current cornering drag compensation torque is greater than a first threshold, indicating vehicle cornering.
In one embodiment, step S12: obtaining a first count value according to the magnitude relation between the current cornering stiffness compensation torque and a first threshold value, wherein the first threshold value is a normal compensation torque and comprises the following steps: judging whether the current yaw compensation moment is larger than a first threshold value or not; if yes, adding one to the first counting value; if not, the first count value is decreased by one.
In one embodiment, the first count value is at least zero. The vehicle yaw is not long-lasting due to external environmental/external causes, and therefore, when the first counter value is zero or decreases again after increasing, it indicates that the vehicle itself is not yaw or is yaw less.
In particular, with respect to the off-tracking of the vehicle caused by external causes such as crosswind and road unevenness, the off-tracking caused by the cause of the vehicle itself is long-term and generally slowly varying, and is present in each ignition cycle. Therefore, when the vehicle is off tracking due to its own cause, the yaw compensation torque is larger than the first threshold value, and the first count value continues to increase. And the vehicle deviation caused by the external environment/external reasons can not occur frequently, and the increased first count value can be reduced by subtracting one from the first count value when the lateral deviation compensation force is smaller than the first threshold value. In addition, the deviation caused by rapid acceleration or rapid deceleration can be limited and recognized by the vehicle speed condition.
Step S13: and when the first counting value is larger than the second threshold value, confirming the vehicle lateral deviation, and displaying reminding information to remind a driver of performing after-sale maintenance.
Specifically, the first count value is obtained from a magnitude relationship between the current cornering stiffness and the first threshold, and the first count value is greater than zero when the number of times that the current cornering stiffness is greater than the first threshold is greater than the number of times that the current cornering stiffness is less than or equal to the first threshold.
The number of times of large numerical value of the occurrence of the lateral deviation compensation can be judged according to the first counting value and the second threshold value, if the number of times is large (the first counting value is large), the vehicle deviation is frequent, and the lateral deviation compensation moment temporarily occurring in the external environment cannot be frequent.
From this, it can be identified whether the vehicle own yaw is within a reasonable range. If the first count value is smaller than or equal to the second threshold value, the vehicle lateral deviation is in a reasonable range; if the first counting value is larger than the second threshold value, the vehicle lateral deviation is in an unreasonable range.
In one embodiment, step S13: when the first count value is greater than the second threshold value, confirm vehicle self lateral deviation to show warning information and remind the driver to carry out after-sales maintenance, include: judging whether the second count value is greater than a third threshold value; if so, confirming that the vehicle self lateral deviation has a further deterioration trend, and displaying a serious alarm reminding message; if not, confirming that the vehicle self lateral deviation is not deteriorated, and displaying the common alarm reminding information.
Specifically, it may be determined whether the vehicle self-cornering deterioration is significantly trended according to the magnitude relationship between the second count value and the third threshold value.
And the second counting value is obtained according to the magnitude relation between the current sideslip compensation torque and the previous ignition cycle sideslip compensation torque. When the current yaw compensation torque is larger than the previous ignition cycle yaw compensation torque, the second counting value is increased by one; and when the front cornering compensation torque is smaller than or equal to the last ignition cycle cornering compensation torque, subtracting one from the second counting value. Therefore, the second count value is greater than zero only when the number of times the current cornering compensation torque is greater than the cornering compensation torque of the previous firing cycle is greater than the number of times the current cornering compensation torque is less than or equal to the cornering compensation torque of the previous firing cycle. When the vehicle yaw is not deteriorated after the influence of the external environment or the like is eliminated, the current yaw compensation torque is not larger than the previous ignition cycle yaw compensation torque. Therefore, a larger second count value indicates that the vehicle self-yaw is more serious, or the vehicle self-yaw is further deteriorated.
The vehicle deviation identification reminding method provided by the embodiment can output the lateral deviation compensation torque to prevent the vehicle from deviating when the vehicle deviates, can identify the deviation caused by the vehicle, and can display different reminding information to a driver when the deviation of the vehicle is in an unreasonable range; the method is beneficial to the driver to know the vehicle deviation state in time and avoids the situation that the vehicle health is not clear due to the lateral deviation compensation.
Second embodiment
Referring to fig. 3 and 4, fig. 3 is a flowchart illustrating a method for identifying a deviation factor of a vehicle with a lateral deviation compensation according to a second embodiment of the present invention, and fig. 4 is a method for determining and reminding a vehicle deviation factor according to a second embodiment of the present invention.
As shown in fig. 3, the previous ignition cycle lateral deviation compensation value V1 is obtained from the memory, and it is determined whether the PDC module is activated at the current ignition cycle/current time, if the PDC module is activated, the PDC self-learning condition is obtained, and it is determined whether the PDC self-learning condition is satisfied. Wherein, the PDC self-learning condition comprises: the speed, the speed change rate, the yaw rate, the steering wheel angle range, the steering wheel signal significance and the like. Specifically, the vehicle state of straight running at a constant speed can be identified through calibration parameter setting. For example, PDC self-learning condition vehicle speed and rate of change of vehicle speed are both calibrated to be less than a certain threshold.
After the sideslip compensation value V2 in the current ignition cycle is obtained, whether power is off is determined to finish the current ignition cycle; if not, entering a step of judging whether the PDC module is activated or not so as to continuously acquire the sideslip compensation value V2 of the current ignition cycle when the PDC module is activated and the PDC self-learning condition is met, and if so, respectively comparing the sideslip compensation value V2 in the current ignition cycle with a first threshold value and the sideslip compensation value V1 of the previous ignition cycle, wherein the first threshold value is used for setting whether the sideslip compensation is larger than a certain value, such as 0.5Nm, and the value determines that a large amount of data is needed to establish a vehicle sideslip degree and steering torque compensation relationship. Then when V2 is larger than the first threshold value, the value of the first counter is increased by one, and when V2 is smaller than or equal to the first threshold value, the value of the first counter is decreased by one; the value of the second counter is incremented when V2 is greater than V1 and decremented when V2 is less than or equal to V1. Therefore, the influence of external factors such as cross wind, uneven road surface and the like can be eliminated.
As shown in fig. 4, the first count value of the first counter and the second count value of the second counter are obtained from the memory, and then the first count value is compared with the second threshold, when the first count value is greater than the second threshold, it is determined that the yaw of the vehicle is in an unreasonable range, and when the first count value is less than or equal to the second threshold, it is determined that the yaw of the vehicle is in a reasonable range, and the user is not reminded. And when the first count value is larger than the second threshold value, comparing the second count value with a third threshold value. When the second counting value is larger than the third threshold value, the vehicle is confirmed to be deviated in an unreasonable range and the vehicle is further deviated, and then the display device is controlled to display serious alarm information, for example, a red alarm lamp is displayed on the display interface. When the second counting value is less than or equal to the third threshold value, the vehicle is confirmed to be deviated in an unreasonable range without deterioration, and then the display device is controlled to display ordinary alarm information, for example, a yellow alarm lamp is displayed on a real interface.
According to the vehicle deviation identification reminding method provided by the embodiment, the corresponding counter is set according to the relationship between the magnitude of the current deviation compensation value and the magnitude of the deviation compensation value of the previous ignition period, the times and the deviation change trend of the serious deviation are screened out, so that the influences of external factors such as crosswind and uneven road surface are eliminated, and the vehicle deviation identification reminding is more accurate by adding the recognition after low-pass filtering which is equivalent to the judgment of the relationship between the magnitude of the second counting value and the magnitude of the third threshold value.
Fig. 5 is a schematic diagram illustrating the operation of the sideslip compensation according to the third embodiment of the present invention.
As shown in fig. 5, upon activation of the PDC module; the EPS controller outputs compensation torque to offset vehicle deviation after an external sensor inputs signals such as vehicle speed and steering wheel angle. Specifically, the details of this embodiment are the same as those of the above embodiment, and reference is made to the first embodiment and the second embodiment, which are not described in detail here.
Fig. 6 is a diagram of a sideslip compensation and reminder algorithm according to a fourth embodiment of the present invention.
As shown in fig. 6, after signals such as vehicle speed and steering wheel angle are acquired from the external sensors, when PDC self-learning conditions are satisfied, a yaw compensation torque is output to offset vehicle deviation. After the current ignition cycle is finished, whether the deviation caused by the factors of the vehicle per se occurs or not is judged according to the output current sideslip compensation torque and the number of times of the sideslip compensation torque which appears in the previous ignition cycle, and if the deviation occurs, a driver is reminded through a central control display screen. Specifically, the details can be referred to the first embodiment and the second embodiment, and thus, are not described herein too much.
Fig. 7 is a schematic structural diagram of a vehicle deviation identification and reminding device according to a fifth embodiment of the invention.
As shown in fig. 7, the vehicle deviation identification reminding device includes: the system comprises a memory 10, a processor 20 and a vehicle deviation identification reminding program stored in the memory and running on the processor, wherein when the vehicle deviation identification reminding program is executed by the processor, the steps of the vehicle deviation identification reminding method in any one of the above embodiments are realized. The steps of the vehicle deviation identification reminding method refer to the above embodiment.
Fig. 8 is an electrical control block diagram of an electric power steering system according to a sixth embodiment of the present invention, and fig. 9 is a schematic structural view of the electric power steering system according to the sixth embodiment of the present invention.
As shown in fig. 8, the electric steering system controller calculates a required yaw compensation torque after external sensors (such as a wheel speed sensor, a torque sensor, a yaw rate sensor, a steering wheel angle sensor, and the like) input signals of a vehicle speed, a steering wheel angle, and the like, outputs the yaw compensation torque through a motor to offset the vehicle deviation, and displays a reminding message when the vehicle deviates unreasonably, such as reminding a driver through a central control display screen.
As shown in fig. 9, the electric steering system structure of the automobile is formed by adding a steering wheel position sensor or a steering angle & torque sensor 32, an electronic control unit 41, a steering motor 43 and a speed reducing mechanism 45 thereof to a conventional mechanical steering system. A conventional mechanical steering system (not shown) mainly includes a steering wheel 31, a steering column 33, an intermediate shaft 34, a steering gear 36, a pinion 35, a tie rod 37, a knuckle arm 39, and steered wheels 38. Wherein, the torque sensor 32 is used for detecting the operation torque of the driver; an assist motor (not shown) may be mounted on the steering column 33 or the steering gear 36 to provide an assist torque to the driver through a speed reduction mechanism 45;
the torque sensor signal, the steering wheel angle sensor signal, the calculated rack displacement speed signal, the vehicle speed sensor signal and the four-wheel speed sensor signal are input to a torque control module of the electronic control unit 41, corresponding power-assisted torque is calculated and output to a motor control module as a target torque instruction, and the controller outputs current to drive a power-assisted motor to work.
The electric steering system provided by the embodiment can identify the deviation caused by vehicle problems such as suspension and the like, can avoid the fatigue feeling caused by long-time correction of the steering wheel by a driver through the compensation of the steering torque in a slight time, and can remind the driver of maintenance through algorithm identification and display on the central control display screen when the deviation is further seriously deteriorated.
It should be understood that although the steps in fig. 1 to 9 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least some of the steps in fig. 1-9 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, in different orders, and may be performed alternately or alternatingly with other steps or at least some of the sub-steps or stages of other steps.
Through the above description of the embodiments, it is clear to those skilled in the art that the embodiments of the present invention may be implemented by hardware, or by software plus a necessary general hardware platform. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.), and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the various implementation scenarios of the embodiments of the present invention.
The present invention is not limited to the details of the above embodiments, which are exemplary, and the modules or processes in the drawings are not necessarily essential to the implementation of the embodiments of the present invention, and should not be construed as limiting the present invention.
Claims (8)
1. A vehicle deviation identification reminding method is characterized by comprising the following steps:
acquiring a current yaw compensation moment;
acquiring a first count value according to the magnitude relation between the current cornering stiffness compensation moment and a first threshold value, wherein the first threshold value is a normal compensation moment;
judging whether the current yaw compensation moment is larger than the first threshold value or not;
if yes, adding one to the first counting value;
if not, subtracting one from the first counting value;
and when the first counting value is larger than the second threshold value, confirming the vehicle lateral deviation, and displaying reminding information to remind a driver of after-sale maintenance.
2. The vehicle deviation identification and reminding method as claimed in claim 1, wherein after the step of obtaining the current cornering compensation torque, the method comprises the following steps:
acquiring the lateral deviation compensation torque of the previous ignition cycle;
and acquiring a second counting value according to the magnitude relation between the previous ignition cycle sideslip compensation torque and the current sideslip compensation torque.
3. The vehicle deviation identification and reminding method according to claim 2, wherein the step of obtaining a second count value according to the magnitude relation between the previous ignition cycle yaw compensation torque and the current yaw compensation torque comprises the following steps:
judging whether the current yaw compensation moment is larger than the previous ignition cycle yaw compensation moment or not;
if yes, adding one to the second counting value;
and if not, subtracting one from the second counting value.
4. The vehicle deviation identification and reminding method as claimed in claim 2, wherein when the first count value is greater than the second threshold value, the vehicle deviation is confirmed, and a reminding message is displayed to remind a driver of performing after-sales maintenance, and the method comprises the following steps:
judging whether the second count value is larger than a third threshold value;
if so, confirming that the vehicle self lateral deviation has a further deterioration trend, and displaying a serious alarm reminding message;
if not, confirming that the vehicle self lateral deviation is not deteriorated, and displaying the common alarm reminding information.
5. The vehicle deviation identification and reminding method according to claim 2, wherein before the step of judging whether the current cornering compensation torque is larger than the last ignition cycle cornering compensation torque, the method comprises the following steps:
judging whether the current ignition cycle is finished or not;
if so, judging whether the current yaw compensation torque is larger than the previous ignition cycle yaw compensation torque;
if not, continuously acquiring the sideslip compensation torque of the ignition cycle.
6. The vehicle deviation identification and reminding method according to claim 1, wherein before the step of obtaining the current cornering compensation torque, the method comprises:
when the vehicle deviation is detected, activating a torque control module;
judging whether PDC self-learning conditions are met, wherein the PDC self-learning conditions comprise: the method comprises the following steps of (1) vehicle speed, vehicle speed change rate, yaw rate, steering wheel angle range and steering wheel signal significance;
if so, updating and outputting the current sideslip compensation torque by the torque control module according to the PDC self-learning condition;
if not, the moment control module outputs an ignition cycle sideslip compensation moment.
7. The utility model provides a vehicle off tracking discernment reminding device which characterized in that, vehicle off tracking discernment reminding device includes: the system comprises a memory, a processor and a vehicle deviation identification reminding program stored in the memory and running on the processor, wherein the vehicle deviation identification reminding program realizes the steps of the vehicle deviation identification reminding method according to any one of claims 1 to 6 when being executed by the processor.
8. An electric power steering system characterized by comprising: the vehicle deviation identification reminding device and the vehicle deviation compensation device according to claim 7;
the lateral deviation compensation device comprises a mechanical steering device and a power assisting device arranged on the mechanical steering device.
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| CN113189996B (en) * | 2021-04-28 | 2022-11-01 | 英博超算(南京)科技有限公司 | Lane keeping auxiliary optimization system |
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