CN112124420A - Vehicle auxiliary steering control system and method - Google Patents
Vehicle auxiliary steering control system and method Download PDFInfo
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- CN112124420A CN112124420A CN202010955626.3A CN202010955626A CN112124420A CN 112124420 A CN112124420 A CN 112124420A CN 202010955626 A CN202010955626 A CN 202010955626A CN 112124420 A CN112124420 A CN 112124420A
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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
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
- B62D6/005—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis treating sensor outputs to obtain the actual yaw rate
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Abstract
The invention provides a vehicle auxiliary steering control system and a method, which relate to the technical field of vehicles and specifically comprise the following steps: the state detection module is used for detecting a vehicle to obtain a vehicle state signal; the control module is used for receiving an auxiliary steering instruction and generating an auxiliary steering activation signal when the vehicle state signal meets an auxiliary steering activation condition; an electronic parking brake module comprising: the first processing unit is used for processing according to the vehicle state signal to obtain steering data and running data; the second processing unit is used for identifying the rear wheel at the turning inner side according to the steering data and the operation data and calculating to obtain the real-time speed and the real-time slip rate of the rear wheel at the turning inner side; and the third processing unit is used for controlling the execution module to continuously adjust the rear wheel at the inner side of the turn according to the real-time vehicle speed and the real-time slip rate. According to the invention, the electronic parking brake module controls the execution module to continuously adjust the rear wheel at the inner side of the turning so as to maintain the maximum parking force borne by the rear wheel at the inner side of the turning all the time, and the turning radius is reduced to the maximum extent.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle auxiliary steering control system and a vehicle auxiliary steering control method.
Background
The traditional vehicle steering system consists of a steering wheel, a steering shaft, a steering universal transmission device, a steering control valve, a mechanical steering gear, a steering hydraulic pump, a steering oil tank, an oil return pipe, a tie rod and the like. The mechanical mechanism consists of a steering control mechanism, a steering gear and a steering transmission mechanism. The steering transmission mechanism consists of a steering rocker arm, a steering pull rod, a steering knuckle arm and a steering trapezoid mechanism. The power mechanism consists of a steering oil tank, a steering oil pump, a steering control valve and a steering power cylinder. When a driver intends to steer, the driver directly rotates the steering wheel, a torque signal of the steering wheel is transmitted to the power device through the transmission mechanism, and the power device pulls the wheels to rotate in place after receiving the signal, so that steering is realized. The steering system is used as a part of the whole vehicle chassis, the motion track of the steering system needs to be designed under the condition that the space of the vehicle chassis allows, so that the steering angle of the vehicle has a limit value, the limit value directly influences the turning radius of the vehicle, and when the road width is lower than the turning radius of the vehicle, the vehicle cannot perform steering and turning around work.
To this end, there are two main solutions: the method comprises the following steps that firstly, an automobile chassis and a steering system are designed again, the spatial arrangement of an engine module is adjusted, and the front wheel turning angle space is increased, so that the turning radius is reduced; and in the second scheme, the single wheel brake on the inner rear wheel is realized through a hydraulic system, so that the turning radius is reduced.
But first, the investment is huge, and other related components need to be adjusted. Larger design changes may bring more hidden dangers, and the influence of the front wheels on steering is also considered; in the second scheme, a brake module is required to be newly added by the vehicle body stabilizing system, the working load of the vehicle body stabilizing system is very large in the turning process, particularly in the turning process on a muddy road section, on the basis, a module is newly added to operate simultaneously, and the vehicle has the risk of instability.
Disclosure of Invention
In view of the problems in the prior art, the present invention provides a vehicle auxiliary steering control system, as shown in fig. 1, specifically including:
the state detection module is used for detecting the real-time state of the vehicle to obtain a finished vehicle state signal;
the control module is connected with the state detection module and used for receiving an external auxiliary steering instruction, generating an auxiliary steering activation signal when the vehicle state signal meets a preset auxiliary steering activation condition and outputting the auxiliary steering activation signal;
the electronic parking braking module is respectively connected with the state detection module, the control module and the execution module, and comprises:
the first processing unit is used for processing the steering data of the vehicle and the running data of each wheel of the vehicle according to the whole vehicle state signal after receiving the auxiliary steering activation signal;
the second processing unit is connected with the first processing unit and used for identifying rear wheels at the inner side of a turn according to the steering data and the operation data in the vehicle steering process and calculating to obtain the real-time vehicle speed and the real-time slip rate of the rear wheels at the inner side of the turn;
and the third processing unit is connected with the second processing unit and used for controlling the execution module to continuously adjust the control state of the rear wheel at the inner side of the turn according to the real-time vehicle speed and the real-time slip ratio so as to realize auxiliary steering by reducing the turning radius of the vehicle.
Preferably, the steering control system further comprises a turn radius reducing switch connected with the control module, and the turn radius reducing switch generates the auxiliary steering command and sends the auxiliary steering command to the control module when being pressed.
Preferably, the electronic parking brake module further includes a condition determination unit connected to the first processing unit, and the condition determination unit includes:
the first judging subunit is used for judging whether the current state of the execution module meets a preset first operation condition or not according to the auxiliary steering activation signal, and sending the auxiliary steering activation signal to the first processing unit when the current state meets the first operation condition; generating a first error signal and feeding back the first error signal to the control module when the first operation condition is not met; and/or
A second determining subunit, configured to compare a priority of a corresponding auxiliary steering mode with a priority of an executing mode of the electronic parking brake module according to the auxiliary steering activation signal, and send the auxiliary steering activation signal to the first processing unit when the priority of the auxiliary steering mode is higher than the priority of the executing mode; and generating a second error signal and feeding the second error signal back to the control module when the priority of the auxiliary steering mode is not higher than the priority of the executing mode.
Preferably, the vehicle steering control system further comprises a display module connected with the control module, the control module processes the auxiliary steering instruction, the whole vehicle state signal, the first error signal and the second error signal to obtain an auxiliary steering state signal and outputs the auxiliary steering state signal, and the display module displays the auxiliary steering state of the vehicle in real time according to the auxiliary steering state signal.
Preferably, the second processing unit includes:
the identification subunit is used for identifying the rear wheel at the inner side of the turn according to the steering data and the operation data;
and the calculating subunit is connected with the identifying subunit and used for calculating the real-time vehicle speed according to the operation data of each wheel and calculating the real-time slip rate of the rear wheel on the inner side of the turn according to the real-time vehicle speed and the operation data of the rear wheel on the inner side of the turn.
Preferably, the third processing unit includes:
the storage subunit is used for storing a plurality of preset vehicle speed intervals and a plurality of slip rate intervals associated with the vehicle speed intervals, and each slip rate interval is associated with a preset control action;
the partition subunit is connected with the storage subunit and is used for matching in the storage subunit according to the real-time vehicle speed to obtain the corresponding vehicle speed interval and matching in the storage subunit according to the real-time slip rate to obtain the corresponding slip rate interval;
and the control subunit is respectively connected with the storage subunit and the partition subunit and is used for generating corresponding control instructions according to the control actions associated with the slip ratio interval to control the execution module to execute the control actions so as to adjust the control state of the rear wheel at the inner side of the turning and further realize auxiliary steering by reducing the turning radius of the vehicle.
Preferably, the execution module includes a driving circuit and an execution mechanism connected to the driving circuit, and the driving circuit drives the execution mechanism to execute the control action according to the control command so as to adjust the control state of the rear wheel inside the turn;
preferably, the actuator comprises:
the left rear wheel executing mechanism is connected with a left rear wheel brake caliper and controls the left rear wheel brake caliper to limit a left rear wheel brake disc so as to clamp and release a left rear wheel;
the right rear wheel actuating mechanism is connected with a right rear wheel brake caliper and controls the right rear wheel brake caliper to limit a right rear wheel brake disc to clamp and release a right rear wheel.
The technical scheme has the following advantages or beneficial effects:
1) the original electronic parking brake module of the vehicle is utilized to control the execution module to continuously adjust the control state of the rear wheel at the inner side of the turn so as to keep the parking force born by the rear wheel at the inner side of the turn in the maximum state all the time, thereby realizing the maximum reduction of the turning radius without adjusting other original parts of the vehicle and being beneficial to saving the cost;
2) a turn radius reducing switch is arranged to send an auxiliary steering instruction, and double-signal identification of a whole vehicle state signal and the auxiliary steering instruction is designed, so that the effectiveness of activating an auxiliary steering mode is guaranteed, and misoperation is avoided.
Drawings
FIG. 1 is a schematic diagram of a vehicle auxiliary steering control system according to a preferred embodiment of the present invention;
FIG. 2 is a schematic view of a vehicle turning process in accordance with a preferred embodiment of the present invention;
FIG. 3 is a flow chart of a vehicle auxiliary steering control method according to a preferred embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present invention is not limited to the embodiment, and other embodiments may be included in the scope of the present invention as long as the gist of the present invention is satisfied.
In accordance with the above-mentioned problems of the prior art, the present invention provides a vehicle auxiliary steering control system, as shown in fig. 1, which specifically includes:
the state detection module 1 is used for detecting the real-time state of the vehicle to obtain a finished vehicle state signal;
the control module 2 is connected with the state detection module 1 and used for receiving an external auxiliary steering instruction, generating an auxiliary steering activation signal when the vehicle state signal meets a preset auxiliary steering activation condition and outputting the auxiliary steering activation signal;
electronic parking braking module 3, connection status detection module 1, control module 2 and an execution module 4 respectively, and electronic parking braking module 3 includes:
the first processing unit 31 is configured to, after receiving the auxiliary steering activation signal, process the vehicle state signal to obtain steering data of the vehicle and operation data of each wheel of the vehicle;
the second processing unit 32 is connected with the first processing unit 31 and used for identifying the rear wheel at the inner side of the turn according to the steering data and the operation data in the vehicle steering process and calculating to obtain the real-time vehicle speed and the real-time slip rate of the rear wheel at the inner side of the turn;
and the third processing unit 33 is connected with the second processing unit 32 and is used for controlling the execution module 4 to continuously adjust the control state of the rear wheel at the inner side of the turning according to the real-time vehicle speed and the real-time slip ratio so as to realize auxiliary steering by reducing the turning radius of the vehicle.
Specifically, in this embodiment, the vehicle state signal detected by the state detection module 1 includes: the system comprises a corner signal, an accelerator pedal signal, a gear signal, an engine state signal, an execution module state signal, an electronic parking brake state signal and wheel speed signals of wheels. The steering angle signal is acquired by a steering wheel steering angle sensor, the accelerator pedal signal is acquired by an accelerator pedal module, the state signal of an execution module is acquired by an execution module 4, the state signal of electronic parking braking is acquired by an electronic parking braking module 3, the wheel speed signal of each wheel is acquired by a wheel speed pulse sensor, the state signal of the whole vehicle is sent to a control module 2 through an original CAN bus of the vehicle, meanwhile, the CAM bus is also used for data interaction by connecting the electronic parking braking module 3 and the execution module 4, additional wiring is not needed, and the system cost is reduced. The embodiment also comprises a power supply module which is connected with the control module 2, the power supply module processes electric energy through the control module 2 to supply power to the whole control system, and the power supply module is an energy source for realizing motor driving by the execution module 4.
In this embodiment, a turn radius reducing switch 6 is designed, and a switch processing module is designed to be connected to the turn radius reducing switch 6 to acquire the switch state. When a driver realizes that a road is narrow and CAN not normally turn around or turn around, the turning radius reducing switch 6 is turned on, the switch processing module acquires the switch state and generates an auxiliary steering instruction, the instruction is sent to the control module 2 in a specific square wave form, the control module 2 identifies the waveform from the switch processing module after detecting the change of the signal, the vehicle state signal sent from the CAN bus is identified when the waveform meets the condition, and the control module 2 sends an auxiliary steering activation signal to the electronic parking brake module 3 when the vehicle state signal meets the auxiliary steering activation condition. In this embodiment, the display module 5 is used to display the state of the auxiliary steering mode, and the display module 5 includes an instrument display lamp and a display screen. When the state signal of the whole vehicle meets the auxiliary steering activation condition, the control module 2 sends an activated signal of an auxiliary steering mode to the display module 5, so that the display lamp of the instrument is turned on yellow, and meanwhile, the text on the display screen prompts that an RTR (reduce Turning radius) mode is activated; after the electronic parking brake module 3 identifies an auxiliary steering activation signal from the control module 2, firstly, whether other functions are executed or not is identified, if some high-priority functions are executed, a mode signal is recorded, and meanwhile, a fault code is sent to the control module 2, at this moment, the control module 2 needs to send the fault code to the display module 5, so that an instrument display lamp is bright red, and a character on a display screen indicates that an 'RTR (remote room temperature ratio) function is limited and operation is required later'; such asIf the executed function has low priority, the function with low priority is terminated and quitted, the auxiliary steering mode is continuously executed after quitting is finished, if no function is executed, whether the execution module 4 has a fault is continuously identified, if all the conditions are met, the auxiliary steering mode is entered, and meanwhile the electronic parking guidance module 3 sends a signal that the mode is running to the control module 2. At this time, the control module 2 needs to send a control signal to the display module 5, so that the instrument display lamp turns from yellow to green, and the text on the display screen indicates that the "RTR mode is running". When the auxiliary steering mode is operated, the electronic parking brake module 3 receives a whole vehicle state signal sent by the control module 2, and recognizes and obtains steering data of the vehicle and operation data of each wheel of the vehicle according to the whole vehicle state signal, wherein the steering data of the vehicle comprises: the running direction, the turning direction, and the turning angle of the vehicle. And then identifying and obtaining a rear wheel at the turning inner side according to the steering data and the operation data, calculating to obtain a real-time vehicle speed, and further calculating to obtain the real-time slip rate of the rear wheel at the turning inner side through a slip rate calculation formula according to the real-time vehicle speed and the rotating speed of the rear wheel at the turning inner side. The slip ratio calculation formula is as follows:
where S represents the real-time slip ratio of the rear wheel on the turn inner side, u1 represents the real-time vehicle speed of the vehicle, and u2 represents the rotation speed of the rear wheel on the turn inner side. The electronic parking braking module 3 controls the execution module 4 to continuously adjust the control state of the rear wheel at the inner side of the turn according to the real-time vehicle speed and the real-time slip rate so as to keep the parking force borne by the rear wheel at the inner side of the turn in the maximum state all the time, and the turning radius is reduced to the maximum degree.
The stress diagram of the vehicle in the turning process is shown in FIG. 2, wherein W and V represent the edge lines of the road; A. b, C, D respectively showing four wheels of left front, right front, left back and right back; m represents the mass center of the whole vehicle; f represents the braking force of the execution module 4 to the rear wheel at the inner side of the turning; f1 represents the axial component of the braking force F along the centroid M and the point of action of the actuating module 4 with the rear wheel on the inside of the turn; f2 represents the tangential component of the braking force F along the centroid M and the point of action of the actuation module 4 with the rear wheel on the inside of the turn; l represents the linear distance between the centroid M and the action point. (ii) a When there is no braking force F, the vehicle moves along a first trajectory 100; when the execution module 4 clamps the rear wheel at the turning inner side, a certain braking force F is applied to the rear wheel at the turning inner side, under the action of the braking force F, the vehicle generates a torque M1 which is the same as the turning direction of the vehicle, under the action of the torque M1, the vehicle can rotate along a mass point M of the vehicle while moving along a first track 100 track, under the superposition of the movement of the two, the turning radius of the whole vehicle is reduced, and the vehicle moves along a second track 101.
When a driver turns off the turning radius reducing switch 6 or the electronic parking brake module 3 recognizes that the vehicle has finished a turning function or a function with higher priority has been triggered according to a whole vehicle state signal sent by the control module 2, the electronic parking brake module 3 sends a release command to the execution module 4 to release the rear wheels at the inner side of the turning, so that the normal operation of the vehicle is not affected.
In the preferred embodiment of the present invention, the steering system further comprises a turn radius reduction switch 6 connected to the control module 2, wherein when the turn radius reduction switch 6 is pressed, an auxiliary steering command is generated and sent to the control module 2.
Specifically, in this embodiment, the turn radius reducing switch 6 is used to generate an auxiliary steering command and send the auxiliary steering command to the control module 2 through the original CAN bus on the vehicle, the control module 2 determines the auxiliary steering activation condition for the vehicle state signal after receiving the auxiliary steering command, and the validity of the auxiliary steering mode activation is ensured and the occurrence of misoperation is avoided by designing the dual-signal recognition of the vehicle state signal and the auxiliary steering command.
In a preferred embodiment of the present invention, the electronic parking brake module 3 further includes a condition determining unit 34 connected to the first processing unit 31, and the condition determining unit 34 includes:
a first determining subunit 341, configured to determine, according to the auxiliary steering activation signal, whether the current state of the execution module 4 meets a preset first operating condition, and send the auxiliary steering activation signal to the first processing unit 31 when the current state meets the first operating condition; when the first operation condition is not met, a first error signal is generated and fed back to the control module 2; and/or
A second determining subunit 342, configured to compare the priority of the corresponding auxiliary steering mode with the priority of the mode being executed by the electronic parking brake module 3 according to the auxiliary steering activation signal, and send the auxiliary steering activation signal to the first processing unit 31 when the priority of the auxiliary steering mode is higher than the priority of the mode being executed; and generating a second error signal and feeding back to the control module 2 when the priority of the auxiliary steering mode is not higher than the priority of the executing mode.
Specifically, in this embodiment, the current state of the execution module 4 is determined by setting the first determination subunit 341: sending an auxiliary steering activation signal to the first processing unit 31 when the current state of the execution module 4 satisfies a first operating condition; and generating a first error signal and feeding back to the control module 2 when the first operating condition is not satisfied.
While comparing the priority of the auxiliary steering mode with the mode being executed by the electronic parking brake module 3 by setting the second determination subunit 342: sending an auxiliary steering activation signal to the first processing unit 31 when the priority of the auxiliary steering mode is higher than that of the on-going mode; and generating a second error signal and feeding back to the control module 2 when the priority of the auxiliary steering mode is not higher than the priority of the executing mode.
In a preferred embodiment of the present invention, the present invention further comprises a display module 5 connected to the control module 2, the control module 2 processes the auxiliary steering command, the vehicle state signal, the first error signal and the second error signal to obtain an auxiliary steering state signal and outputs the auxiliary steering state signal, and the display module 5 displays the auxiliary steering state of the vehicle in real time according to the auxiliary steering state signal.
Specifically, in this embodiment, the display module 5 is an HMI display module including a meter display lamp and a display screen. When the control module 2 receives an auxiliary steering instruction, the control module 2 controls the instrument display lamp to turn yellow from off, and simultaneously controls characters on the display screen to prompt that the RTR mode is activated, and when the control module 2 recognizes that a whole vehicle state signal transmitted by the CAN bus meets a preset auxiliary steering activation condition, the control module 2 controls the instrument display lamp to turn green from yellow, and simultaneously controls the characters on the display screen to display that the RTR mode is running. When the control module 2 recognizes that the execution module 4 is in a fault state or the control module 2 sends out an unavailable signal of the control module 2, the control module 2 controls the color of the instrument display lamp to be red, and controls the characters on the display screen to prompt that the RTR function is limited.
In a preferred embodiment of the present invention, the second processing unit 32 includes:
an identification subunit 321 configured to identify a rear wheel on the inside of a turn from the steering data and the operation data;
and the calculating subunit 322 is connected to the identifying subunit 321, and is configured to calculate a real-time vehicle speed according to the operation data of each wheel, and calculate a real-time slip ratio of the rear wheel on the inner side of the turn according to the real-time vehicle speed and the operation data of the rear wheel on the inner side of the turn.
Specifically, in this embodiment, the identification subunit 321 is configured to identify the rear wheel on the turning inner side according to the steering data and the operation data, calculate the real-time vehicle speed of the vehicle according to the operation data of each wheel through the calculation subunit 322, and calculate the real-time slip ratio of the rear wheel on the turning inner side through the slip ratio calculation formula according to the real-time vehicle speed and the rotation speed of the rear wheel on the turning inner side. The slip ratio calculation formula is as follows:
where S represents the real-time slip ratio of the rear wheel on the turn inner side, u1 represents the real-time vehicle speed of the vehicle, and u2 represents the rotation speed of the rear wheel on the turn inner side.
In a preferred embodiment of the present invention, the third processing unit 33 includes:
the storage subunit 331 is configured to store a plurality of preset vehicle speed intervals and a plurality of slip rate intervals associated with each vehicle speed interval, where each slip rate interval is associated with a preset control action;
the sub-area unit 332 is connected to the storage sub-unit 331, and is configured to match the real-time vehicle speed in the storage sub-unit 331 to obtain a corresponding vehicle speed interval, and match the real-time slip rate in the storage sub-unit 331 to obtain a corresponding slip rate interval;
and the control subunit 333 is respectively connected with the storage subunit 331 and the partition subunit 332, and is configured to generate a corresponding control instruction according to the control action associated with the slip ratio section to control the execution module 4 to execute the control action, so as to adjust the control state of the rear wheel on the inner side of the turn, and further implement auxiliary steering by reducing the turning radius of the vehicle.
Specifically, in the embodiment, four vehicle speed ranges are preset, and the vehicle speed ranges are a first vehicle speed range, a second vehicle speed range, a third vehicle speed range and a fourth vehicle speed range respectively from low to high according to the vehicle speed; the method comprises the following steps that each vehicle speed interval is associated with a respective slip ratio upper limit threshold and a respective slip ratio lower limit threshold, the real-time slip ratio obtained by calculating the real-time vehicle speed corresponding to each vehicle speed interval is divided into three slip ratio intervals according to the respective slip ratio upper limit threshold and the respective slip ratio lower limit threshold, and the three slip ratio intervals are respectively associated with the respective vehicle speed intervals: a first slip rate interval, a second slip rate interval and a third slip rate interval are associated in the first vehicle speed interval, a fourth slip rate interval, a fifth slip rate interval and a sixth slip rate interval are associated in the second vehicle speed interval, a seventh slip rate interval, an eighth slip rate interval and a ninth slip rate interval are associated in the third vehicle speed interval, and a tenth slip rate interval, an eleventh slip rate interval and a twelfth slip rate interval are associated in the fourth vehicle speed interval; the control actions related to the first slip rate section, the fourth slip rate section, the seventh slip rate section and the tenth slip rate section are that the control execution module 4 clamps the rear wheel at the inner side of the turn, the control actions related to the second slip rate section, the fifth slip rate section, the eighth slip rate section and the eleventh slip rate section are that the control execution module 4 keeps the current state, and the control actions related to the third slip rate section, the sixth slip rate section, the ninth slip rate section and the twelfth slip rate section are that the control execution module 4 releases the rear wheel at the inner side of the turn. As the vehicle speed increases, the corresponding slip ratio upper limit threshold and slip ratio lower limit threshold in each vehicle speed section become closer, and in this real-time example, the corresponding slip ratio upper limit threshold and slip ratio lower limit threshold in the fourth vehicle speed section become closest, that is, the eleventh slip ratio section range becomes minimum, and the corresponding control action occupation ratio becomes minimum. Through the control action associated with each slip rate section, the parking force borne by the rear wheel at the inner side of the turning is always in the maximum state in the turning process, and the turning radius is reduced to the maximum extent.
In the preferred embodiment of the present invention, the executing module 4 includes a driving circuit 41 and an executing mechanism 42 connected to the driving circuit 41, and the driving circuit 41 drives the executing mechanism 42 to execute the control action according to the control command, so as to adjust the control state of the rear wheel at the inner side of the turning.
Specifically, in this embodiment, the driving circuit 41 is arranged to change the MOS transistor in the operation direction of the actuator 42 according to the control instruction sent by the control module 2, so as to realize the forward and reverse rotation of the motor of the actuator 42, and further execute the corresponding control action to adjust the control state of the rear wheel at the inner side of the turn; the noise of the driving circuit 41 is large, the working current is large, the large current can cause the change of the surrounding magnetic field, the control module 2 and the driving circuit 41 are designed together in the prior art, the large current of the driving circuit 41 can possibly influence the control module 2, and the control module 2 and the driving circuit 41 are separately designed in the technical scheme, so that the control module 2 can be protected, the influence of the driving circuit 41 on the control module 2 is reduced, and the safety and the reasonability are realized.
In the preferred embodiment of the present invention, the actuator 42 includes:
the left rear wheel actuating mechanism is connected with a left rear wheel brake caliper and controls the left rear wheel brake caliper to limit a left rear wheel brake disc so as to clamp and release the left rear wheel;
the right rear wheel actuating mechanism is connected with a right rear wheel brake caliper and controls the right rear wheel brake caliper to limit the right rear wheel brake disc to clamp and release the right rear wheel.
Specifically, in this embodiment, the left rear wheel actuating mechanism and the right rear wheel actuating mechanism are connected by a harness, and the left rear wheel brake caliper and the right rear wheel brake caliper convert the rotary motion of the two rear wheels into linear motion and act on the left rear wheel brake disc and the right rear wheel brake disc respectively; the left rear wheel brake disc and the right rear wheel brake disc are fixedly connected with the whole vehicle and respectively provide braking force for the left rear wheel and the right rear wheel.
A vehicle auxiliary steering control method is applied to any one of the vehicle auxiliary steering systems, and as shown in fig. 3, the vehicle auxiliary steering method specifically includes the following steps:
step S1, the vehicle auxiliary steering control system detects the real-time state of the vehicle to obtain the state signal of the whole vehicle;
step S2, the vehicle auxiliary steering control system receives the external auxiliary steering instruction and generates and outputs an auxiliary steering activation signal when the vehicle state signal meets the preset auxiliary steering activation condition;
step S3, after the vehicle auxiliary steering control system receives the auxiliary steering activation signal, the vehicle auxiliary steering control system processes the auxiliary steering activation signal according to the state signal of the whole vehicle to obtain the steering data of the vehicle and the running data of each wheel of the vehicle;
step S4, the vehicle auxiliary steering control system identifies the rear wheel at the inner side of the turn according to the steering data and the running data in the vehicle steering process, and calculates the real-time vehicle speed and the real-time slip ratio of the rear wheel at the inner side of the turn;
and step S5, the vehicle auxiliary steering control system controls the execution module to continuously adjust the control state of the rear wheel at the inner side of the turn according to the real-time vehicle speed and the real-time slip ratio so as to realize auxiliary steering by reducing the turning radius of the vehicle.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (9)
1. A vehicle auxiliary steering control system is characterized by comprising:
the state detection module is used for detecting the real-time state of the vehicle to obtain a finished vehicle state signal;
the control module is connected with the state detection module and used for receiving an external auxiliary steering instruction, generating an auxiliary steering activation signal when the vehicle state signal meets a preset auxiliary steering activation condition and outputting the auxiliary steering activation signal;
the electronic parking braking module is respectively connected with the state detection module, the control module and the execution module, and comprises:
the first processing unit is used for processing the steering data of the vehicle and the running data of each wheel of the vehicle according to the whole vehicle state signal after receiving the auxiliary steering activation signal;
the second processing unit is connected with the first processing unit and used for identifying rear wheels at the inner side of a turn according to the steering data and the operation data in the vehicle steering process and calculating to obtain the real-time vehicle speed and the real-time slip rate of the rear wheels at the inner side of the turn;
and the third processing unit is connected with the second processing unit and used for controlling the execution module to continuously adjust the control state of the rear wheel at the inner side of the turn according to the real-time vehicle speed and the real-time slip ratio so as to realize auxiliary steering by reducing the turning radius of the vehicle.
2. The vehicle assisted steering control system of claim 1, further comprising a turn radius reduction switch coupled to the control module, the turn radius reduction switch being depressed to generate and send the assisted steering command to the control module.
3. The vehicle assist steering control system according to claim 1, wherein the electronic parking brake module further includes a condition determination unit connected to the first processing unit, the condition determination unit including:
the first judging subunit is used for judging whether the current state of the execution module meets a preset first operation condition or not according to the auxiliary steering activation signal, and sending the auxiliary steering activation signal to the first processing unit when the current state meets the first operation condition; generating a first error signal and feeding back the first error signal to the control module when the first operation condition is not met; and/or
A second determining subunit, configured to compare a priority of a corresponding auxiliary steering mode with a priority of an executing mode of the electronic parking brake module according to the auxiliary steering activation signal, and send the auxiliary steering activation signal to the first processing unit when the priority of the auxiliary steering mode is higher than the priority of the executing mode; and generating a second error signal and feeding the second error signal back to the control module when the priority of the auxiliary steering mode is not higher than the priority of the executing mode.
4. The vehicle auxiliary steering control system according to claim 3, further comprising a display module connected to the control module, wherein the control module processes the auxiliary steering command, the vehicle state signal, the first error signal and the second error signal to obtain an auxiliary steering state signal and outputs the auxiliary steering state signal, and the display module displays the auxiliary steering state of the vehicle in real time according to the auxiliary steering state signal.
5. The vehicle-assisted steering control system according to claim 1, characterized in that the second processing unit includes:
the identification subunit is used for identifying the rear wheel at the inner side of the turn according to the steering data and the operation data;
and the calculating subunit is connected with the identifying subunit and used for calculating the real-time vehicle speed according to the operation data of each wheel and calculating the real-time slip rate of the rear wheel on the inner side of the turn according to the real-time vehicle speed and the operation data of the rear wheel on the inner side of the turn.
6. The vehicle-assisted steering control system according to claim 1, characterized in that the third processing unit includes:
the storage subunit is used for storing a plurality of preset vehicle speed intervals and a plurality of slip rate intervals associated with the vehicle speed intervals, and each slip rate interval is associated with a preset control action;
the partition subunit is connected with the storage subunit and is used for matching in the storage subunit according to the real-time vehicle speed to obtain the corresponding vehicle speed interval and matching in the storage subunit according to the real-time slip rate to obtain the corresponding slip rate interval;
and the control subunit is respectively connected with the storage subunit and the partition subunit and is used for generating corresponding control instructions according to the control actions associated with the slip ratio interval to control the execution module to execute the control actions so as to adjust the control state of the rear wheel at the inner side of the turning and further realize auxiliary steering by reducing the turning radius of the vehicle.
7. The vehicle auxiliary steering control system according to claim 6, wherein the actuator module includes a driving circuit and an actuator connected to the driving circuit, and the driving circuit drives the actuator to perform the control operation according to the control command to adjust the control state of the rear wheel on the inner side of the turn.
8. The vehicle-assisted steering control system according to claim 7, the actuator including:
the left rear wheel executing mechanism is connected with a left rear wheel brake caliper and controls the left rear wheel brake caliper to limit a left rear wheel brake disc so as to clamp and release a left rear wheel;
the right rear wheel actuating mechanism is connected with a right rear wheel brake caliper and controls the right rear wheel brake caliper to limit a right rear wheel brake disc to clamp and release a right rear wheel.
9. A vehicle-assisted steering control method, applied to the vehicle-assisted steering control system according to any one of claims 1 to 8, comprising:
step S1, the vehicle auxiliary steering control system detects the real-time state of the vehicle to obtain the state signal of the whole vehicle;
step S2, the vehicle auxiliary steering control system receives an external auxiliary steering instruction and generates and outputs an auxiliary steering activation signal when the vehicle state signal meets the preset auxiliary steering activation condition;
step S3, after receiving the auxiliary steering activation signal, the vehicle auxiliary steering control system processes the vehicle state signal to obtain the steering data of the vehicle and the running data of each wheel of the vehicle;
step S4, the vehicle auxiliary steering control system identifies the rear wheel at the inner side of the turn according to the steering data and the operation data in the vehicle steering process, and calculates to obtain the real-time vehicle speed and the real-time slip ratio of the rear wheel at the inner side of the turn;
and step S5, the vehicle auxiliary steering control system controls the execution module to continuously adjust the control state of the rear wheel at the inner side of the turn according to the real-time vehicle speed and the real-time slip ratio so as to realize auxiliary steering by reducing the turning radius of the vehicle.
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| CN202010955626.3A CN112124420A (en) | 2020-09-11 | 2020-09-11 | Vehicle auxiliary steering control system and method |
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| CN202010955626.3A CN112124420A (en) | 2020-09-11 | 2020-09-11 | Vehicle auxiliary steering control system and method |
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| CN114275040A (en) * | 2021-12-28 | 2022-04-05 | 上海拿森汽车电子有限公司 | Vehicle steering control method and device and vehicle |
| CN116968809A (en) * | 2023-09-20 | 2023-10-31 | 博世汽车部件(苏州)有限公司 | Vehicle steering assist system and control unit thereof |
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