CN112486179B - Method, device and equipment for controlling vehicle driving direction and storage medium - Google Patents
Method, device and equipment for controlling vehicle driving direction and storage medium Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention relates to the technical field of automobiles, and discloses a method, a device, equipment and a storage medium for controlling the driving direction of a vehicle, wherein the method comprises the following steps: when a starting instruction of a target vehicle is received, judging whether an initial zero position angle is in a calibration state or not; if the initial zero position angle is in a calibration state, acquiring current running state information of the target vehicle; judging whether the current driving state information meets preset state information or not; if the current running state information meets the preset state information, the angle information of the current running state information is used as a target zero position angle, the initial zero position angle is replaced by the target zero position angle, and the change of the actual zero position angle caused by interference under different load states is adapted by continuously adjusting the calibrated zero position angle through continuously adjusting the current running state information, so that the technical problem of straight running of the vehicle is further ensured.
Description
Technical Field
The present invention relates to the field of automotive technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling a driving direction of a vehicle.
Background
In order to improve the endurance mileage of the new energy commercial vehicle, energy conservation and consumption reduction of each system device are one of important measures while the performance of the power battery is improved, so that the electronic power steering system with light weight, low energy consumption and excellent performance is gradually popularized and applied in the new energy commercial vehicle. The current mainstream technical direction is to use an electric circulating ball type steering gear to replace a traditional hydraulic steering gear, integrate a power-assisted motor, a steering controller (ECU), a torque/corner sensor and a speed reducing mechanism into a whole, and realize the electronic power-assisted steering of a new energy commercial vehicle by means of initial zero calibration, whole vehicle CAN information interaction and the like. However, due to the special characteristic of large loading capacity of the commercial vehicle, when the vehicle is in no-load or full-load, the tonnage variable quantity is large, so that the amplitude of the lifting amount of a steel plate spring of a suspension is large, the interference between a steering system and the suspension system is increased, and the actual zero position angle of the whole vehicle is deviated.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a method, a device, equipment and a storage medium for controlling the running direction of a vehicle, and aims to solve the technical problem of ensuring the straight running of the vehicle by continuously adjusting a calibrated zero angle to adapt to the change of an actual zero angle caused by interference under different load states.
To achieve the above object, the present invention provides a method for controlling a traveling direction of a vehicle, including the steps of:
when a starting instruction of a target vehicle is received, judging whether an initial zero position angle is in a calibration state or not;
if the initial zero position angle is in a calibration state, acquiring current running state information of the target vehicle;
judging whether the current driving state information meets preset state information or not;
if the current driving state information meets the preset state information, the angle information of the current driving state information is used as a target zero position angle, and the initial zero position angle is replaced by the target zero position angle.
Optionally, the current driving state information includes: any one of vehicle speed information, input torque information, angle information, steering angular velocity information, duration, and traveling direction information.
Optionally, if the current driving state information meets the preset state information, taking the angle information of the current driving state information as a target zero position angle, and replacing the initial zero position angle with the target zero position angle, including:
if the vehicle speed information is greater than or equal to first preset speed information and less than or equal to second preset speed information, judging whether the input torque information is greater than or equal to first preset input torque information and less than or equal to second preset input torque information, wherein the first preset speed information is less than the second preset speed information;
if the input torque information is larger than or equal to first preset input torque information and smaller than or equal to second preset input torque information, judging whether the steering angular speed information is smaller than or equal to first preset steering angular speed information or not, wherein the first preset input torque information is smaller than the second preset input torque information;
if the steering angular velocity information is less than or equal to first preset steering angular velocity information, judging whether the duration time is greater than or equal to first preset duration time or not;
and if the duration is greater than or equal to a first preset duration, taking the angle information of the current running state information as a target zero position angle, and replacing the initial zero position angle with the target zero position angle.
Optionally, if the duration is greater than or equal to a first preset duration, taking the angle information of the current driving state information as a target zero position angle, and replacing the initial zero position angle with the target zero position angle, including:
if the duration is greater than or equal to a first preset duration, acquiring the initial zero position angle as an initial zero position angle corresponding to a calibration state;
judging whether the angle information of the current driving state information is larger than or equal to first preset angle information and smaller than or equal to second preset angle information, wherein the first preset angle information is a difference value between an initial zero position angle and a preset value, and the second preset angle information is a sum value of the initial zero position angle and the preset value;
if the angle information of the current driving state information is greater than or equal to first preset angle information and less than or equal to second preset angle information, taking the angle information as a target zero position angle;
replacing the initial null angle with the target null angle.
Optionally, before replacing the initial null angle with the target null angle, the method further includes:
judging whether the driving direction information is straight line state information or not;
and if the driving direction information is straight line state information, executing the step of replacing the initial zero position angle with the target zero position angle.
Optionally, after determining whether the initial zero angle is in the calibration state when the steering instruction of the target vehicle is received, the method further includes:
if the initial zero angle is not in a calibration state, setting the target vehicle to perform linear driving in the calibration state of preset speed information, preset input torque information and preset duration time so as to obtain initial angle information of the target vehicle in the calibration state;
and calibrating the initial zero position angle through the initial angle information.
Optionally, after calibrating the initial null angle by the initial angle information, the method further includes:
acquiring the state information of the current fault lamp;
and if the state information of the current fault lamp is in an off state, obtaining a calibration result of successful calibration.
In order to achieve the above object, the present invention also provides a vehicle traveling direction control device including:
the judging module is used for judging whether the initial zero angle is in a calibration state or not when a starting instruction of the target vehicle is received;
the acquisition module is used for acquiring the current running state information of the target vehicle if the initial zero position angle is in a calibration state;
the judging module is also used for judging whether the current running state information meets preset state information or not;
and the calibration module is used for taking the angle information of the current running state information as a target zero position angle and replacing the initial zero position angle with the target zero position angle if the current running state information meets the preset state information.
Further, to achieve the above object, the present invention also proposes a control apparatus of a vehicle traveling direction, comprising: the control method comprises the steps of realizing the control method of the vehicle driving direction.
In order to achieve the above object, the present invention further provides a storage medium having a control program of a vehicle traveling direction stored thereon, the control program of the vehicle traveling direction realizing the steps of the control method of the vehicle traveling direction as described above when executed by a processor.
The control method of the vehicle running direction provided by the invention judges whether the initial zero angle is in a calibration state or not when receiving a starting instruction of a target vehicle; if the initial zero position angle is in a calibration state, acquiring current running state information of the target vehicle; judging whether the current driving state information meets preset state information or not; if the current running state information meets the preset state information, the angle information of the current running state information is used as a target zero position angle, the initial zero position angle is replaced by the target zero position angle, and the change of the actual zero position angle caused by interference under different load states is adapted by continuously adjusting the calibrated zero position angle through continuously adjusting the current running state information, so that the technical problem of straight running of the vehicle is further ensured.
Drawings
FIG. 1 is a schematic diagram of a control apparatus for controlling a vehicle traveling direction in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a first embodiment of a method for controlling a driving direction of a vehicle according to the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of a method for controlling a driving direction of a vehicle according to the present invention;
FIG. 4 is a flowchart illustrating a third embodiment of a method for controlling a driving direction of a vehicle according to the present invention;
FIG. 5 is a flowchart illustrating a fourth embodiment of a method for controlling a traveling direction of a vehicle according to the present invention;
fig. 6 is a functional block diagram of a first embodiment of the vehicle travel direction control apparatus of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a control apparatus for a vehicle traveling direction in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the control apparatus of the traveling direction of the vehicle may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may comprise a Display screen (Display), an input unit such as keys, and the optional user interface 1003 may also comprise a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a WI-FI interface). The Memory 1005 may be a Random Access Memory (RAM) Memory or a non-volatile Memory (non-volatile Memory), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the apparatus shown in fig. 1 does not constitute a limitation of the control apparatus of the vehicle's direction of travel, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of storage medium, may include therein an operating system, a network communication module, a user interface module, and a control program of a vehicle traveling direction.
In the control device of the vehicle traveling direction shown in fig. 1, the network interface 1004 is mainly used for connecting an external network and performing data communication with other network devices; the user interface 1003 is mainly used for connecting to a user equipment and performing data communication with the user equipment; the apparatus of the present invention calls a control program of the vehicle traveling direction stored in the memory 1005 by the processor 1001 and executes a control method of the vehicle traveling direction provided by the embodiment of the present invention.
Based on the hardware structure, the embodiment of the control method for the vehicle driving direction is provided.
Referring to fig. 2, fig. 2 is a flowchart illustrating a first embodiment of a method for controlling a traveling direction of a vehicle according to the present invention.
And step S10, when a starting instruction of the target vehicle is received, judging whether the initial zero angle is in a calibration state.
It should be noted that the executing main body in the present embodiment may be a control device for a vehicle traveling direction, and may also be other devices that can achieve the same or similar functions.
It can be understood that the starting instruction refers to a command for starting and operating a target vehicle, when the steering controller receives the starting instruction of the target vehicle, the steering controller controls the magnitude and direction of the output current according to the vehicle speed and the torque signal, so that the motor generates power assistance, and meanwhile, the steering controller determines whether the initial zero angle is calibrated, wherein the steering controller may be a steering controller in an electric recirculating ball steering gear, which is not limited in this embodiment.
It should be noted that the initial zero angle is generally performed when the entire vehicle is assembled, when a driver turns a steering wheel, the torque/rotation angle sensor detects the magnitude and direction of the torque of the steering wheel, the steering controller controls the rotation direction of the motor and the magnitude of the power-assisted current according to the vehicle speed and the signal of the torque sensor, the torque of the motor acts on the steering gear through the speed reduction mechanism, and the drop arm drives the pull rod to finally realize the power-assisted steering. Simultaneously for promoting whole car operation travelling comfort, increase the turn angle sensor and promote turning to just ability, after the steering wheel angle changes, angle sensor turns into the signal quantity control motor with angle variation and produces the helping hand, and help vehicle returns just, realizes initiatively returning just function.
And step S20, if the initial zero angle is in a calibration state, acquiring the current running state information of the target vehicle.
It should be noted that, if the initial zero position angle is in the calibration state according to the determination result, the steering controller starts to calibrate itself, and automatically adjusts the calibration zero position angle to adapt to match the actual zero position angle caused by the load interference amount, and the current running state information of the target vehicle needs to be acquired through the sensor before.
It is understood that the current driving state information includes: any one of vehicle speed information, input torque information, angle information, steering angular velocity information, duration, and traveling direction information, which is not limited in the present embodiment.
And step S30, judging whether the current running state information meets the preset state information.
It should be noted that the current driving process includes vehicle speed information of the target vehicle, and the automatic calibration condition needs to determine whether the current driving state information meets preset state information, that is, whether the vehicle speed information is greater than or equal to first preset speed information and less than or equal to second preset speed information, where the first preset speed information is less than the second preset speed information, and then further determines that the current driving process includes other information.
Step S40, if the current driving state information satisfies the preset state information, taking the angle information of the current driving state information as a target zero position angle, and replacing the initial zero position angle with the target zero position angle.
It can be understood that if the vehicle speed information is greater than or equal to the first preset speed information and less than or equal to the second preset speed information, it is further determined whether the input torque information is greater than or equal to the first preset input torque information and less than or equal to the second preset input torque information, whether the steering angular velocity information is less than or equal to the first preset steering angular velocity information, whether the duration is greater than or equal to the first preset duration is determined, after the preset condition is satisfied by the determination, the current driving state information angle information under the current condition is obtained, whether the current driving state information angle information is greater than or equal to the first preset angle information and less than or equal to the second preset angle information is determined, and when the current driving state information angle information is greater than or equal to the first preset angle information and less than or equal to the second preset angle information, whether the driving direction information is the straight line state information is determined, if the angle information of the front driving state information meets the conditions, the angle information of the front driving state information can be used as a target zero position angle, and the initial zero position angle is replaced by the target zero position angle, so that the automatic calibration process is realized.
In the embodiment, when a starting instruction of a target vehicle is received, whether the initial zero position angle is in a calibration state is judged; if the initial zero position angle is in a calibration state, acquiring current running state information of the target vehicle; judging whether the current driving state information meets preset state information or not; if the current running state information meets the preset state information, the angle information of the current running state information is used as a target zero position angle, the initial zero position angle is replaced by the target zero position angle, and the change of the actual zero position angle caused by interference under different load states is adapted by continuously adjusting the calibrated zero position angle through continuously adjusting the current running state information, so that the technical problem of straight running of the vehicle is further ensured.
In an embodiment, as shown in fig. 3, a second embodiment of the method for controlling the traveling direction of a vehicle according to the present invention is provided based on the first embodiment, and the step S40 includes:
step S401, if the vehicle speed information is greater than or equal to first preset speed information and less than or equal to second preset speed information, judging whether the input torque information is greater than or equal to first preset input torque information and less than or equal to second preset input torque information, wherein the first preset speed information is less than the second preset speed information.
It should be understood that the vehicle speed information is collected by a vehicle speed sensor, the input torque information is collected by a torque sensor, and the current driving state information may include the vehicle speed information by determining whether the current driving state information satisfies the preset state information, and thus, by determining that the vehicle speed information is greater than or equal to the first preset speed information and less than or equal to the second preset speed information, it is determined whether the input torque information is greater than or equal to the first preset input torque information and less than or equal to the second preset input torque information.
It is understood that, for example, the first preset speed information may be 30km/h, the second preset speed information may be 90km/h, and the vehicle speed information may be represented by V, which is not limited in this embodiment, if the vehicle speed information collected by the vehicle speed sensor is 60km/h, that is, 30km/h is less than or equal to V less than or equal to 90km/h, which indicates that the vehicle speed information is greater than or equal to the first preset speed information and less than or equal to the second preset speed information, it is required to further determine whether the input torque information is greater than or equal to the first preset input torque information and less than or equal to the second preset input torque information.
Step S402, if the input torque information is greater than or equal to first preset input torque information and less than or equal to second preset input torque information, determining whether the steering angular velocity information is less than or equal to first preset steering angular velocity information, where the first preset input torque information is less than the second preset input torque information.
It should be understood that the steering angular velocity information is collected by the steering sensor, for example, the first preset input torque information may be 0.65Nm, the second preset input torque information may be 2Nm, and the input torque information may be represented by M, which is not limited in this embodiment, and if the input torque information collected by the torque sensor is 1.1Nm, that is, 0.65Nm ≦ M ≦ 2Nm, which indicates that the input torque information is greater than or equal to the first preset input torque information and less than or equal to the second preset input torque information, it is necessary to further determine whether the steering angular velocity information is less than or equal to the first preset steering angular velocity information.
Step S403, if the steering angular velocity information is less than or equal to a first preset steering angular velocity information, determining whether the duration is greater than or equal to a first preset duration.
It is understood that the duration is collected by the time sensor, for example, the first preset steering angular velocity information may be 50 °/s, and the steering angular velocity information may be represented by w, which is not limited in this embodiment, and if the input torque information collected by the steering sensor is 45 °/s, i.e., w ≦ 50 °/s, indicating that the steering angular velocity information is equal to or less than the first preset steering angular velocity information, it is necessary to further determine whether the duration is equal to or greater than the first preset duration.
Step S404, if the duration time is longer than or equal to a first preset duration time, taking the angle information of the current running state information as a target zero position angle, and replacing the initial zero position angle with the target zero position angle.
It should be understood that, for example, the first preset duration may be 1000ms, and the duration may be represented by t, which is not limited in this embodiment, if the duration acquired by the time sensor is 2000ms, that is, t ≧ 1000ms, which indicates that the duration is greater than or equal to the first preset duration, the angle information of the current driving state information is taken as the target null angle, and the initial null angle is replaced by the target null angle.
In this embodiment, by determining whether the input torque information is greater than or equal to a first preset input torque information and less than or equal to a second preset input torque information if the vehicle speed information is greater than or equal to a first preset speed information and less than or equal to a second preset speed information, and determining whether the steering angular speed information is less than or equal to a first preset steering angular speed information if the input torque information is greater than or equal to the first preset input torque information and less than or equal to the second preset input torque information, and determining whether the duration is greater than or equal to a first preset duration again if the steering angular speed information is less than or equal to the first preset steering angular speed information, if the duration is greater than or equal to the first preset duration, using the angle information of the current driving state information as a target zero position angle, and replacing the initial zero position angle with the target zero position angle, the calibration zero angle is further adjusted continuously to adapt to the change of the actual zero angle caused by interference under different load states, and therefore the technical problem of straight running of the vehicle is guaranteed.
In an embodiment, as shown in fig. 4, a third embodiment of the method for controlling the traveling direction of a vehicle according to the present invention is provided based on the second embodiment, and in this embodiment, the step S404 includes:
step S4041, if the duration is greater than or equal to a first preset duration, the initial zero position angle is obtained and is an initial zero position angle corresponding to the calibration state.
It can be understood that the initial zero angle is generally performed when the whole vehicle is assembled, and those skilled in the art can set the initial zero angle according to actual conditions, and the calibrated zero angle can be a0It is shown that, this embodiment is not limited to this, and if the duration is greater than or equal to the first preset duration, the initial zero position angle may be obtained as the initial zero position angle corresponding to the calibration state.
Step S4042, determining whether the angle information of the current driving state information is greater than or equal to first preset angle information and less than or equal to second preset angle information, wherein the first preset angle information is a difference value between an initial zero position angle and a preset value, and the second preset angle information is a sum value between the initial zero position angle and the preset value.
It should be noted that the angle information is collected by an angle sensor, for example, the preset value may be 30 °, the angle information of the current driving state information may be represented by a, and the first preset angle information may be a030 DEG, and the second preset angle information can be a0+30 °, if the angle information of the current driving state information is not limited in this embodiment, it is determined whether the angle information of the current driving state information is greater than or equal to a first preset angle information and less than or equal to a second preset angle information, that is, it is determined whether a is satisfied0-30°≤a≤a0+30°。
Step S4043, if the angle information of the current driving state information is greater than or equal to first preset angle information and less than or equal to second preset angle information, the angle information is used as a target zero position angle.
It can be understood that the angle information collected by the angle sensor satisfies a0-30°≤a≤a0And +30 degrees, the angle information is taken as the target null angle.
Step S4044, replacing the initial zero position angle with the target zero position angle.
Further, before step S4044, the method further includes:
and judging whether the driving direction information is straight line state information or not.
It can be understood that, by collecting the driving direction information through the direction sensor, it can be determined whether the target vehicle in which the steering controller will recognize the above state is the straight state information.
And if the driving direction information is straight line state information, the step of replacing the initial zero position angle with the target zero position angle is executed.
It should be understood that if the steering controller is to identify the target vehicle in the above state as the straight-line state information, the step of replacing the initial null angle with the target null angle is performed.
It can be understood that the steering controller automatically calibrates the target zero position angle when the target vehicle in the above state is identified as the linear state information into a new zero position angle, covers the initial zero position angle, and completes the adaptive calibration.
In this embodiment, if the duration is greater than or equal to a first preset duration, the initial zero position angle is obtained as an initial zero position angle corresponding to a calibration state; judging whether the angle information of the current driving state information is larger than or equal to first preset angle information and smaller than or equal to second preset angle information, wherein the first preset angle information is a difference value between an initial zero position angle and a preset value, and the second preset angle information is a sum value of the initial zero position angle and the preset value; if the angle information of the current driving state information is greater than or equal to first preset angle information and less than or equal to second preset angle information, taking the angle information as a target zero position angle; judging whether the driving direction information is straight line state information or not; if the driving direction information is the linear state information, the step of replacing the initial zero position angle with the target zero position angle is executed, so that the aim of continuously adjusting the calibrated zero position angle to adapt to the change of the actual zero position angle caused by interference under different load states is effectively improved, and the accuracy of the technical problem of the linear driving of the vehicle is further ensured.
In an embodiment, as shown in fig. 5, a fourth embodiment of the method for controlling the traveling direction of a vehicle according to the present invention is provided based on the first embodiment, and in this embodiment, after step S10, the method further includes:
step S101', if the initial zero angle is not in a calibration state, setting the target vehicle to perform linear driving in the calibration state of preset speed information, preset input torque information and preset duration so as to obtain initial angle information of the target vehicle in the calibration state.
It should be noted that the steering controller controls the magnitude and direction of the output current according to the vehicle speed and the torque signal, so that the motor generates the power assistance, and meanwhile, the steering controller determines whether the initial zero position is calibrated, and if the initial zero position angle is not in a calibration state, the initial angle information of the target vehicle in the calibration state is obtained by setting the state information of the calibrated target vehicle, wherein the setting of the state information of the calibrated target vehicle is mainly performed aiming at the preset speed information, the preset input torque information and the preset duration of the set target vehicle.
It is to be understood that, for example, the calibration conditions set may be: and if the preset speed information, the preset input torque information and the preset duration of the set target vehicle meet the set conditions, the steering controller identifies the angle in the state as the initial angle information when the target vehicle is in the straight-line running state.
And step S102', calibrating the initial zero position angle through the initial angle information.
It should be noted that the steering controller automatically calibrates the initial angle information identifying the state angle as the initial zero angle when the target vehicle is running straight.
Further, after step S102', the method further includes:
acquiring state information of a current fault lamp;
it can be understood that when the initial angle information is automatically calibrated to the initial zero angle, the state information of the current fault lamp of the vehicle instrument of the target vehicle is obtained.
And if the state information of the current fault lamp is in an off state, obtaining a calibration result of successful calibration.
It should be understood that if the status information of the current fault lamp of the vehicle instrument of the target vehicle is in an off state, a calibration result indicating successful calibration can be obtained, and such a situation is often applied to delivery of a new vehicle or replacement of an electric recirculating ball steering gear assembly.
In the embodiment, if the initial zero position angle is not in the calibration state, the target vehicle is set to perform linear driving in the calibration state of preset speed information, preset input torque information and preset duration information, so as to obtain initial angle information of the target vehicle in the calibration state; calibrating the initial zero position angle through the initial angle information, and then acquiring the state information of the current fault lamp; if the state information of the current fault lamp is in an off state, obtaining a calibration result of successful calibration, and if the judgment result is negative, starting self-calibration by the steering controller and automatically calibrating the initial zero angle.
Furthermore, an embodiment of the present invention also provides a storage medium having a control program of a vehicle traveling direction stored thereon, which when executed by a processor implements the steps of the control method of the vehicle traveling direction as described above.
Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
Further, referring to fig. 6, an embodiment of the present invention also proposes a control device of a vehicle traveling direction, including:
the determining module 10 is configured to determine whether the initial zero angle is in a calibration state when a starting instruction of the target vehicle is received.
It can be understood that the starting instruction refers to a command for starting and operating a target vehicle, when the steering controller receives the starting instruction of the target vehicle, the steering controller controls the magnitude and direction of the output current according to the vehicle speed and the torque signal, so that the motor generates power assistance, and meanwhile, the steering controller determines whether the initial zero angle is calibrated, wherein the steering controller may be a steering controller in an electric recirculating ball steering gear, which is not limited in this embodiment.
It should be noted that the initial zero angle is generally performed when the entire vehicle is assembled, when a driver turns a steering wheel, the torque/rotation angle sensor detects the magnitude and direction of the torque of the steering wheel, the steering controller controls the rotation direction of the motor and the magnitude of the power-assisted current according to the vehicle speed and the signal of the torque sensor, the torque of the motor acts on the steering gear through the speed reduction mechanism, and the drop arm drives the pull rod to finally realize the power-assisted steering. Simultaneously for promoting whole car operation travelling comfort, increase the turn angle sensor and promote turning to just ability, after the steering wheel angle changes, angle sensor turns into the signal quantity control motor with angle variation and produces the helping hand, and help vehicle returns just, realizes initiatively returning just function.
The obtaining module 20 is configured to obtain current driving state information of the target vehicle if the initial zero position angle is in a calibration state.
It should be noted that, if the initial zero position angle is in the calibration state according to the determination result, the steering controller starts to calibrate itself, and automatically adjusts the calibration zero position angle to adapt to match the actual zero position angle caused by the load interference amount, and the current running state information of the target vehicle needs to be acquired through the sensor before.
It is understood that the current driving state information includes: any one of vehicle speed information, input torque information, angle information, steering angular velocity information, duration, and traveling direction information, which is not limited in the present embodiment.
The judging module 10 is further configured to judge whether the current driving state information meets preset state information.
It should be noted that the current driving process includes vehicle speed information of the target vehicle, and the automatic calibration condition needs to determine whether the current driving state information meets preset state information, that is, whether the vehicle speed information is greater than or equal to first preset speed information and less than or equal to second preset speed information, where the first preset speed information is less than the second preset speed information, and then further determines that the current driving process includes other information.
And the calibration module 40 is configured to, if the current driving state information meets the preset state information, take the angle information of the current driving state information as a target zero position angle, and replace the initial zero position angle with the target zero position angle.
It can be understood that if the vehicle speed information is greater than or equal to the first preset speed information and less than or equal to the second preset speed information, it is further determined whether the input torque information is greater than or equal to the first preset input torque information and less than or equal to the second preset input torque information, whether the steering angular velocity information is less than or equal to the first preset steering angular velocity information, whether the duration is greater than or equal to the first preset duration is determined, after the preset condition is satisfied by the determination, the current driving state information angle information under the current condition is obtained, whether the current driving state information angle information is greater than or equal to the first preset angle information and less than or equal to the second preset angle information is determined, and when the current driving state information angle information is greater than or equal to the first preset angle information and less than or equal to the second preset angle information, whether the driving direction information is the straight line state information is determined, if the angle information of the front driving state information meets the conditions, the angle information of the front driving state information can be used as a target zero position angle, and the initial zero position angle is replaced by the target zero position angle, so that the automatic calibration process is realized.
In the embodiment, when a starting instruction of a target vehicle is received, whether the initial zero position angle is in a calibration state is judged; if the initial zero position angle is in a calibration state, acquiring current running state information of the target vehicle; judging whether the current driving state information meets preset state information or not; if the current running state information meets the preset state information, the angle information of the current running state information is used as a target zero position angle, the initial zero position angle is replaced by the target zero position angle, and the change of the actual zero position angle caused by interference under different load states is adapted by continuously adjusting the calibrated zero position angle through continuously adjusting the current running state information, so that the technical problem of straight running of the vehicle is further ensured.
In an embodiment, the obtaining module 20 is further configured to obtain the current driving state information, where the current driving state information includes: any one of vehicle speed information, input torque information, angle information, steering angular velocity information, duration, and traveling direction information.
In an embodiment, the calibration module 30 is further configured to determine whether the input torque information is greater than or equal to a first preset input torque information and less than or equal to a second preset input torque information if the vehicle speed information is greater than or equal to a first preset speed information and less than or equal to a second preset speed information, where the first preset speed information is less than the second preset speed information; if the input torque information is greater than or equal to first preset input torque information and less than or equal to second preset input torque information, judging whether the steering angular speed information is less than or equal to first preset steering angular speed information or not, wherein the first preset input torque information is less than the second preset input torque information; if the steering angular velocity information is less than or equal to first preset steering angular velocity information, judging whether the duration time is greater than or equal to first preset duration time or not; and if the duration is longer than or equal to a first preset duration, taking the angle information of the current running state information as a target zero position angle, and replacing the initial zero position angle with the target zero position angle.
In an embodiment, the calibration module 30 is further configured to, if the duration is greater than or equal to a first preset duration, obtain the initial zero position angle as an initial zero position angle corresponding to a calibration state; judging whether the angle information of the current driving state information is larger than or equal to first preset angle information and smaller than or equal to second preset angle information, wherein the first preset angle information is a difference value between an initial zero position angle and a preset value, and the second preset angle information is a sum value of the initial zero position angle and the preset value; if the angle information of the current driving state information is greater than or equal to first preset angle information and less than or equal to second preset angle information, taking the angle information as a target zero position angle; replacing the initial null angle with the target null angle.
In an embodiment, the determining module 10 is further configured to determine whether the driving direction information is straight line state information; and if the driving direction information is straight line state information, executing the step of replacing the initial zero position angle with the target zero position angle.
In an embodiment, the calibration module 30 is further configured to set the target vehicle to perform straight-line driving in a calibration state with preset speed information, preset input torque information and preset duration information if the initial zero position angle is not in the calibration state, so as to obtain initial angle information of the target vehicle in the calibration state; and calibrating the initial zero position angle through the initial angle information.
In an embodiment, the obtaining module 20 is further configured to obtain status information of a currently failed lamp; and if the state information of the current fault lamp is in an off state, obtaining a calibration result of successful calibration.
For other embodiments or specific implementation methods of the control device for the vehicle driving direction according to the present invention, reference may be made to the above embodiments, and details are not repeated herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or the portions contributing to the prior art may be embodied in the form of software product, which is stored in an estimator readable storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a control device (such as a mobile phone, an estimator, a control device for vehicle driving direction, an air conditioner, or a control device for network vehicle driving direction) for intelligent vehicle driving direction to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. A method of controlling a traveling direction of a vehicle, characterized by comprising:
when a starting instruction of a target vehicle is received, judging whether an initial zero position angle is in a calibration state or not;
if the initial zero position angle is in a calibration state, acquiring current running state information of the target vehicle;
judging whether the current driving state information meets preset state information or not;
if the current running state information meets the preset state information, taking the angle information of the current running state information as a target zero position angle, and replacing the initial zero position angle with the target zero position angle;
the current driving state information includes: any one of vehicle speed information, input torque information, angle information, steering angular velocity information, duration, and traveling direction information;
if the current driving state information meets the preset state information, taking the angle information of the current driving state information as a target zero position angle, and replacing the initial zero position angle with the target zero position angle, wherein the method comprises the following steps:
if the vehicle speed information is greater than or equal to first preset speed information and less than or equal to second preset speed information, judging whether the input torque information is greater than or equal to first preset input torque information and less than or equal to second preset input torque information, wherein the first preset speed information is less than the second preset speed information;
if the input torque information is greater than or equal to first preset input torque information and less than or equal to second preset input torque information, judging whether the steering angular speed information is less than or equal to first preset steering angular speed information or not, wherein the first preset input torque information is less than the second preset input torque information;
if the steering angular velocity information is less than or equal to first preset steering angular velocity information, judging whether the duration time is greater than or equal to first preset duration time or not;
if the duration is longer than or equal to a first preset duration, taking the angle information of the current running state information as a target zero position angle, and replacing the initial zero position angle with the target zero position angle;
wherein, if the duration is greater than or equal to a first preset duration, taking the angle information of the current driving state information as a target zero position angle, and replacing the initial zero position angle with the target zero position angle, including:
if the duration is greater than or equal to a first preset duration, acquiring the initial zero position angle as an initial zero position angle corresponding to a calibration state;
judging whether the angle information of the current driving state information is greater than or equal to first preset angle information and less than or equal to second preset angle information, wherein the first preset angle information is a difference value between an initial zero position angle and a preset value, and the second preset angle information is a sum value between the initial zero position angle and the preset value;
if the angle information of the current driving state information is greater than or equal to first preset angle information and less than or equal to second preset angle information, taking the angle information as a target zero position angle;
replacing the initial null angle with the target null angle.
2. The method of controlling a direction of travel of a vehicle of claim 1, wherein, prior to replacing the initial null angle with the target null angle, further comprising:
judging whether the driving direction information is straight line state information or not;
and if the driving direction information is straight line state information, executing the step of replacing the initial zero position angle with the target zero position angle.
3. The method for controlling the traveling direction of a vehicle according to claim 1, wherein after determining whether the initial null angle is in the calibration state when receiving a start instruction of the target vehicle, the method further comprises:
if the initial zero angle is not in a calibration state, setting the target vehicle to perform linear driving in the calibration state of preset speed information, preset input torque information and preset duration information so as to obtain initial angle information of the target vehicle in the calibration state;
and calibrating the initial zero position angle through the initial angle information.
4. The method as claimed in claim 3, wherein after calibrating the initial null angle by the initial angle information, the method further comprises:
acquiring the state information of the current fault lamp;
and if the state information of the current fault lamp is in an off state, obtaining a calibration result of successful calibration.
5. A vehicle traveling direction control device, characterized by comprising:
the judging module is used for judging whether the initial zero angle is in a calibration state or not when a starting instruction of the target vehicle is received;
the acquisition module is used for acquiring current running state information of the target vehicle if the initial zero position angle is in a calibration state, wherein the current running state information comprises any one of vehicle speed information, input torque information, angle information, steering angle speed information, duration and running direction information;
the judging module is also used for judging whether the current running state information meets preset state information or not;
the calibration module is used for taking the angle information of the current running state information as a target zero position angle and replacing the initial zero position angle with the target zero position angle if the current running state information meets the preset state information;
the calibration module is further configured to determine whether the input torque information is greater than or equal to first preset input torque information and less than or equal to second preset input torque information if the vehicle speed information is greater than or equal to first preset speed information and less than or equal to second preset speed information, wherein the first preset speed information is less than the second preset speed information; if the input torque information is greater than or equal to first preset input torque information and less than or equal to second preset input torque information, judging whether the steering angular speed information is less than or equal to first preset steering angular speed information or not, wherein the first preset input torque information is less than the second preset input torque information; if the steering angular velocity information is less than or equal to first preset steering angular velocity information, judging whether the duration time is greater than or equal to first preset duration time or not; if the duration time is longer than or equal to a first preset duration time, taking the angle information of the current running state information as a target zero position angle, and replacing the initial zero position angle with the target zero position angle;
the calibration module is further configured to acquire the initial zero position angle as an initial zero position angle corresponding to a calibration state if the duration is greater than or equal to a first preset duration; judging whether the angle information of the current driving state information is greater than or equal to first preset angle information and less than or equal to second preset angle information, wherein the first preset angle information is a difference value between an initial zero position angle and a preset value, and the second preset angle information is a sum value between the initial zero position angle and the preset value; if the angle information of the current driving state information is greater than or equal to first preset angle information and less than or equal to second preset angle information, taking the angle information as a target zero position angle; replacing the initial null angle with the target null angle.
6. A control apparatus of a vehicle traveling direction, characterized by comprising: a memory, a processor and a control program of a vehicle traveling direction stored on the memory and executable on the processor, the control program of a vehicle traveling direction being configured with steps of implementing a control method of a vehicle traveling direction according to any one of claims 1 to 4.
7. A computer storage medium, characterized in that the computer storage medium has stored thereon a control program of a vehicle traveling direction, which when executed by a processor implements the steps of the control method of the vehicle traveling direction according to any one of claims 1 to 4.
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| US9505434B2 (en) * | 2011-04-19 | 2016-11-29 | Ford Global Technologies, Llc | Trailer backup assist system with normalized steering input device for different trailers |
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| CN107697154A (en) * | 2017-08-30 | 2018-02-16 | 宝沃汽车（中国）有限公司 | Steering angle correcting method, electronic power assist steering system and vehicle |
| CN108340966A (en) * | 2018-01-08 | 2018-07-31 | 联创汽车电子有限公司 | Position self-learning method in electric boosting steering system and its steering wheel angle |
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