CN112590917B - Steering power-assisted current determination method, device, equipment and medium - Google Patents
Steering power-assisted current determination method, device, equipment and medium Download PDFInfo
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- CN112590917B CN112590917B CN202011477131.0A CN202011477131A CN112590917B CN 112590917 B CN112590917 B CN 112590917B CN 202011477131 A CN202011477131 A CN 202011477131A CN 112590917 B CN112590917 B CN 112590917B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a method, a device, equipment and a medium for determining steering power-assisted current, wherein the method comprises the following steps: acquiring a power-assisted target current, an overheating protection current, a fault protection current and a soft dead point current; taking the minimum current of the boosting target current, the overheating protection current, the fault protection current and the soft dead center current as a first target current; receiving the steering wheel torque, and determining an assisted limiting current from an assisted current limiting curve according to the steering wheel torque; when the first target current is smaller than or equal to the power-assisted limiting current, taking the first target current as the power-assisted motor current to drive the power-assisted motor; and when the first target current is larger than the boosting limit current, reducing the first target current to a second target current, and using the second target current as the boosting motor current to drive the boosting motor, wherein the second target current is smaller than or equal to the boosting limit current. This application is avoided leading to the condition emergence that the steering wheel is out of control because of drive helping hand motor's electric current is great, avoids the potential safety hazard.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a steering power-assisted current determining method, device, equipment and medium.
Background
The modern automobile is equipped with an electric power steering system which is very popular, can make a driver operate and steer lightly, can timely and accurately execute a steering operation instruction, and can correctly feed back road surface information, so that the driver can timely master the driving state of the automobile so as to judge and make a proper steering operation instruction. However, in the prior art, when a vehicle fails, a power steering system may output a large current, and then a steering wheel is out of control, so that a safety hazard exists.
Disclosure of Invention
The embodiment of the application provides a method, a device, equipment and a medium for determining a steering power-assisted current, solves the technical problem that a steering wheel is easy to lose control and has potential safety hazards in the prior art, and achieves the technical effects of avoiding the steering wheel losing control and eliminating the potential safety hazards.
In a first aspect, the present application provides a steering assist current determination method, including:
acquiring a power-assisted target current, an overheating protection current, a fault protection current and a soft dead point current;
taking the minimum current of the boosting target current, the overheating protection current, the fault protection current and the soft dead center current as a first target current;
receiving the steering wheel torque, and determining an assisted limiting current from an assisted current limiting curve according to the steering wheel torque;
when the first target current is smaller than or equal to the power-assisted limiting current, taking the first target current as the power-assisted motor current to drive the power-assisted motor;
and when the first target current is larger than the boosting limit current, reducing the first target current to a second target current, and using the second target current as the boosting motor current to drive the boosting motor, wherein the second target current is smaller than or equal to the boosting limit current.
Further, the boost current limit curve is determined as follows:
acquiring corresponding limiting current of a target vehicle when a steering wheel is in different steering wheel torques;
and obtaining an assistance current limiting curve according to different steering wheel torques and corresponding limiting currents.
Further, acquiring a corresponding limiting current of the target vehicle when the steering wheel is in different steering wheel torques specifically comprises:
and acquiring a plurality of corresponding limiting currents of the target vehicle when the steering wheel is in different steering wheel torques under different vehicle speeds exceeding a preset vehicle speed.
Further, according to different steering wheel torques and corresponding limiting currents thereof, an assistance current limiting curve is obtained, which specifically comprises:
determining target limiting currents corresponding to the steering wheel at different steering wheel torques from a plurality of limiting currents corresponding to the target vehicle at different steering wheel torques according to the target dithering frequency of the steering wheel of the target vehicle;
and obtaining an assistance current limiting curve according to different steering wheel torques and corresponding target limiting currents.
Based on the same inventive concept, in a second aspect, the present application provides a steering assist current determination device, including:
the first acquisition module is used for acquiring a power-assisted target current, an overheating protection current, a fault protection current and a soft dead point current;
the comparison module is used for taking the minimum current in the power-assisted target current, the overheating protection current, the fault protection current and the soft dead center current as a first target current;
the first determining module is used for receiving the steering wheel torque and determining the power-assisted limiting current from the power-assisted current limiting curve according to the steering wheel torque;
the second determination module is used for taking the first target current as the current of the power-assisted motor to drive the power-assisted motor when the first target current is smaller than or equal to the power-assisted limiting current;
and the third determination module is used for pulling down the first target current to a second target current when the first target current is larger than the power-assisted limiting current, and taking the second target current as the power-assisted motor current to drive the power-assisted motor, wherein the second target current is smaller than or equal to the power-assisted limiting current.
Further, the apparatus further comprises:
the second acquisition module is used for acquiring corresponding limiting current of the target vehicle when the steering wheel is in different steering wheel torques;
and the drawing module is used for obtaining an assistance current limiting curve according to different steering wheel torques and corresponding limiting currents.
Further, the second obtaining module specifically includes:
the obtaining submodule is used for obtaining a plurality of limiting currents corresponding to the target vehicle when the steering wheel is in different steering wheel torques under different vehicle speeds exceeding a preset vehicle speed.
Further, the drawing module specifically includes:
the determining submodule is used for determining corresponding target limiting currents when the steering wheel is at different steering wheel torques from a plurality of corresponding limiting currents when the steering wheel of the target vehicle is at different steering wheel torques according to the target dithering frequency of the steering wheel of the target vehicle;
and the drawing submodule is used for obtaining an assistance current limiting curve according to different steering wheel torques and corresponding target limiting currents.
Based on the same inventive concept, in a third aspect, the present application provides an electronic device, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to perform a steering assist current determination method.
Based on the same inventive concept, in a fourth aspect, the present application provides a non-transitory computer-readable storage medium, wherein instructions, when executed by a processor of an electronic device, enable the electronic device to perform a steering assist current determination method.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
the method comprises the steps of obtaining a power-assisted target current, an overheating protection current, a fault protection current and a soft dead center current, and taking the minimum current value as a first target current; acquiring steering wheel torque, and determining an assistance limiting current from an assistance current limiting curve; comparing the first target current with the power-assisted limiting current, and if the first target current is less than or equal to the power-assisted limiting current, directly using the first target current as the power-assisted motor current to drive the power-assisted motor; and if the first target current is larger than the boosting limit current, pulling down the first target current to a current value smaller than or equal to the boosting limit current. This application is through helping hand current limit curve and steering wheel moment of torsion, confirms helping hand limiting current, and then avoids great because of drive helping hand motor's electric current, leads to the condition emergence that the steering wheel is out of control, avoids the potential safety hazard.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a flow chart of a steering assist current determination method provided herein;
FIG. 2 is a schematic diagram of a boost current limit curve provided herein;
fig. 3 is a schematic structural diagram of a steering assist current determination apparatus provided in the present application;
fig. 4 is a schematic structural diagram of an electronic device provided in the present application.
Detailed Description
The embodiment of the application provides a steering power-assisted current determination method, and solves the technical problem that a steering wheel is easy to lose control and has potential safety hazards in the prior art.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows:
a steering assist current determination method, the method comprising: acquiring a power-assisted target current, an overheating protection current, a fault protection current and a soft dead point current; taking the minimum current of the boosting target current, the overheating protection current, the fault protection current and the soft dead center current as a first target current; receiving the steering wheel torque, and determining an assisted limiting current from an assisted current limiting curve according to the steering wheel torque; when the first target current is smaller than or equal to the power-assisted limiting current, taking the first target current as the power-assisted motor current to drive the power-assisted motor; and when the first target current is larger than the boosting limit current, reducing the first target current to a second target current, and using the second target current as the boosting motor current to drive the boosting motor, wherein the second target current is smaller than or equal to the boosting limit current.
The method comprises the steps of obtaining a power-assisted target current, an overheating protection current, a fault protection current and a soft dead center current, and taking the minimum current value as a first target current; acquiring steering wheel torque, and determining an assistance limiting current from an assistance current limiting curve; comparing the first target current with the power-assisted limiting current, and if the first target current is less than or equal to the power-assisted limiting current, directly using the first target current as the power-assisted motor current to drive the power-assisted motor; and if the first target current is larger than the boosting limit current, pulling down the first target current to a current value smaller than or equal to the boosting limit current. This application is through helping hand current limit curve and steering wheel moment of torsion, confirms helping hand limiting current, and then avoids great because of drive helping hand motor's electric current, leads to the condition emergence that the steering wheel is out of control, avoids the potential safety hazard.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
First, it is stated that the term "and/or" appearing herein is merely one type of associative relationship that describes an associated object, meaning that three types of relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The application provides a steering power-assisted current determination method shown in fig. 1, which is applied to an electronic controller and comprises the following steps:
and step S11, acquiring the power-assisted target current, the overheating protection current, the fault protection current and the soft dead center current.
The power-assisted target current is obtained according to a basic power-assisted curve, and the basic power-assisted curve is a three-dimensional array curve family which is determined by the steering torque of a steering wheel and the vehicle speed signal. The basic power curve is used for achieving good steering performance of the automobile. The basic power-assisted curve characteristic is equivalent to the power-assisted current characteristic output by an Electronic Control Unit (ECU for short), so that the EPS power-assisted characteristic is calibrated, namely the ECU power-assisted current characteristic is calibrated.
The overheat protection current is the limiting current calculated according to an internal temperature sensor of the ECU and a corresponding algorithm, the temperature of the ECU is detected in real time, the temperature of the motor is indirectly measured and calculated, and the failure of the ECU and the motor caused by overhigh temperature is avoided.
The fault protection current is protection current for protecting each electrical component of the controller, and avoids component faults caused by overhigh current.
When the soft dead center current is the steering wheel rotates to the maximum steering angle (limit position), in order to reduce the impact generated when the tail end of the rack in the steering mechanism impacts the limiting device of the mechanism, the power-assisted current is reduced to reduce the impact of collision.
In step S12, the minimum current among the assist target current, the overheat protection current, the fault protection current, and the soft-dead-center current is set as the first target current.
In order to ensure the normal operation of each component of the vehicle, it is necessary to satisfy the restriction requirements of the assist target current, the overheat protection current, the fault protection current, and the soft dead point current, and therefore, it is necessary to select a minimum current from the assist target current, the overheat protection current, the fault protection current, and the soft dead point current as the first target current.
In the related art, after the first target current is determined, the assist motor is directly driven by the first target current to achieve the purpose of assisting the steering wheel. However, when one or more components on the vehicle are in failure, the first target current may be too large, so that the assisting motor is too hard to assist, and accidents are easily caused. For example, when the vehicle runs at 100km/h, the power-assisted motor receives a large current, so that the power of the motor is too large, and the vehicle is likely to roll over.
In order to solve this problem, after the first target current is determined, step S13 is further executed to further determine whether the first target current is reasonable.
In step S13, a steering wheel torque is received and an assist limit current is determined from an assist current limit curve based on the steering wheel torque.
The steering of the steering wheel is related to the torque of the steering wheel, when the torque of the steering wheel is smaller, the corresponding boosting current should be smaller, and when the torque of the steering wheel is larger, the corresponding boosting current should be larger, so that the weight of the steering wheel is reduced, and the hand feeling of the steering wheel is improved. Therefore, the method and the device receive the steering wheel torque, and determine the boosting limiting current corresponding to the steering wheel torque according to the steering wheel torque and the boosting current limiting curve.
The assistance current limit curve indicates a correspondence between the steering wheel torque and the assistance limit current, and is determined as follows:
and step S21, acquiring corresponding limiting currents of the target vehicle when the steering wheel is at different steering wheel torques.
The power-assisted current limit curve is obtained by carrying out real vehicle calibration. Determining a vehicle needing to be calibrated as a target vehicle, applying different steering wheel torques to a steering wheel of the target vehicle, measuring corresponding limiting currents under the different steering wheel torques, obtaining a corresponding relation between the steering wheel torques and the limiting currents, and further executing step S22.
And step S22, obtaining an assistance current limiting curve according to different steering wheel torques and corresponding limiting currents.
The steering wheel torque and the limiting current are both directional, and corresponding power-assisted current limiting curves can be drawn according to different steering wheel torques and corresponding limiting currents. The maximum limiting current in the power-assisted current limiting curve is smaller than the rated output current of the power-assisted motor.
Further, since the torque value of the steering wheel and the vehicle speed of the target vehicle are also closely related, it is necessary to determine the correspondence relationship between the steering wheel torque and the limit current in consideration of the vehicle speed of the target vehicle. The reason why the torque value of the steering wheel is closely related to the vehicle speed of the target vehicle is that: when the target vehicle is in place, in order to reduce the weight of the steering wheel and improve the hand feeling of the steering wheel, the corresponding boosting current can be very high so as to increase the boosting force, and further, the steering wheel of the vehicle which is parked in place can be easily rotated. When the boosting current is constant, the higher the speed of the target vehicle is, the smaller the weight of the steering wheel is, and the more obvious the boosting degree is, although the steering wheel of the vehicle is light at this time, the higher the speed is, the higher the degree of easy turning of the steering wheel is, and if the speed of the vehicle is 120km/h, the vehicle is easy to overturn. Therefore, the current limit in the assist limit curve should take into account the corresponding situation at each vehicle speed, and therefore, step S21 may be:
and acquiring a plurality of corresponding limiting currents of the target vehicle when the steering wheel is in different steering wheel torques under different vehicle speeds exceeding a preset vehicle speed.
Since the sensitivity of the target vehicle to the assist current is higher as the vehicle speed is higher, the present application mainly considers the correspondence relationship between the steering wheel torque and the limit current of the target vehicle at a high vehicle speed.
That is, in the specific calibration, for one steering wheel torque, a plurality of limiting currents corresponding to different vehicle speeds exceeding a preset vehicle speed of the target vehicle need to be acquired. I.e., one steering wheel torque corresponds to a plurality of vehicle speeds and a plurality of limiting currents (where "plurality" is an imaginary number and does not represent that the vehicle speeds and limiting currents are equal in number), one vehicle speed may correspond to a plurality of limiting currents. Similarly, for each steering wheel torque, a plurality of limiting currents corresponding to the target vehicle at different vehicle speeds exceeding the preset vehicle speed are correspondingly obtained.
To determine the target limiting current from the plurality of limiting currents, step S22 may also be:
and determining the target limiting current corresponding to the steering wheel at different steering wheel torques from a plurality of limiting currents corresponding to the target vehicle when the steering wheel is at different steering wheel torques according to the target jitter frequency of the steering wheel of the target vehicle. And obtaining an assistance current limiting curve according to different steering wheel torques and corresponding target limiting currents.
For one steering wheel torque, a plurality of vehicle speeds and a plurality of limiting currents are corresponded, and one vehicle speed also corresponds to a plurality of limiting currents. The hand feel of the corresponding plurality of limiting currents applied to the steering wheel is different for the same steering wheel torque and the same vehicle speed. Some of the limiting current is applied to the steering wheel and the steering wheel is not dithered, while some of the limiting current is applied to the steering wheel and the steering wheel is dithered. Also, the weight of the steering wheel varies with the amount of current limited. In order to determine the appropriate limiting current, the target dithering frequency of the steering wheel may be monitored, and when the dithering frequency of the steering wheel corresponding to the limiting current exceeds the target dithering frequency of the steering wheel, the limiting current is considered to be inappropriate, which may reduce the hand feel of the steering wheel. When the steering wheel shake frequency corresponding to the limiting current is less than the target steering wheel shake frequency, the steering wheel is not the lightest at this time although the degree of steering wheel shake is reduced. Therefore, the selected target limiting current can enable the limiting current corresponding to the target shaking frequency of the steering wheel, so that shaking of the steering wheel is avoided, the limiting current can be improved as much as possible, the weight of the steering wheel is lightened, and the hand feeling of the steering wheel is improved.
After executing step S13, execution continues with step S14 or step S15.
In step S14, when the first target current is equal to or less than the assist limit current, the assist motor is driven with the first target current as the assist motor current.
When the first target current is smaller than the power-assisted limiting current, the first target current not only meets the current vehicle requirement, but also cannot cause the steering wheel to shake, and therefore the first target current can be directly used as the power-assisted motor current to drive the power-assisted motor.
And step S15, when the first target current is larger than the boosting limit current, the first target current is reduced to a second target current, and the second target current is used as the boosting motor current to drive the boosting motor, wherein the second target current is smaller than or equal to the boosting limit current.
When the first target current is larger than the assist limit current, if the first target current is directly used as the assist motor current, the steering wheel may shake, and a rollover accident may be easily caused during high-speed driving. Therefore, when the first target current is larger than the assist limit current, the first target current is directly decreased to be equal to or smaller than the assist limit current, and a certain current value (referred to as a second target current) smaller than the assist limit current is set as the assist motor current. Preferably, the assist limiting current is directly used as the assist motor current to drive the assist motor.
The method comprises the steps of obtaining a power-assisted target current, an overheating protection current, a fault protection current and a soft dead center current, and taking the minimum current value as a first target current; acquiring steering wheel torque, and determining an assistance limiting current from an assistance current limiting curve; comparing the first target current with the power-assisted limiting current, and if the first target current is less than or equal to the power-assisted limiting current, directly using the first target current as the power-assisted motor current to drive the power-assisted motor; and if the first target current is larger than the boosting limit current, pulling down the first target current to a current value smaller than or equal to the boosting limit current. This application is through helping hand current limit curve and steering wheel moment of torsion, confirms helping hand limiting current, and then avoids great because of drive helping hand motor's electric current, leads to the condition emergence that the steering wheel is out of control, avoids the potential safety hazard.
The calibrated power-assisted current limiting curve considers the relation between the vehicle speed and the steering wheel torque of the vehicle, improves the limiting current as much as possible under the preset condition of meeting the shaking state of the steering wheel, improves the hand feeling of the steering wheel and lightens the weight of the steering wheel.
An example is now provided for the following description:
as shown in fig. 2, the ABC section is a current corresponding to the power motor in the low torque section, the CD section is a power current corresponding to the middle torque section, and the DE section is a current corresponding to the high torque section. The BC section has two different line segments, which are respectively marked as a BC upper section and a BC lower section. The lower BC section is the boost current obtained in the prior art, and the upper BC section is the boost current obtained in the present application. When the steering wheel torque is 0-b nm, the current corresponding to the lower segment BC is low, and when the steering wheel torque has out-of-control current, the current value corresponding to the lower segment BC is easily exceeded, so that the steering wheel shakes. The method and the device determine the relation between the vehicle speed and the steering wheel torque of the vehicle, improve the limiting current as much as possible under the preset condition that the shaking state of the steering wheel is met, obtain the current value corresponding to the BC upper section, and when the steering wheel torque is 0-b nm, because the current corresponding to the BC upper section is high, when out-of-control current appears in the steering wheel torque, the current value corresponding to the BC lower section is not easy to exceed, and further shaking of the steering wheel is avoided.
An application scenario is now provided (in connection with the arrows in fig. 2):
when the driver drives from the center or any position of the steering wheel (the driver drives to the right with a positive value from the center of the steering wheel, which corresponds to the arrow pointing to the right from point 0 in fig. 2), when the driver is disturbed by a unidirectional steering torque (i.e., when a faulty component sends a higher boost current, which causes the steering wheel to have a tendency to continue to turn to the right), the driver will correct the steering wheel in the opposite direction by grasping the steering wheel (which corresponds to the arrow pointing to point 0 from the right of 3 nm). The process of the change of the torque of the steering wheel at the moment is as follows: changing from 0 to maximum positive value, then at the commutation point, quickly reducing from positive value to 0 value, and then correcting to negative value. When steps S21 to S22 are executed, if the steering wheel can be kept stable during the change of the steering wheel torque, or the vehicle is maintained in a straight line or an expected trajectory, it is considered that the boost current values corresponding to the ABCDE sections in the figure are reasonably controllable, and the maximum boundary value of the limiting current is searched in consideration of the relationship between the vehicle speed and the steering wheel torque, and in consideration of the preset condition that the jitter state of the steering wheel is satisfied, if the limiting current is increased as much as possible.
Based on the same inventive concept, the present application provides a steering assist current determination apparatus as shown in fig. 3, the apparatus including:
the first obtaining module 31 is configured to obtain a power-assisted target current, an overheat protection current, a fault protection current, and a soft dead point current;
a comparison module 32, configured to use a minimum current of the power-assisted target current, the overheat protection current, the fault protection current, and the soft-dead-point current as a first target current;
a first determining module 33, configured to receive the steering wheel torque and determine an assist limiting current from an assist current limiting curve according to the steering wheel torque;
a second determination module 34, configured to use the first target current as the assist motor current to drive the assist motor when the first target current is less than or equal to the assist limit current;
and a third determining module 35, configured to pull down the first target current to a second target current when the first target current is greater than the assist limit current, and use the second target current as an assist motor current to drive the assist motor, where the second target current is less than or equal to the assist limit current.
Further, the apparatus further comprises:
the second acquisition module is used for acquiring corresponding limiting current of the target vehicle when the steering wheel is in different steering wheel torques;
and the drawing module is used for obtaining an assistance current limiting curve according to different steering wheel torques and corresponding limiting currents.
Further, the second obtaining module specifically includes:
the obtaining submodule is used for obtaining a plurality of limiting currents corresponding to the target vehicle when the steering wheel is in different steering wheel torques under different vehicle speeds exceeding a preset vehicle speed.
Further, the drawing module specifically includes:
the determining submodule is used for determining corresponding target limiting currents when the steering wheel is at different steering wheel torques from a plurality of corresponding limiting currents when the steering wheel of the target vehicle is at different steering wheel torques according to the target dithering frequency of the steering wheel of the target vehicle;
and the drawing submodule is used for obtaining an assistance current limiting curve according to different steering wheel torques and corresponding target limiting currents.
Based on the same inventive concept, the present application provides an electronic device as shown in fig. 4, including:
a processor 41;
a memory 42 for storing instructions executable by the processor 41;
wherein the processor 41 is configured to execute a steering assist current determination method.
Based on the same inventive concept, the present application provides a non-transitory computer-readable storage medium, in which instructions, when executed by a processor 41 of an electronic device, enable the electronic device to perform a steering assist current determination method.
Since the electronic device described in this embodiment is an electronic device used for implementing the method for processing information in this embodiment, a person skilled in the art can understand the specific implementation manner of the electronic device of this embodiment and various variations thereof based on the method for processing information described in this embodiment, and therefore, how to implement the method in this embodiment by the electronic device is not described in detail here. Electronic devices used by those skilled in the art to implement the method for processing information in the embodiments of the present application are all within the scope of the present application.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A steering assist current determination method, characterized by comprising:
acquiring a power-assisted target current, an overheating protection current, a fault protection current and a soft dead point current;
taking a minimum current of the power-assisted target current, the overheat protection current, the fault protection current and the soft-dead-center current as a first target current;
receiving a steering wheel torque, and determining an assisted limiting current from an assisted current limiting curve according to the steering wheel torque; the power-assisted current limit curve represents a corresponding relationship between steering wheel torque and power-assisted limit current;
when the first target current is smaller than or equal to the power-assisted limiting current, taking the first target current as a power-assisted motor current to drive a power-assisted motor;
when the first target current is larger than the boosting limit current, the first target current is pulled down to a second target current, and the second target current is used as a boosting motor current to drive the boosting motor, wherein the second target current is smaller than or equal to the boosting limit current.
2. The method of claim 1, wherein the boost current limit curve is obtained as follows:
acquiring corresponding limiting current of a target vehicle when a steering wheel is in different steering wheel torques;
and obtaining the power-assisted current limiting curve according to the different steering wheel torques and the corresponding limiting currents.
3. The method according to claim 2, wherein the obtaining of the corresponding limiting current of the target vehicle when the steering wheel is at different steering wheel torques specifically comprises:
and acquiring a plurality of corresponding limiting currents of the target vehicle when the steering wheel is in different steering wheel torques under different vehicle speeds exceeding a preset vehicle speed.
4. A method according to claim 3, wherein said deriving said boost current limit curve from said different steering wheel torques and their corresponding limit currents comprises:
according to the target jitter frequency of the steering wheel of the target vehicle, determining the corresponding target limiting current of the steering wheel at different steering wheel torques from a plurality of corresponding limiting currents of the target vehicle when the steering wheel is at different steering wheel torques;
and obtaining the power-assisted current limit curve according to the different steering wheel torques and the corresponding target limit currents.
5. A steering assist current determination apparatus, characterized in that the apparatus comprises:
the first acquisition module is used for acquiring a power-assisted target current, an overheating protection current, a fault protection current and a soft dead point current;
a comparison module, configured to use a minimum current of the power-assisted target current, the overheat protection current, the fault protection current, and the soft-dead-point current as a first target current;
the device comprises a first determination module, a second determination module and a control module, wherein the first determination module is used for receiving steering wheel torque and determining an assistance limiting current from an assistance current limiting curve according to the steering wheel torque; the power-assisted current limit curve represents a corresponding relationship between steering wheel torque and power-assisted limit current;
a second determination module, configured to use the first target current as a power-assisted motor current to drive a power-assisted motor when the first target current is less than or equal to the power-assisted limit current;
and the third determination module is used for pulling down the first target current to a second target current when the first target current is larger than the power-assisted limiting current, and taking the second target current as the power-assisted motor current to drive the power-assisted motor, wherein the second target current is smaller than or equal to the power-assisted limiting current.
6. The apparatus of claim 5, wherein the apparatus further comprises:
the second acquisition module is used for acquiring corresponding limiting current of the target vehicle when the steering wheel is in different steering wheel torques;
and the drawing module is used for obtaining the power-assisted current limit curve according to the different steering wheel torques and the corresponding limit currents.
7. The apparatus of claim 6, wherein the second obtaining module specifically comprises:
the obtaining submodule is used for obtaining a plurality of limiting currents corresponding to the target vehicle when the steering wheel is in different steering wheel torques under different vehicle speeds exceeding a preset vehicle speed.
8. The apparatus of claim 7, wherein the rendering module specifically comprises:
the determining submodule is used for determining target limiting currents corresponding to different steering wheel torques from a plurality of limiting currents corresponding to the target vehicle when the steering wheel is at different steering wheel torques according to the target dithering frequency of the steering wheel of the target vehicle;
and the drawing submodule is used for obtaining the power-assisted current limit curve according to the different steering wheel torques and the corresponding target limit currents.
9. An electronic device, comprising:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute to implement a steering assist current determination method as claimed in any one of claims 1 to 4.
10. A non-transitory computer readable storage medium having instructions that, when executed by a processor of an electronic device, enable the electronic device to perform implementing a steering assist current determination method as claimed in any one of claims 1 to 4.
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| FR2851541B1 (en) * | 2003-02-20 | 2006-01-27 | Soc Mecanique Irigny | METHOD FOR MANAGING THE THERMAL PROTECTION OF THE MOTOR OF AN ELECTRIC POWER STEERING OF A MOTOR VEHICLE |
| CN103863385A (en) * | 2012-12-17 | 2014-06-18 | 联创汽车电子有限公司 | Rack end protection method of electric power steering system |
| US10173719B2 (en) * | 2014-12-25 | 2019-01-08 | Nsk Ltd. | Electric power steering apparatus |
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| CN109552404B (en) * | 2018-11-28 | 2021-03-16 | 安徽德孚转向系统股份有限公司 | Control method of P-EPS (expandable polystyrene) power-assisted current |
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