CN112660236A - Vehicle steering control method and device and vehicle steering system - Google Patents
Vehicle steering control method and device and vehicle steering system Download PDFInfo
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- CN112660236A CN112660236A CN202011593467.3A CN202011593467A CN112660236A CN 112660236 A CN112660236 A CN 112660236A CN 202011593467 A CN202011593467 A CN 202011593467A CN 112660236 A CN112660236 A CN 112660236A
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Abstract
The invention discloses a vehicle steering control method, a vehicle steering control device and a vehicle steering system, wherein the vehicle steering control method comprises the following steps: acquiring a first torque Tt1 of a steering control spindle of the vehicle, comparing the first torque Tt1 with a first torque threshold T1; when Tt1 is larger than or equal to T1, the vehicle is judged to have an interference external force, the connection between the steering wheel and the steering control main shaft of the vehicle is disconnected, the interference turning angle alpha of the steering wheel is obtained, the electric booster of the vehicle is controlled to be turned off, and the electric booster is controlled to be turned on after the set time T, so that the position of a steering gear of the vehicle is corrected; and judging whether the active driving recovery condition is met, and if so, establishing connection between the steering wheel and the steering control main shaft. The invention can resolve the counterforce generated by the interference external force, effectively protect the hands of the driver, protect each part of the steering system and avoid the part from being damaged by the impact of the external force; the steering wheel position and the steering gear position can be quickly and effectively corrected, and the steering wheel is prevented from deviating.
Description
Technical Field
The application belongs to the technical field of vehicle driving steering control, and particularly relates to a vehicle steering control method and device and a vehicle steering system.
Background
An Electric Power Steering (EPS) is a Power Steering system that directly relies on a motor to provide an auxiliary torque, and mainly comprises a Steering sensor, an electronic control unit, a motor, a reducer, a mechanical Steering gear, and the like. The automobile can easily realize the variable power-assisted function under the control of the electronic control unit, namely, the power-assisted energy is large and the steering wheel is light when the automobile speed is low; when the vehicle speed is high, the boosting energy is small, and the steering wheel is heavy. Compared with the traditional Hydraulic Power Steering (HPS), the EPS system saves parts such as a Power Steering oil pump, a hose, Hydraulic oil, a transmission belt, a belt pulley arranged on an engine and the like which are necessary for the HPS system, thereby saving energy and protecting the environment. In addition, the EPS system also has the characteristics of simple adjustment, flexible assembly and capability of providing steering power under various conditions, so that the EPS system is widely applied.
When an existing vehicle provided with an EPS is used, the phenomenon of 'hitting hands' of a steering wheel is often encountered, for example, when the vehicle runs on a bumpy road, a large-pit road or a car accident collision relates to a steering system, the steering wheel rapidly rotates due to strong reverse acting force, so that the two hands of a driver are injured, the driver takes off the hands and loses control over the steering wheel, traffic accidents are caused, the vehicle is scratched and rubbed if the situation is light, and the vehicle is damaged and people are killed if the situation is heavy.
Therefore, how to improve the safety of the electric power steering system becomes a technical problem which needs to be solved urgently in the field.
Disclosure of Invention
In order to solve the technical problems, the invention provides a vehicle steering control method, a vehicle steering control device and a vehicle steering system, which improve the safety of an electric power steering system.
The technical scheme adopted for achieving the aim of the invention is that the vehicle steering control method comprises the following steps:
acquiring a first torque Tt1 of a steering control spindle of a vehicle, comparing said first torque Tt1 with a first torque threshold T1;
when Tt1 is larger than or equal to T1, the vehicle is judged to have an interference external force, the connection between the steering wheel of the vehicle and the steering control main shaft is disconnected, the interference rotation angle alpha of the steering wheel is obtained, the electric booster of the vehicle is controlled to be turned off, and the electric booster is controlled to be turned on after a set time T, so that the position of a steering gear of the vehicle is corrected;
judging whether an active driving recovery condition is met, wherein the active driving recovery condition comprises the following steps: condition a) the disturbing external force is absent; condition b) the steering gear of the vehicle is corrected to a position matching the disturbance turning angle α;
and if the condition a) and the condition b) are simultaneously met, judging that an active driving recovery condition is met, and establishing connection between the steering wheel and the steering control main shaft.
Further, the controlling the electric booster to be turned on to correct the position of the steering gear of the vehicle specifically includes:
and controlling the electric booster to be started so that the electric booster drives the steering control main shaft to rotate, and a steering gear of the steering control main shaft drives a rack of the steering gear meshed with the steering gear to move so as to correct the position of the steering gear of the vehicle.
Further, judging whether the condition b) is satisfied specifically includes:
acquiring a relative position S of the rack and the steering gear;
comparing the relative position S with a current working condition theoretical relative position Ss, wherein the current working condition theoretical relative position Ss is S1+ S alpha, and the relative position S is: the S1 is a disconnection initial position of the rack and the steering gear when the connection between the steering wheel and the steering control main shaft of the vehicle is disconnected; the S alpha is the relative position of the rack and the steering gear when the steering wheel rotates the interference rotation angle alpha under the normal working condition;
and if the relative position S is consistent with the theoretical relative position Ss of the current working condition, judging that the condition b) is met.
Further, judging whether the condition a) is satisfied specifically includes:
acquiring a second torque Tt2 of the steering control main shaft; comparing the second torque Tt2 to a second torque threshold T2, wherein the second torque threshold T2 is less than the first torque threshold T1; if Tt2 ≦ T2, it is determined that the condition a) is satisfied;
or acquiring the moving speed v of the rack of the steering gear; comparing the moving speed v with a set moving threshold value vs; and if v is less than or equal to vs, judging that the condition a) is met.
Further, the set time t is not more than 1 second.
Based on the same inventive concept, the invention also correspondingly provides a vehicle steering system, which is used for implementing the vehicle steering control method; the vehicle steering system includes steering wheel, buffer assembly steering control main shaft electric motor-assisted machine steering ware, controller, torque sensor and position detection sensor, wherein: the steering wheel, the buffer assembly, the steering control main shaft and the steering gear are sequentially connected to transmit torque;
the buffer assembly is used for disconnecting/establishing connection between the steering wheel and the steering control main shaft, and comprises a first engaging member, a second engaging member and a driving device, wherein the first engaging member is connected with the steering wheel, the second engaging member is connected with the steering control main shaft, and the first engaging member and/or the second engaging member are/is connected with the driving device so that the first engaging member is connected with the second engaging member for transmitting torque or disconnecting; the electric booster is connected with the second meshing component and/or the steering control main shaft;
the torque sensor is mounted on a shaft section connecting the first engagement member and the steering wheel, the torque sensor being configured to detect the first torque Tt1 and/or the disturbance rotation angle α;
the position detection sensor is mounted on the steering gear and used for detecting the position of the steering gear; the controller is electrically connected with the driving device, the electric booster, the torque sensor and the position detection sensor respectively.
Optionally, the buffer assembly is an electromagnetic clutch; or the buffer assembly comprises an upper gear, a lower gear and an electric telescopic mechanism, the upper gear forms the first meshing member, the lower gear forms the second meshing member, and the electric telescopic mechanism forms the driving device.
Based on the same inventive concept, the invention also correspondingly provides a vehicle steering control device, which is used for implementing the vehicle steering control method; the vehicle steering control device includes:
an obtaining module, configured to obtain a first torque Tt1 of a steering control main shaft of a vehicle; and/or the obtaining module is used for obtaining the interference rotation angle alpha of the steering wheel;
a comparison module for comparing the first torque Tt1 with a first torque threshold T1;
the judgment module is used for judging whether an active driving recovery condition is met, and the active driving recovery condition comprises the following steps: condition a) the disturbing external force is absent; condition b) the steering gear of the vehicle is corrected to a position matching the disturbing corner;
the control module is used for judging that the vehicle has an external interference force and disconnecting the steering wheel of the vehicle from the steering control main shaft when the Tt1 is larger than or equal to the T1; controlling an electric booster of a vehicle to be turned off, and controlling the electric booster to be turned on after a set time t so as to correct the position of a steering gear of the vehicle;
the control module is further configured to determine that an active driving recovery condition is met when the condition a) and the condition b) are met simultaneously, and establish connection between the steering wheel and the steering control main shaft.
Based on the same inventive concept, the invention also correspondingly provides computer equipment, which comprises a memory and a processor connected with the memory, wherein the memory is stored with a computer program, and the processor is used for reading the computer program from the memory so as to execute the vehicle steering control method.
Based on the same inventive concept, the present invention also correspondingly provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the above-described vehicle steering control method.
In view of the above, the present invention provides a vehicle steering control method, which continuously obtains the first torque Tt1 of the steering control main shaft of the vehicle during the running of the vehicle, compares the first torque Tt1 with the first torque threshold T1, where the first torque threshold T1 is the torque harmful to the driver generated by the vehicle under the impact condition, and the first torque threshold T1 is larger than the working torque range of the vehicle during the normal running. When Tt1 is not less than T1, it is determined that the vehicle has an external disturbance force that causes torque harmful to the driver, reflecting the possibility that the vehicle may travel on a bumpy road, a large road pit, or a traffic accident collision. At this time, the connection between the steering wheel of the vehicle and the steering control main shaft is disconnected, and harmful torque is prevented from being transmitted to the steering wheel, so that the hands of a driver are protected. And acquiring an interference rotating angle alpha of the steering wheel, wherein the interference rotating angle alpha is generated by transmitting interference torque generated by interference external force to the steering wheel before the driver actively operates and connects the steering wheel, and the rotating angle is used for guiding the subsequent recovery of the driver to actively operate and connect the steering wheel. When the connection between a steering wheel and a steering control main shaft of a vehicle is disconnected, an electric booster of the vehicle is controlled to be turned off, the electric booster of the vehicle is controlled to be turned on after a set time t, and after the electric booster is turned off, the torsion resistance of a lower structure of a steering system can be improved, large-amplitude steering generated by interference external force is limited, and therefore the lower structure of the steering system is protected. Because the external interference force generated by bumpy and large-pit roads is often instantaneous impact, after the electric booster is closed for a set time t to resist large-amplitude steering, the electric booster is controlled to be opened, the EPS takes over the vehicle, and the position of a steering gear of the vehicle is corrected. In the process of correcting the position of the vehicle steering gear, whether an active driving recovery condition is met is judged, wherein the active driving recovery condition comprises the following steps: condition a) no disturbing external forces are present; condition b) the steering gear of the vehicle is corrected to a position matching the disturbing corner. And if the condition a) and the condition b) are simultaneously met, judging that an active driving recovery condition is met, and establishing the connection between the steering wheel and the steering control main shaft. The condition b) can ensure that the position of the steering gear is matched with the current torsion state of the steering wheel when the active driving (the driver controls the vehicle) is recovered, the precision of the driving control is ensured, and the steering wheel is prevented from deviating.
The vehicle steering system provided by the invention is used for implementing the vehicle steering control method, and particularly, a torque sensor is arranged on a shaft section connecting a first meshing member and a steering wheel and is used for detecting a first torque Tt1 and/or a disturbance rotating angle alpha; a position detection sensor is arranged on the steering gear and used for detecting the relative position of a rack and a gear in the steering gear, so that the specific operation condition generated when the lower structure of the steering system is influenced by the action of an interference external force can be obtained. Through the dark buffer assembly between steering wheel and steering control main shaft, buffer assembly can break off/establish the connection between steering wheel and the steering control main shaft, protects driver's both hands.
Compared with the prior art, the invention has the following advantages:
1. when the automobile runs on a large bumpy road surface or the wheels of the automobile are collided, the reaction force generated by the interference external force can be eliminated by using the invention when the steering system is involved and the avoidance is unavailable, and the two hands of the driver can be effectively protected.
2. The vehicle steering system is provided with the buffer assembly as a buffer area, so that each part of the steering system can be effectively protected, and the part is prevented from being damaged by external force impact.
3. The vehicle steering control method provided by the invention can quickly and effectively make the position of the steering wheel and the position of the steering gear return to the right, and prevent the steering wheel from deviating.
Drawings
Fig. 1 is a flowchart of a vehicle steering control method in embodiment 1 of the invention;
fig. 2 is a schematic structural diagram of a vehicle steering system in embodiment 2 of the present invention;
fig. 3 is a schematic diagram of the operation of the buffer assembly in embodiment 2 of the present invention.
Description of reference numerals: 100-a vehicle steering system; 1-a steering wheel; 2-a damping assembly, 21-a first engagement member, 22-a second engagement member, 23-a drive device; 3-steering control main shaft; 4-electric booster, 41-electric booster shaft; 5-a diverter; 6-a controller; 7-a torque sensor; 8-position detection sensor.
Detailed Description
In order to make the present application more clearly understood by those skilled in the art to which the present application pertains, the following detailed description of the present application is made with reference to the accompanying drawings by way of specific embodiments.
In order to improve the safety of the electric power steering system in the prior art, the invention provides a vehicle steering control method, a vehicle steering control device and a vehicle steering system, and the basic inventive concept is as follows:
a vehicle steering control method obtains a first torque Tt1 of a steering control main shaft of a vehicle, compares the first torque Tt1 with a first torque threshold T1; when Tt1 is larger than or equal to T1, the vehicle is judged to have an interference external force, the connection between the steering wheel and the steering control main shaft of the vehicle is disconnected, the interference rotation angle alpha of the steering wheel is obtained, the electric booster of the vehicle is controlled to be turned off, and the electric booster is controlled to be turned on after the set time T, so that the position of a steering gear of the vehicle is corrected; judging whether an active driving recovery condition is met, wherein the active driving recovery condition comprises the following steps: condition a) no disturbing external forces are present; condition b) the steering gear of the vehicle is corrected to a position matching the disturbance turning angle α; and if the condition a) and the condition b) are simultaneously met, judging that the active driving recovery condition is met, and establishing the connection between the steering wheel and the steering control main shaft.
According to the invention, when Tt1 is not less than T1, the vehicle is judged to have an interference external force, and at the moment, the connection between the steering wheel and the steering control main shaft of the vehicle is disconnected, so that harmful torque is prevented from being transmitted to the steering wheel, and thus, the hands of a driver are protected. When the connection between a steering wheel and a steering control main shaft of a vehicle is disconnected, an electric booster of the vehicle is controlled to be closed for a set time t, and after the electric booster is closed, the torsion resistance of a lower structure of a steering system can be improved, and large-amplitude steering generated by interference external force is limited, so that the lower structure of the steering system is protected. The active driving recovery conditions are set as follows: condition a) no disturbing external forces are present; condition b) the steering gear of the vehicle is corrected to a position matching the disturbing corner; and when the condition a) and the condition b) are simultaneously met, judging that the active driving recovery condition is met, and establishing the connection between the steering wheel and the steering control main shaft. The position of the steering gear can be matched with the current torsion state of the steering wheel when the active driving (the driver controls the vehicle) is recovered, the precision of driving control is ensured, and the steering wheel is prevented from deviating.
The invention can protect both hands of the driver, protect the lower structure of the steering system, ensure the precision of driving control and prevent the steering wheel from deviating. The safety of the electric power steering system in the prior art is improved in many ways.
The technical scheme of the invention is described in detail by combining the specific embodiments as follows:
example 1:
an embodiment of the present invention provides a vehicle steering control method, which is applied to a vehicle having an electric power steering system (hereinafter abbreviated as EPS) to assist a steering force of the vehicle by a power of an electric booster or the like. The EPS drives a power unit such as an electric booster so that a steering control main shaft obtains a steering assist force corresponding to a steering force that has been applied to a steering wheel by a driver, thereby assisting the driver in performing a steering operation.
Referring to fig. 1, the vehicle steering control method specifically includes the steps of:
(1) a first torque Tt1 of a steering control main shaft of a vehicle is obtained, and the first torque Tt1 is an actual torque of the steering control main shaft at the current moment.
The steering control main shaft is a control main shaft of a vehicle steering system, and the steering wheel and the EPS are both connected with the steering control main shaft, so that steering control torque is transmitted through the steering control main shaft. Specifically, in the present embodiment, a torque sensor is mounted on the steering main shaft, and a vehicle ECU (electronic control unit, also referred to as an "onboard computer") acquires a first torque Tt1 of the steering main shaft through the torque sensor.
(2) The first torque Tt1 is compared with a first torque threshold T1. The first torque threshold T1 is a torque that is harmful to the driver and that may be generated by the vehicle under impact conditions (in the presence of disturbing external forces), and the first torque threshold T1 is greater than the operating torque range during normal driving of the vehicle.
(3) When Tt1 is larger than or equal to T1, the vehicle is judged to have the interference external force, the connection between the steering wheel and the steering control main shaft of the vehicle is disconnected, the interference rotation angle alpha of the steering wheel is obtained, and the electric booster of the vehicle is controlled to be closed for the set time T.
When the automobile meets an impact working condition, for example, the automobile may run on a bumpy road, a large-pit road, or a traffic accident collision, the steering tie rod is subjected to external force to displace and drive the main shaft to rotate, so that the steering system generates strong reverse acting force, the torque of the steering control main shaft is increased sharply, and the torque sensor detects the reverse force, namely Tt1 is larger than or equal to T1. That is, when Tt1 ≧ T1, it can be determined that the vehicle has an interfering external force that can affect normal driving.
Under the impact working condition, the steering wheel can be rapidly twisted in the moment due to the influence of interference external force, and the phenomenon of 'beating hands' of the steering wheel is caused. At this time, the connection between the steering wheel of the vehicle and the steering control main shaft is disconnected, and harmful torque is prevented from being transmitted to the steering wheel, so that the hands of a driver are protected.
And acquiring an interference rotating angle alpha of the steering wheel, wherein the interference rotating angle alpha is generated by transmitting interference torque generated by interference external force to the steering wheel before the driver actively operates and connects the steering wheel, and the rotating angle is used for guiding the subsequent recovery of the driver to actively operate and connect the steering wheel. The disturbance rotation angle alpha can be obtained simultaneously through the torque sensor, or the disturbance rotation angle alpha of the steering wheel can be detected through an additional angle sensor.
When the judgment result that the Tt1 is not less than the T1 indicates that the electric booster of the vehicle is turned off for the set time T, and after the electric booster is turned off, the torsion resistance of the lower structure of the steering system can be improved, and the large-amplitude steering caused by the interference external force can be limited, so that the lower structure of the steering system can be protected. The disturbance external force due to the depression or the collision is generally generated instantaneously, and the set time t is not more than 1 second, preferably within 0.5 second, in order to avoid the steering system from being out of control for a long time.
If Tt1< T1, no signal is sent to disconnect the steering wheel from the steering main shaft, and therefore there is no disturbing angle α of the steering wheel, and the steering wheel remains connected to the steering main shaft. When Tt1< T1, the electric power assist device of the vehicle still works normally, and the driver can realize electric power steering by EPS and steering wheel, and the EPS works in a manner known in the art, which is not described in detail herein.
(4) After the set time t for turning off the electric booster, the electric booster is controlled to be turned on, and the electric booster is restored to work so as to correct the position of the steering gear of the vehicle. Since the connection between the steering wheel and the steering control main shaft is disconnected at this time, the EPS takes over the vehicle at this time, and the position of the steering gear of the vehicle is corrected.
Specifically, the EPS of the vehicle enters an automatic control mode, the steering of the vehicle is only controlled by the EPS and is not influenced by the rotation of the steering wheel, and the EPS operates in a manner known in the art in the automatic control mode, which is not described in detail herein. In the automatic control mode, the electric booster completely drives the steering control main shaft to rotate, so that a steering gear of the steering control main shaft drives a rack of a steering gear meshed with the steering control main shaft to move, and the position of the steering gear of the vehicle is corrected.
(5) In the process of correcting the position of a vehicle steering gear, judging whether an active driving recovery condition is met, wherein the active driving recovery condition comprises the following steps: condition a) no disturbing external forces are present; condition b) the steering gear of the vehicle is corrected to a position matching the disturbing corner. When the condition a) and the condition b) are simultaneously met, judging that the active driving recovery condition is met, and establishing the connection between the steering wheel and the steering control main shaft
Judging whether the condition a) is met or not can be specifically realized by the following modes:
in the first judgment mode, a second torque Tt2 of the steering main shaft is obtained, and the second torque Tt2 is also the actual torque of the steering main shaft at the current moment. The second torque Tt2 is compared with a second torque threshold T2, the second torque threshold T2 being the torque applied to the steering control main shaft by the driver operating the steering wheel during normal driving, i.e., the torque when the vehicle is running normally, so the second torque threshold T2 is smaller than the first torque threshold T1. When Tt2 ≦ T2, it is determined that the condition a) is satisfied.
And the second judgment mode is to obtain the moving speed v of the rack of the steering gear, compare the moving speed v with a set moving threshold value vs, and set the moving threshold value vs to be the gear moving speed of the rack moving relative to the gear, which can enable the vehicle to stably run, under a certain vehicle speed. And when v is less than or equal to vs, judging that the condition a) is met.
In the third judgment mode, timing is started when the connection between the steering wheel and the steering control main shaft of the vehicle is disconnected, and after the preset time ts is reached, the condition a) is judged to be met. This determination method is set based on that the external disturbance force generated by the bumpy or large-hole road surface is often a transient impact, and for example, the preset time ts may be set to 15 seconds, 30 seconds, 45 seconds, or 1 minute.
In this embodiment, a second determination method is adopted. Of course, other methods for determining whether the external interference force is eliminated exist in the art, which are not exhaustive here. In other embodiments, the first determination method or the third determination method may be adopted separately, or the two or three determination methods may be adopted simultaneously. The judging method of the condition a) is not limited in the present invention. In general, when the condition a) is satisfied, it is described that the disturbing external force capable of causing the generation of the torque harmful to the driver has disappeared, for example, the vehicle has passed through a pit and traveled on a flat road surface.
Judging whether the condition b) is met, specifically comprising:
acquiring a relative position S of a rack and a steering gear, and comparing the relative position S with a current working condition theoretical relative position Ss, wherein the current working condition theoretical relative position Ss is S1+ S alpha, wherein: s1 is the initial disconnection position of the rack and the steering gear when the connection between the steering wheel and the steering control main shaft of the vehicle is disconnected; and S alpha is the relative position of the rack and the steering gear when the steering wheel rotates by the interference angle alpha under the normal working condition. And when the relative position S is consistent with the theoretical relative position Ss of the current working condition, judging that the condition b) is met.
When the active driving is recovered, the position of a steering gear is matched with the current torsion state of the steering wheel when the active driving is recovered (a driver controls a vehicle), the precision of driving control is ensured, and the steering wheel is prevented from deviating. Therefore, the position of the vehicle steering device is corrected not only to eliminate the interference displacement of the rack of the steering system substructure caused by the interference external force, i.e., to restore to the relative rack-and-pinion position when the connection between the steering wheel and the steering control main shaft of the vehicle is disconnected, but also to comprehensively consider the relative rack-and-pinion position under the condition of the rotation angle of the interference rotation angle α. When the connection between the steering wheel and the steering control main shaft is recovered, the relative positions of the rack and the steering gear (namely the theoretical relative position Ss of the current working condition) are completely consistent when the state of the whole steering system is equal to the rotation interference angle alpha under the normal working condition.
When the condition a) and the condition b) are simultaneously satisfied, namely the active driving recovery condition is satisfied, the connection between the steering wheel and the steering control main shaft is reestablished. The driver takes over the vehicle steering system, the driver can realize electric power steering through the EPS and the steering wheel, and the EPS works according to the known mode in the field, which is not described in detail in the invention.
Example 2:
based on the same inventive concept, the present embodiment provides a vehicle steering system 100, and the vehicle steering system 100 is used in the vehicle steering control method of embodiment 1 described above. That is, the vehicle steering system 100 is a vehicle steering system 100 that includes an EPS.
Referring to fig. 2, the vehicle steering system 100 includes a steering wheel 1, a buffer assembly 2, a steering control spindle 3, an electric power assist 4 (which is a part of EPS), a steering gear 5, a controller 6, a torque sensor 7, and a position detection sensor 8, the steering wheel 1, the buffer assembly 2, the steering control spindle 3, and the steering gear 5 are connected in sequence to transmit torque, and the buffer assembly 2 is used to disconnect/establish the connection between the steering wheel 1 and the steering control spindle 3. In the vehicle steering system 100, the steering wheel 1, the steering control main shaft 3, the electric booster 4 (including a speed reducer) and the steering gear 5 can directly adopt corresponding structures of the existing vehicle steering system 100 with the EPS, specific contents are not described herein, and specific structures of the EPS can refer to the prior art, and specific contents are not described herein. Generally, the steering operation principle of the steering system substructure is as follows: each of a pair of tie rods has a proximal end coupled to the rack-and-pinion gear mechanism and a distal end coupled to one of the steerable wheels via a knuckle arm. That is, the steering wheel 1 is coupled to each steered wheel via a steering control main shaft 3 (including a cushion assembly 2), a gear mechanism, each tie rod, and the like.
A torque sensor 7 is mounted on a shaft section connecting the first engagement member 21 and the steering wheel 1, the torque sensor 7 being configured to detect the first torque Tt1 and/or the disturbance rotation angle α; the position detection sensor 8 is attached to the steering gear 5, and the position detection sensor 8 detects the position of the steering gear 5. The torque sensor 7 and the position detection sensor 8 may be corresponding sensors in the steering system of the existing vehicle directly or may be sensors additionally provided in the steering system of the existing vehicle.
The controller 6 is electrically connected with the driving device 23, the electric booster 4, the torque sensor 7 and the position detection sensor 8 respectively, and the controller 6 can directly adopt an ECU in the existing vehicle or additionally arrange a conventional control device such as a single chip microcomputer, a control mainboard and the like in the vehicle as the controller 6.
All be rigid connection between the current steering system structural component, do not set up the protection device structure, in case go on the road of jolting, big hole road surface, or when the car accident collided and related to steering system, can cause the injury to driver's both hands, the vehicle steering system 100 that this embodiment provided changes original part connected mode, set up buffering subassembly 2 as the buffering region, when guaranteeing driver's both hands safety, accomplish steering wheel 1 and resume the operation rapidly, can not lead to long-time directional control that breaks away from.
Referring specifically to fig. 3, the damping assembly 2 includes a first engaging member 21, a second engaging member 22 and a driving device 23, the first engaging member 21 is connected to the steering wheel 1, the second engaging member 22 is connected to the steering control main shaft 3, and the first engaging member 21 and/or the second engaging member 22 is connected to the driving device 23, so that the first engaging member 21 is engaged with the second engaging member 22 to transmit torque or is disengaged, i.e., the electric telescopic mechanism may be connected to both the first engaging member 21 and the second engaging member 22, or the electric telescopic mechanism may be connected to only the first engaging member 21. The electric motor booster 4 is connected to the second engagement element 22 and/or the steering control main shaft 3.
As a possible embodiment, an electromagnetic clutch may be used for the damping assembly 2. As another possible embodiment, the damping assembly 2 comprises an upper gear constituting the first engagement member 21, a lower gear constituting the second engagement member 22, and an electric telescopic mechanism constituting the driving means 23. For example, the pinion gear of the rack-and-pinion gear mechanism in the conventional steering system lower structure is directly used as the second engagement member 22, and the electric assist shaft 41 of the electric assist motor 4 is engaged with the pinion gear through a transmission gear. The electric telescopic mechanism can specifically adopt an electric spring thimble, an electric push rod and the like. The electromagnetic clutch and the electric telescopic mechanism can adopt corresponding structures in the prior art, and specific contents are not explained herein.
Example 3:
based on the same inventive concept, the present embodiment provides a vehicle steering control apparatus for the vehicle steering control method of embodiment 1 described above; the vehicle steering control device includes:
an acquisition module for acquiring a first torque Tt1 of a steering control main shaft of a vehicle and/or a disturbance rotation angle alpha of a steering wheel; in other alternative embodiments, the obtaining module is further configured to obtain a second torque Tt2 of the steering control main shaft.
A comparison module for comparing the first torque Tt1 with a first torque threshold T1; in other alternative embodiments, the comparison module may also be configured to compare the second torque Tt2 with a second torque threshold T2.
The judgment module is used for judging whether an active driving recovery condition is met, and the active driving recovery condition comprises the following steps: condition a) no disturbing external forces are present; condition b) the steering gear of the vehicle is corrected to a position matching the disturbing corner.
And the control module is used for judging that the vehicle has an interference external force when Tt1 is larger than or equal to T1, disconnecting the steering wheel of the vehicle from the steering control main shaft, acquiring the interference rotation angle alpha of the steering wheel through the acquisition module, controlling the electric booster of the vehicle to be turned off for a set time T, and then controlling the electric booster to be turned on again to correct the position of a steering gear of the vehicle.
And the control module is also used for establishing the connection between the steering wheel and the steering control main shaft when the condition a) and the condition b) are simultaneously met.
Example 4:
based on the same inventive concept, the present embodiment provides a computer apparatus including a memory having a computer program stored thereon and a processor connected to the memory, the processor being configured to read the computer program from the memory to execute the vehicle steering control method of embodiment 1 described above. The computer equipment can be specifically a PLC controller, an industrial personal computer and the like. The present embodiment employs an ECU.
Example 5:
based on the same inventive concept, the present embodiment provides a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the vehicle steering control method of embodiment 1 described above.
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 (modules, 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 computer, 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 the preferred embodiments of the present application 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 alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A vehicle steering control method characterized by comprising the steps of:
acquiring a first torque Tt1 of a steering control spindle of a vehicle, comparing said first torque Tt1 with a first torque threshold T1;
when Tt1 is larger than or equal to T1, the vehicle is judged to have an interference external force, the connection between the steering wheel of the vehicle and the steering control main shaft is disconnected, the interference rotation angle alpha of the steering wheel is obtained, the electric booster of the vehicle is controlled to be turned off, and the electric booster is controlled to be turned on after a set time T, so that the position of a steering gear of the vehicle is corrected;
judging whether an active driving recovery condition is met, wherein the active driving recovery condition comprises the following steps: condition a) the disturbing external force is absent; condition b) the steering gear of the vehicle is corrected to a position matching the disturbance turning angle α;
and if the condition a) and the condition b) are simultaneously met, judging that an active driving recovery condition is met, and establishing connection between the steering wheel and the steering control main shaft.
2. The vehicle steering control method according to claim 1, characterized in that: the control the electric booster is opened to revise the position of the steering gear of the vehicle, and the control method specifically comprises the following steps:
and controlling the electric booster to be started so that the electric booster drives the steering control main shaft to rotate, and a steering gear of the steering control main shaft drives a rack of the steering gear meshed with the steering gear to move so as to correct the position of the steering gear of the vehicle.
3. The vehicle steering control method according to claim 2, characterized in that: judging whether the condition b) is met, specifically comprising:
acquiring a relative position S of the rack and the steering gear;
comparing the relative position S with a current working condition theoretical relative position Ss, wherein the current working condition theoretical relative position Ss is S1+ S alpha, and the relative position S is: the S1 is a disconnection initial position of the rack and the steering gear when the connection between the steering wheel and the steering control main shaft of the vehicle is disconnected; the S alpha is the relative position of the rack and the steering gear when the steering wheel rotates the interference rotation angle alpha under the normal working condition;
and if the relative position S is consistent with the theoretical relative position Ss of the current working condition, judging that the condition b) is met.
4. The vehicle steering control method according to any one of claims 1 to 3, characterized in that: judging whether the condition a) is met, specifically comprising:
acquiring a second torque Tt2 of the steering control main shaft; comparing the second torque Tt2 to a second torque threshold T2, wherein the second torque threshold T2 is less than the first torque threshold T1; if Tt2 ≦ T2, it is determined that the condition a) is satisfied;
or acquiring the moving speed v of the rack of the steering gear; comparing the moving speed v with a set moving threshold value vs; and if v is less than or equal to vs, judging that the condition a) is met.
5. The vehicle steering control method according to any one of claims 1 to 3, characterized in that: the set time t is not more than 1 second.
6. A vehicle steering system characterized by: for implementing the vehicle steering control method of any one of claims 1-5; the vehicle steering system includes steering wheel, buffer assembly steering control main shaft electric motor-assisted machine steering ware, controller, torque sensor and position detection sensor, wherein:
the steering wheel, the buffer assembly, the steering control main shaft and the steering gear are sequentially connected to transmit torque;
the buffer assembly is used for disconnecting/establishing connection between the steering wheel and the steering control main shaft, and comprises a first engaging member, a second engaging member and a driving device, wherein the first engaging member is connected with the steering wheel, the second engaging member is connected with the steering control main shaft, and the first engaging member and/or the second engaging member are/is connected with the driving device so that the first engaging member is connected with the second engaging member for transmitting torque or disconnecting; the electric booster is connected with the second meshing component and/or the steering control main shaft;
the torque sensor is mounted on a shaft section connecting the first engagement member and the steering wheel, the torque sensor being configured to detect the first torque Tt1 and/or the disturbance rotation angle α;
the position detection sensor is mounted on the steering gear and used for detecting the position of the steering gear; the controller is electrically connected with the driving device, the electric booster, the torque sensor and the position detection sensor respectively.
7. The vehicle steering system according to claim 6, characterized in that: the buffer assembly is an electromagnetic clutch; or the buffer assembly comprises an upper gear, a lower gear and an electric telescopic mechanism, the upper gear forms the first meshing member, the lower gear forms the second meshing member, and the electric telescopic mechanism forms the driving device.
8. A vehicle steering control apparatus for implementing the vehicle steering control method according to any one of claims 1 to 5; characterized in that the vehicle steering control device includes:
an obtaining module, configured to obtain a first torque Tt1 of a steering control main shaft of a vehicle; and/or the obtaining module is used for obtaining the interference rotation angle alpha of the steering wheel;
a comparison module for comparing the first torque Tt1 with a first torque threshold T1;
the judgment module is used for judging whether an active driving recovery condition is met, and the active driving recovery condition comprises the following steps: condition a) the disturbing external force is absent; condition b) the steering gear of the vehicle is corrected to a position matching the disturbing corner;
the control module is used for judging that the vehicle has an external interference force and disconnecting the steering wheel of the vehicle from the steering control main shaft when the Tt1 is larger than or equal to the T1; controlling an electric booster of a vehicle to be turned off, and controlling the electric booster to be turned on after a set time t so as to correct the position of a steering gear of the vehicle;
the control module is further configured to determine that an active driving recovery condition is met when the condition a) and the condition b) are met simultaneously, and establish connection between the steering wheel and the steering control main shaft.
9. A computer device, characterized by: comprising a memory having a computer program stored thereon and a processor coupled to the memory for reading the computer program from the memory to perform the vehicle steering control method of any of claims 1-5.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, is adapted to carry out the vehicle steering control method according to any one of claims 1-5.
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| CN202011593467.3A CN112660236B (en) | 2020-12-29 | 2020-12-29 | Vehicle steering control method and device and vehicle steering system |
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| CN112660236B (en) | 2022-03-25 |
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