CN113119973B - Power-assisted torque switching control method and device and computer storage medium - Google Patents

Abstract

The embodiment of the application provides a switching control method and device of a power-assisted torque and a computer storage medium. The switching control method of the power-assisted torque comprises the following steps: when the steering mode of the steering wheel is switched, determining the control deviation of each time period in a switching time period, wherein the control deviation is used for indicating the adjustment value of the power-assisted moment of the steering wheel in each time period; calculating the power-assisted moment of each time period according to the control deviation, and enabling the power-assisted moment to approach the target power-assisted moment along with the increment of the time period; and outputting the corresponding assistance torque in each time period until the target assistance torque is output when the switching time period is finished. In the embodiment of the application, when the steering mode of the steering wheel is switched, the boosting torque is changed, the control deviation of each time period is calculated, and the magnitude of the boosting torque of each time period is adjusted in real time according to the control deviation, so that the output boosting torque continuously changes when the steering mode is switched, and further, the stability and the safety of steering of the steering wheel are improved.

Description

Power-assisted torque switching control method and device and computer storage medium

Technical Field

The embodiment of the application relates to the technical field of electronic information, in particular to a switching control method and device of a power-assisted torque and a computer storage medium.

Background

With the development of the intelligent driving assistance system, an Electric Power Steering (EPS) system in an intelligent driving automobile plays an important role as an actuating mechanism for lateral movement, so that the driving mode is more and more diversified.

Based on a torque control method, the EPS controls the motor to output a power-assisted torque according to signals such as steering wheel torque, steering wheel corner signals and steering wheel rotating speed of a driver, and can enter a manual driving mode; based on the steering angle control method, the EPS controls the motor to output the power-assisted torque according to signals such as steering wheel steering angle signals and steering wheel rotating speed, and can enter an automatic driving mode.

When the automatic driving mode and the manual driving mode are switched, the power-assisted torque changes, and the EPS controls and outputs the power-assisted torque according to the power-assisted torque instruction. Because the power-assisted torque command has deviation, when the driving mode is switched, the output power-assisted torque is easy to generate sudden change, so that the rotating speed of the steering wheel and the rotating angle of the steering wheel are changed rapidly, the phenomena of beating hands, blocking and the like of the steering wheel are easy to occur, and the stability and the safety of steering of the steering wheel are reduced.

Disclosure of Invention

In view of the above, one of the technical problems solved by the embodiments of the present invention is to provide a method and an apparatus for controlling switching of an assist torque, and a computer storage medium, which are used to overcome the defects of steering wheel tie-up and jamming caused by sudden change of the assist torque when a driving mode is switched in the prior art, and reduce stability and safety of steering wheel operation.

In a first aspect, an embodiment of the present application provides a method for controlling switching of a boost torque, where the method includes:

when the steering mode of the steering wheel is switched, determining the control deviation of each time period in a switching time period, wherein the control deviation is used for indicating the adjustment value of the power-assisted moment of the steering wheel in each time period, and the switching time period comprises at least one time period;

calculating the power-assisted moment of each time period according to the control deviation, and enabling the power-assisted moment to approach the target power-assisted moment along with the increment of the time period;

and outputting corresponding power-assisted torque in each time period until a target power-assisted torque is output when the switching time period is finished, wherein the target power-assisted torque is greater than or equal to the torque control power-assisted torque and is less than or equal to the corner control power-assisted torque.

Optionally, in an embodiment of the present application, when the steering mode of the steering wheel is switched, determining the control deviation for each time period in the switching period includes:

when the steering mode of the steering wheel is switched to a steering angle control mode, calculating the difference value between the assistance torque of the last time period and the steering angle control assistance torque as the steering angle control input deviation of the current time period;

and calculating the product of the rotation angle control input deviation of the current time period and the gain difference of the current time period as the control deviation of the current time period, wherein the gain difference is reduced from 1 to a first preset value in the switching time period, and the first preset value is less than 1 and is greater than or equal to 0.

Optionally, in an embodiment of the present application, the method further includes:

and subtracting the rotation angle control input gain from 1 to obtain a gain difference value, wherein the rotation angle control input gain is increased from 0 to a second preset value within the switching time period, and the sum of the second preset value and the first preset value is 1.

Optionally, in an embodiment of the present application, when the steering mode of the steering wheel is switched, determining the control deviation for each time period in the switching period includes:

when the steering wheel steering mode is switched to the torque control mode, calculating the difference value between the power-assisted torque of the last time period and the torque control power-assisted torque, and taking the difference value as the rotation angle control output deviation of the current time period;

and calculating the product of the rotation angle control output deviation of the current time period and the rotation angle control output gain of the current time period as the control deviation of the current time period, wherein the rotation angle control output gain is reduced from 1 to a third preset value within the switching time period, and the third preset value is less than 1 and is greater than or equal to 0.

Optionally, in an embodiment of the present application, calculating the boost torque for each time period according to the control deviation includes:

when the steering wheel steering mode is switched to the steering angle control mode, the sum of the control deviation and the steering angle control assist torque is calculated as the assist torque for each time period.

Optionally, in an embodiment of the present application, calculating the assist torque for each time period according to the control deviation includes:

when the steering wheel steering mode is switched to the torque control mode, the sum of the control deviation and the torque control assist torque is calculated as the assist torque for each time period.

Optionally, in an embodiment of the present application, the method further includes:

and acquiring a control instruction, wherein the control instruction is used for instructing to switch the steering wheel steering mode into the steering angle control mode or the torque control mode.

In a second aspect, an embodiment of the present application provides a switching control device for a power torque, where the device includes a determination module, a calculation module, and an output module;

the determining module is used for determining a control deviation of each time period in a switching time period when the steering mode of the steering wheel is switched, the control deviation is used for indicating an adjustment value of the power-assisted moment of the steering wheel in each time period, and the switching time period comprises at least one time period;

the calculation module is used for calculating the power-assisted torque of each time period according to the control deviation and enabling the power-assisted torque to approach the target power-assisted torque along with the increment of the time period;

and the output module is used for outputting the corresponding power-assisted torque in each time period until the switching time period is finished, and the target power-assisted torque is greater than or equal to the torque control power-assisted torque and is less than or equal to the corner control power-assisted torque.

In a third aspect, an embodiment of the present application provides an electronic device, including: at least one processor; storage means for storing at least one program; the at least one program, when executed by the at least one processor, causes the at least one processor to implement a method as described in the first aspect or any one of the embodiments of the first aspect.

In a fourth aspect, embodiments of the present application provide a computer storage medium storing a computer program, which when executed by a processor implements the method as described in the first aspect or any one of the embodiments of the first aspect.

In the embodiment of the application, when the steering mode of the steering wheel is switched, the control deviation of each time period in the switching time period is determined, the control deviation is used for indicating the adjustment value of the power-assisted moment of the steering wheel in each time period, and the switching time period comprises at least one time period; calculating the power-assisted torque of each time period according to the control deviation, and enabling the power-assisted torque to approach a target power-assisted torque along with the increasing of the time period; and outputting the corresponding assistance torque in each time period until a target assistance torque is output when the switching time period is ended, wherein the target assistance torque is greater than or equal to the torque control assistance torque and is less than or equal to the corner control assistance torque. In the embodiment of the application, when the steering mode of the steering wheel is switched, the boosting torque changes, the control deviation of each time period is calculated, the magnitude of the boosting torque of each time period is adjusted in real time according to the control deviation, and the output boosting torque continuously changes when the steering mode of the steering wheel is switched, so that the stability and the safety of steering of the steering wheel are improved.

Drawings

Some specific embodiments of the present application will be described in detail below by way of illustration and not limitation with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:

fig. 1 is a flowchart of a method for controlling switching of an assist torque according to an embodiment of the present disclosure;

fig. 2 is a schematic diagram illustrating a switching control process of an assist torque according to an embodiment of the present disclosure;

fig. 3 is a schematic diagram of a switching control device of an assist torque according to an embodiment of the present disclosure;

fig. 4 is a schematic diagram of a rotation angle gradual change control module according to an embodiment of the present application;

fig. 5 is a structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The following further describes specific implementation of the embodiments of the present invention with reference to the drawings.

Example one

The first and second preset values are only for name distinguishing and do not represent a sequential relationship, for example, the first preset value is used to indicate a value to which the gain difference decreases in the switching time period, the second preset value is used to indicate a value to which the steering angle control input gain increases in the switching time period, the third preset value is used to indicate a value to which the steering angle control output gain decreases in the switching time period, and the magnitudes of the first preset value, the second preset value, and the third preset value may be the same or different, which is not limited in this application.

An embodiment of the present application provides a switching control method of an assist torque, and fig. 1 is a flowchart of the switching control method of the assist torque provided in the embodiment of the present application, and as shown in fig. 1, the switching control method of the assist torque includes the following steps:

step 101, when the steering wheel steering mode is switched, determining the control deviation of each time period in the switching time period.

Wherein the control deviation is used to indicate an adjustment value of the power moment of the steering wheel in each time period, and the switching time period comprises at least one time period.

It should be noted that the switching time period is set according to actual situations, and may be 2s, 3s, or 1s, which is not limited in the embodiment of the present application. The switching time period may include 1 time period, may include 3 time periods, and may also include 10 time periods, and the time of each time period may be consistent or inconsistent, which is not limited in this application.

Before explaining the steering mode of a steering wheel, an Electric Power Steering (EPS) system is explained, wherein the EPS system is a Power steering system which directly depends on a motor to provide auxiliary torque, the EPS system is only provided with Power by the motor when steering, and does not consume energy when not steering, so that the EPS can reduce the fuel consumption of a vehicle; the EPS can guarantee that different power-assisted effects of the motor are provided when the vehicle speed is different, the vehicle is light and flexible when running in low-speed steering, and the vehicle is stable and reliable when running in high-speed steering.

The EPS includes a torque sensor, a rotation angle sensor, a vehicle speed sensor, a motor, an Electronic Control Unit (ECU), and the like. The steering mode of a steering wheel in the EPS comprises a manual steering mode and an automatic steering mode, wherein in the manual steering mode, a driver operates the steering wheel to steer, a torque sensor detects a torque signal of the steering wheel rotated by the driver, a corner sensor detects a corner and a rotating speed signal of the steering wheel, a vehicle speed sensor detects a vehicle speed signal, and an ECU sends an instruction to a motor controller according to the torque signal of the steering wheel, the corner and rotating speed signal of the steering wheel, the vehicle speed signal and the like, so that the motor outputs power-assisted torque with corresponding magnitude and direction, and auxiliary power is generated; that is, when the steering wheel steering mode is the manual driving mode, the EPS outputs a corresponding assist torque according to the torque control, takes the assist torque output according to the torque control as the torque control assist torque, and takes the manual steering mode as the torque control mode.

With the development of an automatic driving assistance system, the EPS plays an important role as an actuator for lateral movement, and requires a driver to be able to disengage the steering wheel momentarily or completely in the automatic driving assistance process. In the automatic steering mode, a torque signal that a driver rotates a steering wheel is not input any more, and at the moment, the ECU sends an instruction to the motor controller according to the steering wheel rotation angle, the rotation speed signal, the vehicle speed signal and the like, so that the motor outputs an assistance torque with corresponding magnitude and direction, and auxiliary power is generated; that is, when the steering mode of the steering wheel is the automatic driving mode, the EPS outputs a corresponding assist torque according to the steering angle control, uses the assist torque output according to the steering angle control as the steering angle control assist torque, and uses the automatic steering mode as the steering angle control mode. In order to ensure the driving hand feeling when the driver takes over the steering wheel, the steering control mode of the steering wheel needs to be switched between the turning angle control mode and the torque control mode.

When a driver takes over a steering wheel, the steering mode of the steering wheel is switched from a corner control mode to a torque control mode, and the output power-assisted torque is switched from the corner control power-assisted torque to the torque control power-assisted torque; when the driver is separated from the steering wheel, the steering mode of the steering wheel is switched from the torque control mode to the steering angle control mode, and the output power-assisted torque is switched from the torque control power-assisted torque to the steering angle control power-assisted torque. The switching control method of the power-assisted torque is used for switching between the torque control power-assisted torque and the corner control power-assisted torque, can be applied to a hand-off steering wheel of a driver in an automatic driving mode, can also be applied to a hand-taking-over steering wheel of the driver in a manual driving mode, and achieves bidirectional soft switching of the redundant EPS power-assisted torque between the manual driving mode and the automatic driving mode. Redundancy, which is used to indicate that some components of the system are repeatedly configured, and when the system fails, the redundantly configured components intervene and undertake the work of the failed components, thereby reducing the failure time of the system, and when the primary device fails, the redundant device is a substitute device that can be used immediately.

The control deviation in this application is used to adjust the steering wheel assist torque in real time, and in each time period, the steering wheel assist torque is adjusted according to the control deviation in the switching time period, for example, the switching time period includes 4 time periods, and in these 4 time periods, the steering wheel assist torque needs to be adjusted according to the control deviation.

Optionally, in an embodiment of the present application, before step 101, the method further includes: and acquiring a control instruction, wherein the control instruction is used for instructing to switch the steering wheel steering mode into the steering angle control mode or the torque control mode.

It should be noted that the control command may be transmitted to the ECU in the form of a command for switching the steering mode of the steering wheel, and the ECU outputs a power-assisted torque corresponding to the command according to the command; the control command may be a process of transmitting the detected voltage signal and other signals to the ECU, and the ECU outputting the corresponding assist torque according to the voltage signal and other signals to complete the switching of the steering mode of the steering wheel. The embodiments of the present application are not limited thereto.

Step 102 may also be performed after determining the control deviation for each time period within the switching period in step 101.

And 102, calculating the power-assisted torque of each time period according to the control deviation, and enabling the power-assisted torque to approach the target power-assisted torque along with the increment of the time period.

In one implementation, the later the time period, the smaller the absolute value of the control deviation, the power torque of each time period is obtained by adding the control deviation to the target power torque, the target power torque is not changed, and the absolute value of the control deviation is reduced with time. Here, two examples are given, and the control deviation is a negative number or a positive number, and for example, in the case where the initial boost torque 10Nm becomes the target boost torque 15Nm and the control deviation is a negative number, at the initial time, the target boost torque 15Nm plus the control deviation-5 Nm becomes the initial boost torque 10Nm, the switching period includes 3 time periods, the target boost torque 15Nm plus the control deviation-3.2 Nm, the boost torque becomes 11.8Nm, at the 2 nd time period, the target boost torque 15Nm plus the control deviation-1.5 Nm, the boost torque becomes 13.5Nm, at the 3 rd time period, the target boost torque 15Nm plus the control deviation 0Nm, and the boost torque becomes 15Nm. As another example, in the case where the initial boost torque 15Nm becomes the target boost torque 10Nm and the control deviation is positive, at the initial time, the target boost torque 10Nm plus the control deviation 5Nm becomes the initial boost torque 15Nm, the switching period includes 3 time periods, in the 1 st time period, the target boost torque 10Nm plus the control deviation 3.2Nm, the boost torque becomes 13.2Nm, in the 2 nd time period, the target boost torque 10Nm plus the control deviation 1.5Nm, the boost torque becomes 11.5Nm, in the 3 rd time period, the target boost torque 10Nm plus the control deviation 0Nm, and the boost torque becomes 10Nm.

In another possible implementation manner, on the basis of the boost torque of the previous time period, a control deviation is added as the boost torque of the current time period until the switching time period is ended, and the boost torque output in the last time period is the target boost torque, and here, three examples are described, for example, taking an example that an initial boost torque 10Nm becomes a target boost torque 15Nm, the switching time period includes 2 time periods, at an initial time, the boost torque is 10Nm, the control deviation in each time period is 2.5Nm, at a1 st time period, the initial boost torque 10Nm is added with the control deviation, the boost torque of the 1 st time period becomes 12.5Nm, at a2 nd time period, the boost torque of the 1 st time period is 12.5Nm added with the control deviation, and the boost torque of the 2 nd time period becomes 15Nm; for another example, in the 1 st time period, the control deviation is 3Nm, the initial boost torque is 10Nm plus the control deviation, the boost torque in the 1 st time period becomes 13Nm, in the 2 nd time period, the control deviation is 2Nm, the boost torque in the 1 st time period is 12Nm plus the control deviation, and the boost torque in the 2 nd time period becomes 15Nm; for another example, in the 1 st time period, the control deviation is 2Nm, the initial boost torque is 10Nm plus the control deviation, the boost torque in the 1 st time period becomes 12Nm, in the 2 nd time period, the control deviation is 3Nm, the boost torque in the 1 st time period is 12Nm plus the control deviation, and the boost torque in the 2 nd time period becomes 15Nm. The control deviation may be equal, or may be increased or decreased, and the application is not limited thereto.

And 103, outputting the corresponding power-assisted torque in each time period until the target power-assisted torque is output when the switching time period is finished.

The target power-assisted torque is larger than or equal to the torque control power-assisted torque and smaller than or equal to the corner control power-assisted torque.

It should be noted that the length of the switching time period may be adjusted and changed according to an actual situation, a time period included in the switching time period may also be adjusted and changed according to the actual situation, and the more time periods included in the switching time period, the more stable and continuous the output assist torque.

After each time period, the power-assisted torque of the steering wheel is changed compared with the power-assisted torque of the previous time period, after each time period, the power-assisted torque is output in real time, the power-assisted torque is gradually changed into the target power-assisted torque, so that the steering wheel can steer in real time, the continuous steering and slow change of the steering wheel can be realized, the phenomena of beating hands, jamming and the like of the steering wheel are avoided, the hand feeling of a driver is improved, and the control stability and the safety of the steering wheel are further improved.

In the embodiment of the application, a control deviation value of the current time period is calculated according to the boosting torque output in the previous time period, the current boosting torque is adjusted and output according to the current control deviation value, the control deviation of the next time period is calculated according to the boosting torque output in the current time period, and the boosting torque of the next time period is adjusted and output according to the next control deviation value. In the application, the control deviation is calculated according to the corresponding boosting torque output in each time period, and then the boosting torque in the next time period is adjusted according to the control deviation, so that the steering wheel rotation angle and the steering wheel rotation speed are continuously changed and slowly changed, the phenomena of steering wheel holding, jamming and the like caused by switching instruction delay or deviation and the like are reduced, the hand feeling of a driver is improved, and the stability and the safety of steering wheel operation are improved.

Example II,

When the steering angle control mode is started, the steering wheel steering mode needs to be switched from the torque control mode to the steering angle control mode, and the output power-assisted torque is switched from the torque control power-assisted torque to the steering angle control power-assisted torque. The torque control power-assisted torque and the corner control power-assisted torque have deviation, and the torque gradual change control needs to be carried out on the power-assisted torque.

When the steering wheel turning mode is switched to the turning angle control mode, step 101 in the first embodiment may further include step 101a1 and step 101a2.

When the steering wheel steering mode is switched to the steering angle control mode, the control deviation for each time period is obtained based on the steering angle control input deviation and the steering angle control input gain.

Step 101a1, when the steering mode of the steering wheel is switched to the steering angle control mode, calculating a difference value between the assist torque of the last time period and the steering angle control assist torque, and using the difference value as the steering angle control input deviation of the current time period.

The steering angle control assist torque in the embodiment of the present application is a fixed value, for example, the steering angle control assist torque is set to 15Nm, and when the steering mode of the steering wheel is completely the steering angle control mode, the assist torque of the steering wheel is unchanged, and is 15Nm, and the steering angle control assist torque may be set through actual conditions, which is not limited in the embodiment of the present application.

And step 101a2, calculating the product of the turning angle control input deviation of the current time period and the gain difference value of the current time period as the control deviation of the current time period.

And the gain difference is reduced to a first preset value from 1 in the switching time period, wherein the first preset value is smaller than 1 and is larger than or equal to 0.

Optionally, in an embodiment of the present application, the rotation angle control input gain is subtracted from 1 to obtain a gain difference, the rotation angle control input gain increases from 0 to a second preset value within the switching time period, and a sum of the second preset value and the first preset value is 1.

The rotation angle control input gain in the embodiment of the present application is increased from 0 to 1, where 0 and 1 may represent specific values of the rotation angle control input gain, for example, the rotation angle control input gain is from 0dB to 1dB; or may represent normalized corner control input gain; alternatively, 0 may represent that the rotation angle control input gain starts to change, and 1 may represent that the rotation angle control input gain ends to change; the present application is not limited thereto.

It should be noted that, the hand of the driver is separated from the steering wheel, the steering angle control mode is started, the steering wheel steering mode is switched to the steering angle control mode, the output assisting torque is switched to the steering angle control assisting torque from the torque control assisting torque, and there are two application scenarios. In an application scenario, the hands of a driver are completely separated from a steering wheel, the output power-assisted torque is completely switched to the corner control power-assisted torque from the torque control power-assisted torque, then the steering of the steering wheel is controlled in a corner control mode, the power-assisted torque is the corner control power-assisted torque, the first preset value in the step 101a2 is 0, and the second preset value is 1; in another application scenario, the hand of the driver is temporarily separated from the steering wheel, the output assisting torque is not completely switched to the steering angle control assisting torque from the torque control assisting torque, the first preset value and the second preset value in the step 101a2 are both greater than 0 and smaller than 1, the sum of the first preset value and the second preset value is 1, at this time, the hand of the driver takes over the steering wheel, the steering angle control mode is closed, the steering mode of the steering wheel needs to be switched to the torque control mode, and the output assisting torque needs to be switched to the torque control assisting torque.

Optionally, in an embodiment of the present application, when the steering wheel steering mode is switched to the steering angle control mode, specifically, step 103 may include: and calculating the sum of the control deviation and the steering angle control power-assisted torque as the power-assisted torque of each time period.

Here, taking as an example that the driver's hand is completely disengaged from the steering wheel, the output assist torque is completely switched from the torque control assist torque to the steering angle control assist torque, the steering wheel steering mode needs to be switched from the torque control mode to the steering angle control mode, the steering angle control output gain becomes 1, the steering angle control input gain is 0 at the initial time, and is ramped to 1 during the switching period. For example, taking an example in which the torque control assist torque is 10Nm and the rotational angle control assist torque is 15Nm, at the initial time, the output assist torque is still 10Nm, and the rotational angle control input deviation = torque control assist torque-rotational angle control assist torque = -5Nm; rotation angle control deviation = rotation angle control input deviation x (1-rotation angle control input gain) = -5Nm x (1-0) = -5Nm; the output assist torque = the rotation angle control assist torque + the rotation angle control deviation =15Nm-5nm =10nm, that is, at the initial time, the output assist torque calculated according to the method for controlling switching of the assist torque provided by the embodiment of the present application is still 10Nm of the torque control assist torque. In the subsequent iteration process, the rotation angle control deviation = rotation angle control input deviation x (1-rotation angle control input gain), the absolute value of the rotation angle control input deviation is smaller as the time period is later, and the gain difference obtained by the (1-rotation angle control input gain) is smaller, that is, the rotation angle control input deviation is gradually reduced along with time, and the (1-rotation angle control input gain) is also gradually reduced along with time, so that the rotation angle control deviation is gradually reduced, the reduction trend is gradually gentle, and the reduction trend is reduced to 0 in the switching time period; the output power-assisted torque = the rotation angle control power-assisted torque + the rotation angle control deviation, and the output power-assisted torque gradually approaches the rotation angle control power-assisted torque. After the corner control mode is started, the output power-assisted torque is gradually changed from the torque control power-assisted torque to the corner control power-assisted torque within the switching time period, the change trend is gradual and gentle, and the output power-assisted torque is slowly changed after the driving mode is switched.

Fig. 2 of the embodiment of the present application is a schematic diagram of a switching control process of an assist torque provided by the embodiment of the present application. When the corner control mode is started, the corner control output gain is 1, the corner control input gain is gradually changed from 0 to 1, and the corner control gradual gain in fig. 2 is equal to the corner control input gain. As shown in fig. 2, at the 4 th time, the steering angle control mode command is changed from off to on, the steering angle control mode is on, the steering wheel steering mode needs to be changed from the torque control mode to the steering angle control mode, and the output assist torque is gradually changed from the torque control assist torque to the steering angle control assist torque. The torque control assist torque is set to 10Nm, and the rotation angle control assist torque is set to 15Nm. At the 4 th time, the output assist torque is 10Nm, and according to the switching control process of the assist torque provided in the embodiment of the present application, at the 4 th time, the corner control input deviation = torque control assist torque-corner control assist torque = -5Nm, the corner control deviation = corner control input deviation × (1-corner control input gain) = -5Nm × (1-0) = -5Nm, the output assist torque = corner control assist torque + corner control deviation =15Nm + (-5 Nm) = -10 Nm, and at the 4 th time, the output torque keeps the torque control assist torque, and there is no moment abrupt change. The control mode switching time period set in the embodiment of the application is 2s, in the time period of 4s-6s, the corner control deviation = corner control input deviation x (1-corner control input gain), the corner control input deviation is gradually reduced, and the (1-corner control input gain) is also gradually reduced, so that the corner control deviation is gradually reduced, the reduction trend is gradually gentle, and the deviation is reduced to 0 at the 6 th time; at the 6s time, the output assist torque = the rotation angle control assist torque + the rotation angle control deviation =15nm +0nm =15nm, and the output assist torque gradually approaches the rotation angle control assist torque 15Nm. After the steering wheel control mode is started, the output power-assisted torque is slowly changed from the torque control power-assisted torque to the steering wheel control power-assisted torque within the control mode switching time period, the change trend is gradually gentle, the output power-assisted torque slowly and continuously changes after the control mode is switched, and the stability and the safety of steering wheel operation are improved.

Example III,

When the steering angle control mode is closed, the steering wheel steering mode is switched to the torque control mode, the steering wheel steering mode needs to be switched to the torque control mode from the steering angle control mode, and the output power-assisted torque is switched to the torque control power-assisted torque from the steering angle control power-assisted torque. The deviation exists between the corner control assisting torque and the torque control assisting torque, and the torque slow-change control needs to be carried out on the assisting torque.

When the steering wheel steering mode is switched to the torque control mode, step 101 in the first embodiment may further include step 101b1 and step 101b2;

when the steering wheel steering mode is switched to the torque control mode, the control deviation per time period is obtained from the steering angle control output deviation and the steering angle control output gain.

And step 101b1, when the steering wheel steering mode is switched to the torque control mode, calculating the difference value between the power-assisted torque of the last time period and the torque control power-assisted torque, and taking the difference value as the steering angle control output deviation of the current time period.

The torque control assist torque in the embodiment of the present application is a fixed value, for example, the torque control assist torque is set to 10Nm, and when the steering wheel steering mode is completely the torque control mode, the assist torque of the steering wheel is constant, and is 10Nm, and the torque control assist torque can be set through actual conditions, and the embodiment of the present application is not limited thereto.

And step 101b2, calculating the product of the rotation angle control output deviation of the current time period and the rotation angle control output gain of the current time period as the control deviation of the current time period.

The rotation angle control output gain in the embodiment of the present application is increased from 0 to 1, where 0 and 1 may represent specific values of the rotation angle control output gain, for example, the rotation angle control output gain is from 0dB to 1dB; or the normalized rotation angle control output gain; alternatively, 0 may represent that the steering angle control output gain starts to change, and 1 may represent that the steering angle control output gain ends to change; the present application is not limited thereto.

And the rotation angle control output gain is reduced from 1 to a third preset value in the switching time period, and the third preset value is smaller than 1 and is larger than or equal to 0.

It should be noted that, a hand of a driver takes over a steering wheel, a steering angle control mode is closed, a steering wheel steering mode is switched to a torque control mode, an output power-assisted torque is switched to a torque control power-assisted torque from the steering angle control power-assisted torque, and two application scenarios exist. In an application scenario, a driver's hand completely takes over a steering wheel, the output power-assisted torque is completely switched to a torque control power-assisted torque from a corner control power-assisted torque, then the steering of the steering wheel is controlled in a torque control mode, the power-assisted torque is the torque control power-assisted torque, and a third preset value in the step 101b2 is 0; in another application scenario, the driver's hand is separated from the steering wheel after taking over the steering wheel, the output assist torque is not completely switched to the torque control assist torque from the steering angle control assist torque, the third preset value in step 101b2 is greater than 0 and smaller than 1, at this time, the driver's hand is separated from the steering wheel, the torque control mode is closed, the steering mode of the steering wheel needs to be switched to the steering angle control mode, and the output assist torque needs to be switched to the steering angle control assist torque.

Optionally, in an embodiment of the present application, when the steering wheel steering mode is switched to the torque control mode, specifically, step 103 may include: the sum of the control deviation and the torque control assist torque is calculated as the assist torque for each time period.

Here, taking as an example that the hand of the driver completely takes over the steering wheel and the output assist torque is completely switched from the steering angle control assist torque to the torque control assist torque, the steering mode of the steering wheel needs to be switched from the steering angle control mode to the torque control mode, the steering angle control input gain becomes 0, the steering angle control output gain is 1 at the initial time, and is gradually changed to 0 within the switching period. For example, the torque control assist torque is 10Nm and the corner control assist torque is 15Nm, and at the initial time, the output assist torque is still 15Nm, and the corner control input deviation = corner control assist torque-torque control assist torque =5Nm; a rotation angle control deviation = a rotation angle control input deviation × a rotation angle control output gain =5Nm × 1=5nm; the output assist torque = torque control assist torque + rotation angle control deviation =10nm +5nm =15nm, that is, at the initial time, the output assist torque calculated according to the method for controlling switching of the assist torque provided by the embodiment of the present application is still 15Nm of the rotation angle control assist torque. In the subsequent iteration process, the corner control deviation = corner control input deviation × corner control output gain, and the later the time period is, the smaller the corner control input deviation is and the smaller the corner control output gain is, that is, the corner control input deviation is gradually reduced with time, and the corner control output gain is also gradually reduced with time, so that the corner control deviation is gradually reduced, and the reduction trend is gradually gentle and is reduced to 0 in the switching time period; the output assisting torque = torque control assisting torque + corner control deviation, and the output assisting torque gradually approaches to the torque control assisting torque. After the corner control mode is closed, the output power-assisted torque is gradually changed from the corner control power-assisted torque to the torque control power-assisted torque in a switching time period, the change trend is gradually gentle, and the output power-assisted torque is slowly changed after the driving mode is switched.

Fig. 2 in the embodiment of the present application is a schematic diagram of a switching control process of an assist torque provided in the embodiment of the present application. When the corner control mode is turned off, the corner control input gain is 0, the corner control output gain is gradually changed from 1 to 0, and the corner control gradual gain in fig. 2 is equal to the corner control output gain. As shown in fig. 2, the steering angle control mode is maintained for 4s, at the 10 th s, the steering angle control mode command is changed from on to off, the steering angle control mode is off, the steering wheel steering mode needs to be changed from the steering angle control mode to the torque control mode, and the output assist torque is gradually changed from the steering angle control assist torque to the torque control assist torque. The torque control assistance torque is set to 10Nm, the rotation angle control assistance torque is set to 15Nm, and at the 10 th time, the output assistance torque is 15Nm, according to the switching control process of the assistance torque provided by the embodiment of the application, at the 10 th time, the rotation angle control output deviation = the output assistance torque-the torque control assistance torque = the rotation angle control assistance torque-the torque control assistance torque =5Nm, the rotation angle control deviation = the rotation angle control output deviation multiplied by the rotation angle control output gain =5Nm × 1=5Nm, the output assistance torque = the torque control assistance torque + the rotation angle control deviation =10Nm +5Nm =15Nm, and at the initial switching time, the output assistance torque is the rotation angle control assistance torque, and is kept unchanged without abrupt change of the assistance torque. The control mode switching time period set in the embodiment of the application is 2s, and in the time period of 10s-12s, the corner control deviation = the corner control output deviation x the corner control output gain, the corner control output deviation is gradually reduced, and the corner control output gain is also gradually reduced, so that the corner control deviation is gradually reduced, the reduction trend is gradually gentle, and the deviation is reduced to 0 at the 12 th time; at the 12s time, the output assist torque = torque control assist torque + rotational angle control deviation =10nm +0nm =10Nm, and the output assist torque gradually approaches the torque control assist torque 10Nm. After the corner control mode is closed, the output power-assisted torque is gradually changed from the corner control power-assisted torque to the torque control power-assisted torque within the control mode switching time period, the change trend is gradual and gentle, the output power-assisted torque is slowly and continuously changed after the control mode is switched, and the stability and the safety of steering wheel operation are improved.

Further, taking the example that the driver's hand is temporarily separated from the steering wheel, the output assisting torque is not completely switched to the steering angle control assisting torque from the torque control assisting torque, at this time, the driver's hand takes over the steering wheel, the steering angle control mode is closed, the steering mode of the steering wheel needs to be switched to the torque control mode, and the output assisting torque needs to be switched to the torque control assisting torque. As shown in fig. 2, fig. 2 of the present application embodiment is a schematic diagram of a switching control process of an assist torque provided by the present application embodiment. For the time range of 16s-17s, at the 16s time, the turning angle control mode command is changed from off to on, and at the 17s time, the turning angle control mode command is changed from on to off, and then the changing process of the turning angle control output gain, the turning angle control input gain and the turning angle control slow varying gain is shown in fig. 2. And at 16s, the corner control mode command is changed from off to on, the corner control output gain is changed to 1, the corner control input gain is gradually increased from 0 to 1, the corner control gradual gain is equal to the corner control input gain and is gradually increased from 0 to 1, and the output power torque is gradually changed from the torque control power torque to the corner control power torque. In the slowly changing process, at the time of 17s, the turning angle control mode command is changed from on to off, the turning angle control output gain is gradually reduced from 1 to 0, the turning angle control input gain is changed to 0, the turning angle control slowly changing gain is equal to the turning angle control output gain and is gradually reduced from 1 to 0, the output power-assisted torque starts slowly changing at the position of 17s, and after the switching time period of 2s, the output power-assisted torque is slowly changed to the torque control power-assisted torque, so that the slowly continuous change of the power-assisted torque is realized, and the stability and the safety of steering wheel operation are improved.

It should be noted that, in the corner control switching mode, the output assist torque is gradually changed from the corner control assist torque to the torque control assist torque in the switching time period, and the output assist torque is gradually changed from the torque control assist torque to the corner control assist torque in the switching time period. Or, the output assisting torque is not completely switched to the turning angle control assisting torque from the torque control assisting torque, and the output assisting torque needs to be switched to the torque control assisting torque, so that the embodiment of the application is not limited. In addition, the switching time periods in the two control switching modes may be the same or different, and in this embodiment, the switching time period is illustrated as 2s, which does not mean that the embodiment of the present application is limited to this.

Examples IV,

An embodiment of the present application provides a switching control device for an assist torque, as shown in fig. 3, and fig. 3 is a schematic view of the switching control device for an assist torque provided in the embodiment of the present application. The switching control device 30 of the assist torque includes a determination module 301, a calculation module 302 and an output module 303;

a determining module 301, configured to determine a control deviation for each time period in a switching time period when a steering mode of a steering wheel is switched, where the control deviation is used to indicate an adjustment value of a power-assisted torque of the steering wheel in each time period, and the switching time period includes at least one time period;

a calculating module 302, configured to calculate a power-assisted torque of each time period according to the control deviation, so that the power-assisted torque approaches to a target power-assisted torque along with an increasing of the time period;

and the output module 303 is configured to output a corresponding assist torque in each time period until a switching time period is ended, where the target assist torque is greater than or equal to the torque control assist torque and less than or equal to the corner control assist torque.

An embodiment of the present application provides a gradual change control module of a corner, as shown in fig. 4, fig. 4 is a schematic diagram of the gradual change control module of a corner provided in the present application, in an EPS, an input signal and an input torque are converted into a control instruction, the control instruction may include a basic assistance torque instruction, an active return torque instruction, a yaw damping compensation instruction, an inertia compensation torque instruction, and other torque control instructions, and the control instruction is superimposed and integrated to form a torque control assistance torque, and the torque control assistance torque, the corner control assistance torque, and a corner control mode switching instruction are input to the gradual change control module of a corner, and after passing through the gradual change control module of a corner, the assistance torque is output to a subsequent terminal protection module, such as a terminal protection module, a moment protection module, and a moment limiting module. The corner control slow-changing module can ensure that the output assisting torque can change slowly and smoothly when two control modes are switched, so that the condition of sudden change of the output torque is avoided, the control stability of the steering wheel is improved, and the driving quality is improved.

Example V,

Based on the switching control method of the assist torque described in the first to third embodiments, an embodiment of the present application provides an electronic device, as shown in fig. 5, where fig. 5 is a structural diagram of an electronic device provided in an embodiment of the present application, and the electronic device 50 includes: at least one processor 501; the memory 502, the memory storing at least one program 512, the processor 501 and the memory 502 being electrically connected, when the at least one program is executed by the at least one processor 501, to cause the at least one processor 501 to implement the method as described in embodiments one to three.

Optionally, in an embodiment of the present application, the electronic device 50 further includes: a bus 503 and a communication interface 504, the at least one processor 501, the memory 502 and the communication interface 504 communicating with each other through the bus 503.

Example six,

Based on the switching control method of the assist torque described in the first to third embodiments, the present application provides a computer storage medium storing a computer program, and the computer program is executed by a processor to implement the method described in the first to third embodiments.

The image similarity calculation device according to the embodiment of the present application exists in various forms, including but not limited to:

(1) A mobile communication device: such devices are characterized by mobile communications capabilities and are primarily targeted at providing voice and data communications. Such terminals include: smart phones (e.g., iphones), multimedia phones, functional phones, and low-end phones, among others.

(2) Ultra mobile personal computer device: the equipment belongs to the category of personal computers, has calculation and processing functions and generally has the characteristic of mobile internet access. Such terminals include: PDA, MID, and UMPC devices, etc., such as ipads.

(3) A portable entertainment device: such devices can display and play multimedia content. This kind of equipment includes: audio, video players (e.g., ipods), handheld game consoles, electronic books, and smart toys and portable car navigation devices.

(4) And other electronic equipment with data interaction function.

Thus, particular embodiments of the present subject matter have been described. Other embodiments are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may be advantageous.

For convenience of description, the above devices are described as being divided into various units by function, respectively. Of course, the functionality of the units may be implemented in one or more software and/or hardware when implementing the present application.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable computer 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 application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus, and computer program products according to embodiments of the application. 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.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable computer storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular transactions or implement particular abstract data types. The application may also be practiced in distributed computing environments where transactions are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

All the embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, as for the system embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and reference may be made to the partial description of the method embodiment for relevant points.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (10)

1. A switching control method of assist torque, characterized by comprising:

determining a control deviation for each time period in a switching period when a steering wheel steering mode is switched, the control deviation being indicative of an adjustment value of a power steering torque of the steering wheel in each time period, the switching period including at least one time period, the steering wheel steering mode including a mode in which the power steering system controls the power steering torque by detecting an operating torque when the steering wheel is manually operated and a mode in which the power steering system controls the power steering torque according to a steering angle when the steering wheel is automatically operated;

calculating the power-assisted torque of each time period according to the control deviation, and enabling the power-assisted torque to approach a target power-assisted torque along with the increment of the time period;

and outputting corresponding power-assisted torque in each time period until a target power-assisted torque is output when the switching time period is finished, wherein the target power-assisted torque is greater than or equal to a torque control power-assisted torque and is less than or equal to a corner control power-assisted torque.

2. The method of claim 1, wherein determining the control deviation for each time period within the switching period when switching the steering mode of the steering wheel comprises:

when the steering mode of the steering wheel is switched to a steering angle control mode, calculating the difference value between the assistance torque of the last time period and the steering angle control assistance torque as the steering angle control input deviation of the current time period;

and calculating the product of the rotation angle control input deviation of the current time period and the gain difference value of the current time period as the control deviation of the current time period, wherein the gain difference value is reduced from 1 to a first preset value in the switching time period, and the first preset value is less than 1 and is greater than or equal to 0.

3. The method of claim 2, further comprising:

and subtracting the rotation angle control input gain from 1 to obtain a gain difference value, wherein the rotation angle control input gain is increased from 0 to a second preset value within the switching time period, and the sum of the second preset value and the first preset value is 1.

4. The method of claim 1, wherein determining the control deviation for each time period within the switching period when switching the steering mode of the steering wheel comprises:

when the steering wheel steering mode is switched to the torque control mode, calculating the difference value between the power-assisted torque of the last time period and the torque control power-assisted torque as the rotation angle control output deviation of the current time period;

and calculating the product of the rotation angle control output deviation of the current time period and the rotation angle control output gain of the current time period as the control deviation of the current time period, wherein the rotation angle control output gain is reduced from 1 to a third preset value within the switching time period, and the third preset value is less than 1 and is greater than or equal to 0.

5. The method of claim 1, wherein calculating the power-assist torque for each time period based on the control deviation comprises:

when the steering wheel steering mode is switched to a steering angle control mode, the sum of the control deviation and the steering angle control assist torque is calculated as the assist torque for each time period.

6. The method of claim 1, wherein calculating the power-assist torque for each time period based on the control deviation comprises:

when the steering wheel steering mode is switched to the torque control mode, the sum of the control deviation and the torque control assist torque is calculated as the assist torque for each time period.

7. The method of claim 1, further comprising:

and acquiring a control instruction, wherein the control instruction is used for instructing to switch the steering wheel steering mode into a steering angle control mode or a torque control mode.

8. The switching control device of the power-assisted torque is characterized by comprising a determining module, a calculating module and an output module;

the determination module is used for determining a control deviation of each time period in a switching time period when a steering wheel steering mode is switched, wherein the control deviation is used for indicating an adjustment value of the power-assisted torque of the steering wheel in each time period, the switching time period comprises at least one time period, and the steering wheel steering mode comprises a mode that the power-assisted steering system controls the power-assisted steering torque by detecting the operation torque when the steering wheel is manually operated and a mode that the power-assisted steering system controls the power-assisted steering torque according to the steering angle when the steering wheel is automatically operated;

the calculation module is used for calculating the power-assisted torque of each time period according to the control deviation, and enabling the power-assisted torque to approach a target power-assisted torque along with the increment of the time period;

and the output module is used for outputting the corresponding power-assisted torque in each time period until a target power-assisted torque is output when the switching time period is ended, wherein the target power-assisted torque is greater than or equal to a torque control power-assisted torque and is less than or equal to a corner control power-assisted torque.

9. An electronic device, comprising: a processor and a memory, the memory having a computer program stored thereon; the processor is configured to execute the computer program stored in the memory to implement the method of any one of claims 1-7.

10. A computer storage medium, characterized in that it stores a computer program which, when executed by a processor, implements the method according to any one of claims 1-7.

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