CN113428220A - Automobile steering system control method and device, electronic equipment and storage medium - Google Patents
Automobile steering system control method and device, electronic equipment and storage medium Download PDFInfo
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- CN113428220A CN113428220A CN202110991610.2A CN202110991610A CN113428220A CN 113428220 A CN113428220 A CN 113428220A CN 202110991610 A CN202110991610 A CN 202110991610A CN 113428220 A CN113428220 A CN 113428220A
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
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- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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Abstract
The present disclosure provides a method and apparatus for controlling an automobile steering system, an electronic device, and a storage medium, the method including: dividing driving intervals according to the vehicle speed according to the dynamic characteristics of vehicle steering; determining the boundary speed of the driving interval according to the motion states of the automobile at different speeds; and determining a steering system control strategy in the driving interval based on the boundary vehicle speed and the vehicle steering parameters. According to the control method and device of the automobile steering system, the electronic device and the storage medium, the decomposition method is designed aiming at the EPS power-assisted characteristic, the design of the steering feeling is put at the initial stage of product development through the design of the steering system control strategy, the purpose of reducing the calibration difficulty is achieved by applying the design to engineering calibration, the workload of the calibration process is reduced, the product development cycle is shortened, and meanwhile the cost is reduced.
Description
Technical Field
The present disclosure relates to the field of automobile steering technologies, and in particular, to a method and an apparatus for controlling an automobile steering system, an electronic device, and a storage medium.
Background
In order to achieve the purpose of enabling an automobile to have good driving feeling and maintain the consistency of driving style, automobile manufacturers usually rely on a related method of engineering calibration at the later stage of product development to perform a large amount of adjustment and correction on a test site to correct various parameters, and the engineering quantity is large, so that the manufacturers need long-time technical accumulation, and the price of the EPS is high.
Disclosure of Invention
In view of the above, an object of the present disclosure is to provide a method and an apparatus for controlling a steering system of an automobile, an electronic device, and a storage medium.
Based on the above purpose, the present disclosure provides a method for controlling a steering system of an automobile, including:
dividing driving intervals according to the vehicle speed according to the dynamic characteristics of vehicle steering, wherein the driving intervals comprise a parking area, a low-speed area and a medium-high speed area;
setting a boundary vehicle speed between the parking area and the low-speed area as a first boundary vehicle speed and setting a boundary vehicle speed between the low-speed area and the medium-high speed area as a second boundary vehicle speed based on the change of the motion state of the automobile in different driving areas;
determining the steering system control strategy based on a steering wheel angle and a steering wheel torque when a vehicle speed is less than or equal to the first boundary vehicle speed,
when the vehicle speed is greater than the first boundary vehicle speed and less than the second boundary vehicle speed, the relationship between the lateral acceleration and the steering wheel moment is
Wherein the content of the first and second substances,
in the case of a lateral acceleration, the acceleration,
in order to obtain a power-assisted gain factor,
in order to achieve a steering wheel torque,
for the equivalent stiffness of the tie rod,
is the longitudinal speed of the vehicle and,
the angular transmission ratio of the steering wheel angle to the front wheel angle,Lin order to provide the wheel base of the automobile,
when the vehicle speed is greater than or equal to the second boundary vehicle speed, the lateral acceleration is in direct proportion to the steering wheel moment.
Further, the driving interval is divided according to the vehicle speed according to the dynamic characteristics of the vehicle steering, and the driving interval comprises a parking area, a low speed area and a medium and high speed area, and comprises:
based on the change of the dynamic response value of the automobile from small to large at different speeds, the driving interval is divided into a parking area, a low-speed area and a medium-high speed area.
Further, when the vehicle speed is less than or equal to the first boundary vehicle speed, determining the steering system control strategy based on the steering wheel angle and the steering wheel torque includes:
in response to the steering wheel torque being less than a first threshold, determining that a steering wheel angle is in a first linear relationship with the steering wheel torque, the steering wheel angle being directly proportional to the steering wheel torque;
determining that the steering wheel angle value is constant in response to the steering wheel torque being greater than or equal to a first threshold value and less than a second threshold value;
in response to the steering wheel torque being greater than the second threshold, a second linear relationship is determined between the steering wheel angle and the steering wheel torque, the steering wheel angle being directly proportional to the steering wheel torque.
Further, the lateral acceleration is proportional to the steering wheel moment, and includes:
in response to determining that the absolute value of the steering wheel torque is less than or equal to a third threshold, the steering wheel torque and the lateral acceleration conform to a third linear relationship, the lateral acceleration being directly proportional to the absolute value of the steering wheel torque;
the steering wheel torque and the lateral acceleration are in a fourth linear relationship in response to determining that the absolute value of the steering wheel torque is greater than the third threshold, the product of the absolute value of the steering wheel torque and the predetermined coefficient being directly proportional to the lateral acceleration.
Based on the same inventive concept, the present disclosure also provides an automobile steering system control device, comprising:
the system comprises an interval setting module, a driving interval setting module and a driving interval setting module, wherein the interval setting module is configured to divide the driving interval according to the vehicle speed according to the dynamic characteristics of the steering of the vehicle, and the driving interval comprises a parking area, a low-speed area and a medium-high speed area;
the boundary vehicle speed determining module is configured to set a boundary vehicle speed between the parking area and the low-speed area as a first boundary vehicle speed and set a boundary vehicle speed between the low-speed area and the middle-high speed area as a second boundary vehicle speed based on the change of the motion state of the automobile in different driving areas;
a steering strategy determination module configured to determine the steering system control strategy based on a steering wheel angle and a steering wheel torque when a vehicle speed is less than or equal to the first boundary vehicle speed,
when the vehicle speed is greater than the first boundary vehicle speed and less than the second boundary vehicle speed, the relationship between the lateral acceleration and the steering wheel moment is
Wherein the content of the first and second substances,
in the case of a lateral acceleration, the acceleration,
in order to obtain a power-assisted gain factor,
in order to achieve a steering wheel torque,
to turn toThe equivalent stiffness of the transverse tie-rods,
is the longitudinal speed of the vehicle and,
for the angular transmission ratio of the steering wheel angle to the front wheel angle,Lin order to provide the wheel base of the automobile,
when the vehicle speed is greater than or equal to the second boundary vehicle speed, the lateral acceleration is in direct proportion to the steering wheel moment.
Based on the same inventive concept, the present disclosure also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable by the processor, wherein the processor implements the method as described above when executing the computer program.
Based on the same inventive concept, the present disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method as described above.
As can be seen from the above, the method and apparatus for controlling the steering system of the automobile, the electronic device, and the storage medium provided by the present disclosure are designed to decompose the EPS assist characteristic, divide driving sections according to the vehicle speed, design different steering system control strategies for different driving sections, and place the design of the steering feeling at the initial stage of product development, so as to achieve the purpose of reducing the calibration difficulty by applying the design in engineering calibration, reduce the workload in the calibration process, shorten the product development cycle, and reduce the cost at the same time.
Drawings
In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the drawings needed to be used in the description of the embodiments or related technologies are briefly introduced below, and it is obvious that the drawings in the following description are only embodiments of the present disclosure, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a control method for a steering system of an automobile according to an embodiment of the present disclosure;
FIG. 2 is a schematic illustration of a driving interval division of an embodiment of the present disclosure;
FIG. 3 is a schematic illustration of a steering system control strategy for a parking area according to an embodiment of the present disclosure;
FIG. 4 is a schematic representation of the predetermined coefficient K as a function of vehicle speed in accordance with an embodiment of the present disclosure;
FIG. 5 is a schematic illustration of a steering system control strategy for a medium and high speed region in an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a control device of an automobile steering system according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure.
Detailed Description
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
It is to be noted that technical terms or scientific terms used in the embodiments of the present disclosure should have a general meaning as understood by those having ordinary skill in the art to which the present disclosure belongs, unless otherwise defined. The use of "first," "second," and similar terms in the embodiments of the disclosure is not intended to indicate any order, quantity, or importance, but rather to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
Referring to fig. 1, the present disclosure provides a method for controlling a steering system of an automobile, including the steps of:
and S101, dividing driving intervals according to the vehicle speed according to the dynamic characteristics of vehicle steering, wherein the driving intervals comprise a parking area, a low-speed area and a medium-high speed area.
In particular, the response to the dynamics of the steering motion is different when the vehicle is at different speeds. Under the condition of high vehicle speed, the dynamic response of the automobile is obvious, the slip angle of the wheels is large, and the lateral acceleration value is also large. When the vehicle speed becomes relatively low, the motion is according to the ackermann geometry. When the vehicle speed becomes extremely low, static friction between the ground and the tires is involved, and dynamic response is hardly involved. Therefore, the driving section may be divided according to the vehicle speed according to the driving dynamics of the vehicle, and in the present embodiment, the driving section is divided into a parking area, a low speed area, and a medium and high speed area.
And S102, determining the boundary speed of the driving section according to the motion states of the automobile at different speeds.
Specifically, the motion state of the automobile is different under different automobile speeds, when the automobile speed is very low, relative sliding does not occur between the tire and the ground, the automobile is in a static friction state, almost no speed exists at the wheel center, the tire body is mainly subjected to elastic deformation, only when the automobile speed reaches the boundary automobile speed, the bonding state between the ground and the tire is broken, the relative sliding is generated, the static friction at the beginning is changed into dynamic friction, and the automobile speed critical point generating the motion change is set as the boundary automobile speed at the beginning of a low-speed area. The vehicle speed is further increased, the dynamics of the vehicle is still not obvious correspondingly before reaching the critical value of the medium and high vehicle speeds, the motion of the vehicle conforms to Ackermann geometry, the critical value is set as the boundary vehicle speed of the low-speed area and the medium and high-speed area, and the dynamics of the vehicle is obvious correspondingly after the vehicle speed exceeds the critical vehicle speed. Boundary vehicle speed that will generally be the beginning of low speed zoneV b-dThe speed of the boundary between the low-speed area and the middle-high speed area is set to be about 5km/h through experimental verificationV d-zIs 20 km/h.
And S103, determining a steering system control strategy in the driving interval based on the boundary vehicle speed and the vehicle steering parameters. After the boundary vehicle speed is determined, a steering strategy can be set according to the steering parameters when the vehicle is steered. Due to the different vehicle speeds, the corresponding relationship between the motion state of the vehicle and each steering parameter is also different. In order to provide consistent driving feeling for a driver, corresponding steering parameter corresponding relations are designed for different motion states of a vehicle in different driving intervals, and the driving feeling consistency in the whole driving process is determined by adjusting the steering parameters.
Referring to fig. 2, in some embodiments, the dividing driving intervals according to the vehicle speed according to the dynamic characteristics of the vehicle steering includes: based on the change of the dynamic response value of the automobile from small to large at different speeds, the driving interval is divided into a parking area, a low-speed area and a medium-high speed area.
In this embodiment, the driving area is divided into three parts, namely a parking area, a low speed area and a medium and high speed area, corresponding to different vehicle speeds of the vehicle. The driving interval is divided according to the vehicle speed, when the vehicle speed is very low, the static friction state is kept between the tire and the ground, the response of the operation dynamics is hardly involved, the vehicle dynamics response value is zero, and the driving interval is defined as a parking area, and the vehicle dynamics response value is zero. When the vehicle speed is lower and within a certain range along with the increase of the vehicle speed, the vehicle dynamics response value is known to be smaller than a preset boundary vehicle speed threshold value through vehicle dynamics tests, the vehicle speed range is defined as a low-speed area, the vehicle speed is continuously increased, the vehicle dynamics response value exceeds the boundary vehicle speed threshold value, and the vehicle speed range is defined as a medium-high speed area. The boundary vehicle speed threshold value can be set according to the actual condition and the requirement of the vehicle, and is not limited by a specific numerical value.
In some embodiments, the determining the boundary vehicle speed of the driving section according to the motion state of the automobile at different vehicle speeds, wherein the boundary vehicle speed comprises a first boundary vehicle speed and a second boundary vehicle speed, comprises: based on the change of the motion state of the automobile in different driving regions, the boundary speed between the parking region and the low-speed region is a first boundary speed, and the boundary speed between the low-speed region and the medium-high speed region is a second boundary speed. Setting a boundary vehicle speed between a parking area and the low speed areaV b-dIs firstBoundary vehicle speed, boundary vehicle speed of low speed region and middle-high speed regionV d-zIs the second boundary vehicle speed.
In some embodiments, when the boundary vehicle speed includes a first boundary vehicle speed, the first boundary vehicle speed refers to a boundary vehicle speed between the parking area and the low speed area, and the driving area is a parking area, the determining a steering strategy in the driving area based on the boundary vehicle speed and the vehicle steering parameter includes: when the vehicle speed is less than or equal to the first boundary vehicle speed, determining a steering system control strategy based on the steering wheel angle and the steering wheel torque, specifically,
in response to the steering wheel torque being less than a first threshold, determining that a steering wheel angle is in a first linear relationship with the steering wheel torque, the steering wheel angle being directly proportional to the steering wheel torque;
determining that the steering wheel angle value is constant in response to the steering wheel torque being greater than or equal to a first threshold value and less than a second threshold value;
in response to the steering wheel torque being greater than the second threshold, a second linear relationship is determined between the steering wheel angle and the steering wheel torque, the steering wheel angle being directly proportional to the steering wheel torque.
Specifically, when the automobile is in a parking area, the automobile speed is very small, the tire and the ground do not slip, a static friction state is maintained between the tire and the ground, and the response of the operation dynamics is hardly involved, so that the first boundary automobile speed is used in the whole parking areaV b-dTo represent the entire parking area, the vehicle speed is the first boundary vehicle speed when designingV b-dThe time-steering strategy is consistent with the time at zero vehicle speed. Because the speed of the vehicle is almost zero in the parking area, the driver can only feel the rotating torque when the steering wheel is rotated, namely the torque of the steering wheel, and only the relation between the rotating angle of the steering wheel and the torque of the steering wheel needs to be set in the parking area. The final steering strategy is set as shown in fig. 3, in which the dotted line represents the corresponding relationship between the steering wheel torque and the steering wheel angle, and in order to prevent the torque from generating a sudden change phenomenon with the change of the steering angle, the dotted line in the figure is smoothed to obtain a solid curve. The curve in the figure represents the relationship between the steering wheel torque and the steering wheel angle when the steering wheel torque is smaller thanWhen the steering wheel torque is larger than or equal to the first threshold value and smaller than the second threshold value, the numerical value of the steering wheel angle is kept constant, when the steering wheel torque is larger than the second threshold value, the steering wheel angle and the steering wheel torque are in a second linear relation, and the steering wheel angle is increased along with the increase of the steering wheel torque. In this embodiment, the first threshold value is set to-2N · m, and the second threshold value is set to 2N · m. In other embodiments, the setting of the first threshold and the second threshold may be adjusted according to specific vehicle conditions, and is not limited herein.
In some embodiments, when the boundary vehicle speed includes a first boundary vehicle speed and a second boundary vehicle speed, the first boundary vehicle speed refers to a boundary vehicle speed between the parking area and the low speed area, the second boundary vehicle speed refers to a boundary vehicle speed between the low speed area and the medium and high speed area, and the driving area is a low speed area, the determining a steering system control strategy in the driving area based on the boundary vehicle speed and the vehicle steering parameter includes:
when the vehicle speed is greater than the first boundary vehicle speed and less than the second boundary vehicle speed, if the vehicle speed is constant, the lateral acceleration is in direct proportion to the steering wheel torque.
Specifically, in the low speed region, the dynamic response of the vehicle is still not significant, and the vehicle speed increases to the second boundary vehicle speedV d-zWhen the turning radius determined by the ackermann geometry and the turning radius determined by the dynamics are considered equal, i.e. the vehicle speed is considered equal at the first demarcation pointV b-dSpeed of vehicle at second boundaryV d-zThe motion of the vehicle conforms to Ackerman geometry, and the steering wheel angle of the automobile
In inverse proportion to the magnitude of the turning radius R, i.e.
Wherein，
For the angular transmission ratio of the steering wheel angle to the front wheel angle,Lfor the wheel base of the automobile, in a low-speed region, the following kinematics can be known:
wherein the content of the first and second substances,
is the longitudinal speed of the vehicle and,
the lateral acceleration of the vehicle is equivalent to a steady-state freedom degree model, and the steering system meets the following requirements when steering power assistance is applied:
wherein the content of the first and second substances,
in order to achieve a steering wheel torque,
for the equivalent stiffness of the tie rod,
for the power gain coefficient, the design of the steering strategy in the whole low speed region can be obtained by the following formulas (1), (2) and (3):
from the equation (4), in the low speed region, the steering wheel torque
And lateral acceleration
Proportional to each other, determines the longitudinal speed of the vehicle
Arbitrarily given a lateral acceleration
By determining the steering wheel moment
Value of (d), longitudinal speed of vehicle
When varied, steering wheel moment
And lateral acceleration
Is simultaneously dependent on the longitudinal speed
Is varied, the faster the longitudinal speed, a lateral acceleration is given
Time and steering wheel moment
The smaller the value of (A), i.e. the longitudinal speed compared to the lower longitudinal speed
The larger the value, the smaller the steering wheel torque is provided to the vehicle
The same lateral acceleration can be achieved
。
In some embodiments, when the boundary vehicle speed includes a second boundary vehicle speed, the second boundary vehicle speed refers to a boundary vehicle speed between the low speed zone and the medium-high speed zone, and the driving zone is a medium-high speed zone, the determining a steering system control strategy in the driving zone based on the boundary vehicle speed and the vehicle steering parameter includes:
when the vehicle speed is greater than or equal to the second boundary vehicle speed, the lateral acceleration is in direct proportion to the steering wheel moment.
In some embodiments, the lateral acceleration is proportional to the steering wheel moment, including:
in response to determining that the absolute value of the steering wheel torque is less than or equal to a third threshold, the steering wheel torque and the lateral acceleration conform to a third linear relationship, the lateral acceleration being directly proportional to the absolute value of the steering wheel torque;
the steering wheel torque and the lateral acceleration are in a fourth linear relationship in response to determining that the absolute value of the steering wheel torque is greater than the third threshold, the product of the absolute value of the steering wheel torque and the predetermined coefficient being directly proportional to the lateral acceleration.
In particular, the steering dynamics response of the vehicle is relatively pronounced when the vehicle is in the medium to high speed range, the steering wheel torque being such as to provide the driver with a consistent driving feel
And lateral acceleration
A linear relationship should be maintained between them. In addition, when the vehicle is in a middle-high speed region, the steering wheel moment of a steering central region
Less than 1N · m, the driver's feeling of his steering wheel torque being not clearObviously, the steering system has partial self-aligning capability and can be repaired in time. According to steering wheel moment
Change of value of (a) will turn the wheel moment
With lateral acceleration
The linear relationship of (a) is divided into a third linear relationship and a fourth linear relationship, and in the present embodiment, the third threshold value is set to 1N · m when the steering wheel torque is
When the absolute value of (A) is less than or equal to 1N · m, the steering wheel torque
With lateral acceleration
According to a third linear relation
When steering wheel torque
When the absolute value of (A) is greater than 1N · m, the steering wheel torque
With lateral acceleration
Conforming to a fourth linear relationship
Summarized as follows
Where K is a predetermined coefficient, and the value of K varies according to the speed variation. The embodiment aims at the comfortable style, determines the K value through a large number of experiments, and as a result, as shown in fig. 4, the corresponding K value can be determined according to the vehicle speed, for example, 90km/h, the corresponding K value is found in fig. 4, and then the steering wheel moment measured by the sensor is used for determining the steering wheel moment
Substituting into equation (5), the lateral acceleration is obtained
Thereby obtaining steering wheel torque
And lateral acceleration
I.e., the vehicle steering strategy in the middle and high speed region, as shown in fig. 5.
It should be noted that the method of the embodiments of the present disclosure may be executed by a single device, such as a computer or a server. The method of the embodiment can also be applied to a distributed scene and completed by the mutual cooperation of a plurality of devices. In such a distributed scenario, one of the devices may only perform one or more steps of the method of the embodiments of the present disclosure, and the devices may interact with each other to complete the method.
It should be noted that the above describes some embodiments of the disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments described above 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 also be possible or may be advantageous.
Based on the same inventive concept, the invention also provides a control device of the automobile steering system, which corresponds to the method of any embodiment.
Referring to fig. 6, the steering system control apparatus for the automobile includes:
the driving method comprises the following steps that an interval setting module 601 is configured to divide driving intervals according to the vehicle speed according to the dynamic characteristics of vehicle steering, wherein the driving intervals comprise a parking area, a low speed area and a medium and high speed area;
a boundary vehicle speed determination module 602 configured to set a boundary vehicle speed between the parking area and the low speed area as a first boundary vehicle speed and set a boundary vehicle speed between the low speed area and the medium-high speed area as a second boundary vehicle speed based on a change of a motion state of the vehicle in different driving intervals;
a steering strategy determination module 603 configured to determine the steering system control strategy based on a steering wheel angle and a steering wheel torque when a vehicle speed is less than or equal to the first boundary vehicle speed,
when the vehicle speed is greater than the first boundary vehicle speed and less than the second boundary vehicle speed, the relationship between the lateral acceleration and the steering wheel moment is
Wherein the content of the first and second substances,
in the case of a lateral acceleration, the acceleration,
in order to obtain a power-assisted gain factor,
in order to achieve a steering wheel torque,
being tie rodsThe equivalent stiffness of the steel is obtained by the following steps,
is the longitudinal speed of the vehicle and,
for the angular transmission ratio of the steering wheel angle to the front wheel angle,Lin order to provide the wheel base of the automobile,
when the vehicle speed is greater than or equal to the second boundary vehicle speed, the lateral acceleration is in direct proportion to the steering wheel moment.
For convenience of description, the above devices are described as being divided into various modules by functions, and are described separately. Of course, the functionality of the various modules may be implemented in the same one or more software and/or hardware implementations of the present disclosure.
The device of the above embodiment is used for implementing a corresponding method for controlling a steering system of an automobile in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.
Based on the same inventive concept, corresponding to the method of any embodiment described above, the present disclosure further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the program, the method for controlling the steering system of the vehicle according to any embodiment described above is implemented.
Fig. 7 is a schematic diagram illustrating a more specific hardware structure of an electronic device according to this embodiment, where the electronic device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein the processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 are communicatively coupled to each other within the device via bus 1050.
The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solutions provided in the embodiments of the present disclosure.
The Memory 1020 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, or the like. The memory 1020 may store an operating system and other application programs, and when the technical solution provided by the embodiments of the present specification is implemented by software or firmware, the relevant program codes are stored in the memory 1020 and called to be executed by the processor 1010.
The input/output interface 1030 is used for connecting an input/output module to input and output information. The input/output module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.
The communication interface 1040 is used for connecting a communication module (not shown in the drawings) to implement communication interaction between the present apparatus and other apparatuses. The communication module can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, Bluetooth and the like).
It should be noted that although the above-mentioned device only shows the processor 1010, the memory 1020, the input/output interface 1030, the communication interface 1040 and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, those skilled in the art will appreciate that the above-described apparatus may also include only those components necessary to implement the embodiments of the present description, and not necessarily all of the components shown in the figures.
The electronic device of the above embodiment is used to implement a corresponding method for controlling a steering system of an automobile in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.
Based on the same inventive concept, corresponding to any of the above-described embodiment methods, the present disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute an automobile steering system control method according to any of the above-described embodiments.
Computer-readable media of the present embodiments, 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 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.
The computer instructions stored in the storage medium of the foregoing embodiment are used to enable the computer to execute a method for controlling a steering system of an automobile as described in any of the foregoing embodiments, and have the beneficial effects of corresponding method embodiments, which are not described herein again.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the idea of the present disclosure, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of brevity.
In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the provided figures for simplicity of illustration and discussion, and so as not to obscure the embodiments of the disclosure. Furthermore, devices may be shown in block diagram form in order to avoid obscuring embodiments of the present disclosure, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the embodiments of the present disclosure are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that the embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the discussed embodiments.
The disclosed embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalents, improvements, and the like that may be made within the spirit and principles of the embodiments of the disclosure are intended to be included within the scope of the disclosure.
Claims (7)
1. A method of controlling a steering system of an automobile, comprising:
dividing driving intervals according to the vehicle speed according to the dynamic characteristics of vehicle steering, wherein the driving intervals comprise a parking area, a low-speed area and a medium-high speed area;
setting a boundary vehicle speed between the parking area and the low-speed area as a first boundary vehicle speed and setting a boundary vehicle speed between the low-speed area and the medium-high speed area as a second boundary vehicle speed based on the change of the motion state of the automobile in different driving areas;
determining the steering system control strategy based on a steering wheel angle and a steering wheel torque when a vehicle speed is less than or equal to the first boundary vehicle speed,
when the vehicle speed is greater than the first boundary vehicle speed and less than the second boundary vehicle speed, the relationship between the lateral acceleration and the steering wheel moment is
Wherein the content of the first and second substances,
in the case of a lateral acceleration, the acceleration,
in order to obtain a power-assisted gain factor,
in order to achieve a steering wheel torque,
for the equivalent stiffness of the tie rod,
is the longitudinal speed of the vehicle and,
for the angular transmission ratio of the steering wheel angle to the front wheel angle,Lin order to provide the wheel base of the automobile,
when the vehicle speed is greater than or equal to the second boundary vehicle speed, the lateral acceleration is in direct proportion to the steering wheel moment.
2. The method of claim 1, wherein the dividing driving intervals according to the vehicle speed according to the dynamic characteristics of the vehicle steering, the driving intervals including a parking area, a low speed area and a medium and high speed area, comprises:
based on the change of the dynamic response value of the automobile from small to large at different speeds, the driving interval is divided into a parking area, a low-speed area and a medium-high speed area.
3. The method of claim 1, wherein determining the steering system control strategy based on steering wheel angle and steering wheel torque when vehicle speed is less than or equal to the first boundary vehicle speed comprises:
in response to the steering wheel torque being less than a first threshold, determining that a steering wheel angle is in a first linear relationship with the steering wheel torque, the steering wheel angle being directly proportional to the steering wheel torque;
determining that the steering wheel angle value is constant in response to the steering wheel torque being greater than or equal to a first threshold value and less than a second threshold value;
in response to the steering wheel torque being greater than the second threshold, a second linear relationship is determined between the steering wheel angle and the steering wheel torque, the steering wheel angle being directly proportional to the steering wheel torque.
4. The method of claim 1, the lateral acceleration being proportional to a steering wheel moment, comprising:
in response to determining that the absolute value of the steering wheel torque is less than or equal to a third threshold, the steering wheel torque and the lateral acceleration conform to a third linear relationship, the lateral acceleration being directly proportional to the absolute value of the steering wheel torque;
the steering wheel torque and the lateral acceleration are in a fourth linear relationship in response to determining that the absolute value of the steering wheel torque is greater than the third threshold, the product of the absolute value of the steering wheel torque and the predetermined coefficient being directly proportional to the lateral acceleration.
5. An automotive steering system control device comprising:
the system comprises an interval setting module, a driving interval setting module and a driving interval setting module, wherein the interval setting module is configured to divide the driving interval according to the vehicle speed according to the dynamic characteristics of the steering of the vehicle, and the driving interval comprises a parking area, a low-speed area and a medium-high speed area;
the boundary vehicle speed determining module is configured to set a boundary vehicle speed between the parking area and the low-speed area as a first boundary vehicle speed and set a boundary vehicle speed between the low-speed area and the middle-high speed area as a second boundary vehicle speed based on the change of the motion state of the automobile in different driving areas;
a steering strategy determination module configured to determine the steering system control strategy based on a steering wheel angle and a steering wheel torque when a vehicle speed is less than or equal to the first boundary vehicle speed,
when the vehicle speed is greater than the first boundary vehicle speed and less than the second boundary vehicle speed, the relationship between the lateral acceleration and the steering wheel moment is
Wherein the content of the first and second substances,
in the case of a lateral acceleration, the acceleration,
in order to obtain a power-assisted gain factor,
in order to achieve a steering wheel torque,
for the equivalent stiffness of the tie rod,
is the longitudinal speed of the vehicle and,
for the angular transmission ratio of the steering wheel angle to the front wheel angle,Lin order to provide the wheel base of the automobile,
when the vehicle speed is greater than or equal to the second boundary vehicle speed, the lateral acceleration is in direct proportion to the steering wheel moment.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable by the processor, the processor implementing the method of any one of claims 1 to 4 when executing the computer program.
7. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1-4.
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