CN113581282B - Vehicle steering control method, device, equipment and storage medium - Google Patents
Vehicle steering control method, device, equipment and storage medium Download PDFInfo
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- CN113581282B CN113581282B CN202111010173.8A CN202111010173A CN113581282B CN 113581282 B CN113581282 B CN 113581282B CN 202111010173 A CN202111010173 A CN 202111010173A CN 113581282 B CN113581282 B CN 113581282B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The application discloses a vehicle steering control method, a vehicle steering control device, vehicle steering control equipment and a storage medium, wherein the method comprises the following steps: acquiring the rotating angular speed of a steering wheel of a target vehicle and the running state data of the target vehicle; determining a driving state of the target vehicle based on the driving state data; when the running state is a target running state and the rotating angular speed is smaller than a preset angular speed threshold value, determining torques corresponding to a plurality of target rotating angles of a steering wheel based on a steering system of a target vehicle and the target rotating direction of the steering wheel; generating a target relation curve based on torques corresponding to a plurality of target rotation angles in the target rotation direction; obtaining the torque symmetry degree of the left and right rotating angles of the steering wheel in the steering system relative to the rotating angle middle position based on the target relation curve and the rotating angle middle position of the steering wheel; steering of the target vehicle is controlled based on the torque symmetry. The scheme of this application can guarantee the vehicle and control the unanimity of turning force when turning to promote the accurate nature of vehicle steering control and the security that the vehicle travel.
Description
Technical Field
The application relates to the technical field of automobile steering, in particular to a method, a device, equipment and a storage medium for controlling vehicle steering.
Background
The application of Electric Power Steering (EPS) is becoming the mainstream of the automobile Steering system technology. The EPS can provide steering assist to the driver according to the steering wheel torque, the steering wheel angle, the vehicle speed, the road surface condition, and the like of the automobile.
However, in the actual production and manufacturing process, due to the problems of tolerance and process precision, the steering system machine itself has a certain left-right asymmetry; meanwhile, in the use process, due to the fact that the air tightness of tires is different, the left tire pressure and the right tire pressure of front wheels are different, and the load of the whole vehicle is unevenly distributed, the left and right asymmetry condition can also exist in the steering process, the steering force required when the vehicle is controlled to steer left and right is inconsistent, and the normal driving of the vehicle is affected. Therefore, it is desirable to provide a more accurate vehicle steering control method.
Disclosure of Invention
The application provides a vehicle steering control method, device, equipment and storage medium, can learn vehicle steering system's moment of torsion symmetry to control the vehicle and turn to, thereby guarantee the unanimity of the power of turning to when turning to about the vehicle, promote vehicle steering control's accuracy and the security that the vehicle travel, this application technical scheme is as follows:
in one aspect, a vehicle steering control method is provided, the method comprising:
acquiring the rotation angular speed of a steering wheel of a target vehicle and the running state data of the target vehicle;
determining a driving state of the target vehicle based on the driving state data;
when the running state is a target running state and the rotating angular speed is smaller than a preset angular speed threshold value, determining torques corresponding to a plurality of target rotating angles of the steering wheel based on a steering system of the target vehicle and the target rotating direction of the steering wheel;
generating a target relation curve based on the torques corresponding to the target rotation angles in the target rotation direction;
obtaining the torque symmetry degree of the left and right rotation angles of the steering wheel in the steering system relative to the rotation angle middle position based on the target relation curve and the rotation angle middle position of the steering wheel;
controlling steering of the target vehicle based on the torque symmetry.
In another aspect, there is provided a vehicle steering control apparatus, the apparatus including:
the data acquisition module is used for acquiring the rotating angular speed of a steering wheel of a target vehicle and the running state data of the target vehicle;
a driving state determination module for determining a driving state of the target vehicle based on the driving state data;
a target steering angle corresponding torque determination module, configured to determine, when the driving state is a target driving state and the rotational angular speed is smaller than a preset angular speed threshold, torques corresponding to a plurality of target steering angles of the steering wheel based on a steering system of the target vehicle and a target rotational direction of the steering wheel;
a target relation curve generating module, configured to generate a target relation curve based on torques corresponding to the plurality of target rotation angles in the target rotation direction;
the torque symmetry degree module is used for obtaining the torque symmetry degree of the left and right corners of the steering wheel relative to the corner middle position in the steering system based on the target relation curve and the corner middle position of the steering wheel;
a steering control module to control steering of the target vehicle based on the torque symmetry.
In another aspect, a vehicle steering control apparatus is provided, the apparatus includes a processor and a memory, where at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded by the processor and executed to implement the vehicle steering control method as described above.
In another aspect, a computer-readable storage medium is provided, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded by a processor and executed to implement the vehicle steering control method as described above.
The vehicle steering control method, the vehicle steering control device, the vehicle steering control equipment and the storage medium have the following technical effects:
by utilizing the technical scheme provided by the application, when the running state of the target vehicle is a horizontal running state and the rotating angular speed of the steering wheel is smaller than the preset angular speed threshold value, the torques corresponding to a plurality of target corners of the steering wheel are determined based on the steering system of the target vehicle and the target rotating direction of the steering wheel, a target relation curve is generated, then the torque symmetry of the left corner and the right corner of the steering wheel in the steering system relative to the corner middle position is obtained based on the target relation curve and the corner middle position of the steering wheel, and the steering of the target vehicle is controlled based on the torque symmetry.
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In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic flow chart diagram illustrating a method for controlling steering of a vehicle according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of generating a target relationship curve based on torques corresponding to a plurality of target rotation angles in the target rotation direction according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a first relationship curve and a second relationship curve provided by an embodiment of the present application;
fig. 4 is a schematic flow chart illustrating a process of obtaining a torque symmetry degree of a left-right turning angle of the steering wheel in the steering system with respect to a steering angle neutral position based on the target relationship curve and the steering angle neutral position of the steering wheel according to an embodiment of the present application;
FIG. 5 is a schematic illustration of torque symmetry provided by an embodiment of the present application;
fig. 6 is a schematic diagram of a vehicle steering control method and device provided by an embodiment of the application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
A vehicle steering control method provided in an embodiment of the present application is described below, and fig. 1 is a schematic flow chart of the vehicle steering control method provided in the embodiment of the present application. It is noted that the present specification provides method steps as described in the examples or flowcharts, but may include more or less steps based on routine or non-inventive efforts. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In actual system or product execution, sequential execution or parallel execution (e.g., parallel processor or multi-threaded environment) may be possible according to the embodiments or methods shown in the figures. Specifically, as shown in fig. 1, the method may include:
s101, the rotating angular speed of the steering wheel of the target vehicle and the running state data of the target vehicle are obtained.
In an embodiment of the present specification, the driving state data may include: longitudinal acceleration, lateral acceleration, vertical acceleration, and horizontal azimuth. In practical application, longitudinal acceleration, transverse acceleration and vertical direction acceleration can be obtained through a vehicle-end gyroscope; the horizontal azimuth angle can be obtained by a vehicle-end horizontal position sensor.
In a particular embodiment, obtaining the rotational angular velocity may include:
1) Acquiring a real-time rotation angle of a steering wheel;
2) And carrying out differential processing on the real-time rotation angle to obtain the rotation angular speed.
Specifically, the current real-time rotation angle can be obtained through an angle torque sensor of the steering system, and the real-time rotation angle is subjected to differential processing to obtain the rotation angular velocity. In the embodiments of the present specification, the steering system may be an electric power steering system.
And S103, determining the running state of the target vehicle based on the running state data.
Specifically, the running state may include a horizontal running state and a non-horizontal running state.
In a specific embodiment, the driving state is determined to be a horizontal driving state when the longitudinal acceleration is less than a preset longitudinal acceleration threshold, the lateral acceleration is less than a preset lateral acceleration threshold, the vertical direction acceleration is less than a preset vertical direction acceleration, and the horizontal azimuth angle is less than a preset angle threshold. The preset longitudinal acceleration threshold, the preset transverse acceleration threshold and the preset vertical direction acceleration can be set after comprehensive consideration of longitudinal acceleration, transverse acceleration and vertical direction acceleration when a large number of sample vehicles are in a horizontal running state in practical application.
And S105, when the running state is a target running state and the turning angular speed is less than a preset angular speed threshold value, determining torques corresponding to a plurality of target turning angles of the steering wheel based on a steering system of the target vehicle and the target turning direction of the steering wheel.
In the embodiment of the present specification, the target running state may be a horizontal running state, and the preset angular velocity may be set in combination with steering wheel angular velocity data when a large number of sample vehicles are in the horizontal running state in practical use. Specifically, when the driving state is a horizontal driving state and the rotational angular speed is smaller than a preset angular speed threshold, the torque corresponding to each target corner is obtained based on a plurality of target corners, wherein the plurality of target corners can be selected by combining relationship characteristics between a large number of sample corners and corresponding sample torques in actual application.
In a specific embodiment, the center of the rotation angle of the steering wheel may be regarded as a 0-degree rotation angle, the left rotation angle of the center of the rotation angle may be regarded as a negative rotation angle, and the right rotation angle of the center of the rotation angle may be regarded as a positive rotation angle. And in the continuous rotation process of the steering wheel, acquiring the torque corresponding to each target rotation angle when the steering wheel rotates to the target rotation angle according to the angle torque sensor.
In some embodiments, the target rotational direction may include: the torque corresponding to the plurality of target rotation angles of the steering wheel may include: specifically, the determining the torques corresponding to the plurality of target steering angles of the steering wheel based on the steering system of the target vehicle and the target turning direction of the steering wheel may include:
determining torques corresponding to a plurality of target rotation angles in the clockwise rotation direction based on the steering system and the clockwise rotation direction;
based on the steering system and the counterclockwise direction, torques corresponding to a plurality of target steering angles in the counterclockwise direction are determined.
It can be seen from the above embodiments that the acquisition of the torques corresponding to a plurality of target rotation angles is performed based on two rotation directions, namely clockwise and counterclockwise, and the accuracy of data sampling is improved.
And S107, generating a target relation curve based on the torques corresponding to a plurality of target rotation angles in the target rotation direction.
In the embodiment of the present specification, the target relationship curve is used to represent a relationship between a steering angle of a steering wheel and a torque of the steering wheel, and specifically, as shown in fig. 2, the generating the target relationship curve based on the torques corresponding to a plurality of target steering angles in the target rotation direction may include:
and S201, generating a target relation broken line based on a plurality of target rotation angles in the target rotation direction and the torque corresponding to each target rotation angle.
Specifically, the target coordinate axis is generated by taking the rotation angle as a horizontal axis and the torque as a vertical axis, and the torque corresponding to each target rotation angle is marked on the target coordinate axis to generate the target relation broken line.
And S203, smoothing the target relation broken line to obtain the target relation curve.
Optionally, the target relation broken line may be fitted by using a target bezier curve based on the number of the target rotation angles and the data processing requirement in practical application, so as to obtain a target relation curve.
In some embodiments, the target relationship curve may include a first relationship curve and a second relationship curve, as shown in fig. 3, fig. 3 is a schematic diagram of the first relationship curve and the second relationship curve provided in the embodiment of the present application, and specifically, the generating the target relationship curve based on the torques corresponding to a plurality of target rotation angles in the target rotation direction may include:
generating a first relation curve based on torques corresponding to a plurality of target rotation angles in the clockwise rotation direction;
the second relational curve is generated based on the torques corresponding to the plurality of target rotation angles in the counterclockwise rotation direction.
And S109, obtaining the torque symmetry degree of the left and right rotation angles of the steering wheel relative to the rotation angle middle position in the steering system based on the target relation curve and the rotation angle middle position of the steering wheel.
In a specific embodiment, as shown in fig. 4, the obtaining a torque symmetry degree of the left-right turning angle of the steering wheel in the steering system with respect to the steering angle neutral position based on the target relationship curve and the steering angle neutral position may include:
s401, according to the same steering wheel angle, performing an average processing on the torque corresponding to the first relation curve and the torque corresponding to the second relation curve to obtain a third relation curve.
Specifically, taking the first relation curve and the second relation curve shown in fig. 3 as an example, based on the torque corresponding to each target rudder angle in the first relation curve and the torque corresponding to each target rudder angle in the second relation curve, the average torque corresponding to each target rudder angle is obtained, and the third relation curve is generated.
And S403, determining a ratio between a torque corresponding to the left turning angle of the steering wheel and a torque corresponding to the right turning angle of the steering wheel in the third relation curve with reference to the turning angle center position.
S405, based on the ratio, generates the torque symmetry.
In an alternative embodiment, the right rotation angle (forward rotation angle) may be used as a reference, the symmetry degree is defined as 1, and a torque symmetry degree curve of the steering system of the target vehicle is obtained according to the left and right rotation angles corresponding to the magnitude of the torque, as shown in fig. 5, where fig. 5 is a schematic diagram of the torque symmetry degree provided by the embodiment of the present application.
In another alternative embodiment, the symmetry degree may be defined as 1 by taking the left rotation angle (negative rotation angle) as a reference, and the torque symmetry degree curve of the steering system of the target vehicle is obtained according to the magnitude of the torque corresponding to the left and right rotation angles.
As can be seen from the above embodiments, on one hand, a third relation curve is obtained based on the average value of the first relation curve and the second relation curve, and the torque symmetry of the steering system is obtained based on the third relation curve and the corner median of the steering wheel, so that the difference in the two rotation directions is comprehensively considered, and the accuracy of the torque symmetry is improved; on the other hand, the torque symmetry of the vehicle steering system is learned without the need of a specific experiment scene, so that the limitation on the method using scene is reduced, and the convenience and universality of the method are improved; on the other hand, the torque symmetry state of the steering system can be obtained in real time aiming at the torque symmetry difference of the steering system caused by larger tolerance, the torque symmetry difference introduced by steering and chassis training, the torque symmetry difference introduced by the difference of various tire pressures in the using process, uneven load distribution and the like, and the universality of the method is improved.
And S111, controlling the steering of the target vehicle based on the torque symmetry.
In practical application, the power-assisted moment when the steering system steers can be compensated based on the torque symmetry, so that the left and right steering forces of the steering system are consistent, and the driving experience of a user is improved.
Specifically, based on the current steering angle and the torque symmetry of the steering wheel, a compensation gain of the power-assisted torque is determined, and the power-assisted torque is subjected to proportional control according to the compensation gain, so that the left and right steering forces of the steering system of the target vehicle are controlled to be consistent.
As can be seen from the foregoing description embodiments, with the technical solutions provided by the embodiments of the present specification, when the driving state of the target vehicle is a horizontal driving state and the rotational angular velocity of the steering wheel is less than the preset angular velocity threshold, based on the steering system of the target vehicle and the target rotational direction of the steering wheel, torques corresponding to a plurality of target steering angles of the steering wheel are determined, and a target relationship curve is generated, and then based on the target relationship curve and the steering angle neutral position of the steering wheel, torque symmetry of left and right steering angles of the steering wheel in the steering system with respect to the steering angle neutral position is obtained, on one hand, after the vehicle is installed, the torque symmetry of the steering system of the vehicle can be learned without a specific experimental scenario, thereby improving convenience of the method; on the other hand, a third relation curve is obtained based on the average value of the first relation curve and the second relation curve, the torque symmetry of the steering system is obtained based on the third relation curve and the corner middle position of the steering wheel, the difference in the two rotation directions is comprehensively considered, and the accuracy of the torque symmetry is improved; on the other hand, the torque symmetry state of the steering system can be obtained in real time aiming at the torque symmetry difference of the steering system caused by larger tolerance, the torque symmetry difference introduced by steering and chassis training, the torque symmetry difference introduced by the difference of various tire pressures in the using process, uneven load distribution and the like, and the universality of the method is improved; on the other hand, the steering of the target vehicle is controlled based on the torque symmetry, and the consistency of steering force when the vehicle steers left and right is ensured, so that the accuracy of vehicle steering control and the safety of vehicle running are improved; on the other hand, stability and comfortableness of driving experience can be improved.
An embodiment of the present application provides a vehicle steering control apparatus, as shown in fig. 6, the apparatus may include:
a data acquisition module 610, configured to acquire a rotation angular velocity of a steering wheel of a target vehicle and driving state data of the target vehicle;
a driving state determination module 620 for determining a driving state of the target vehicle based on the driving state data;
a target steering angle corresponding torque determination module 630, configured to determine torques corresponding to a plurality of target steering angles of the steering wheel based on a steering system of the target vehicle and a target turning direction of the steering wheel when the driving state is a target driving state and the turning angular speed is less than a preset angular speed threshold;
a target relation curve generating module 640, configured to generate a target relation curve based on torques corresponding to the plurality of target rotation angles in the target rotation direction;
a torque symmetry degree module 650, configured to obtain a torque symmetry degree of a left corner and a right corner of the steering wheel in the steering system relative to a corner median of the steering wheel, based on the target relationship curve and the corner median of the steering wheel;
and a steering control module 660 for controlling steering of the target vehicle based on the torque symmetry.
In a specific embodiment, the data obtaining module 610 may include:
a real-time rotation angle acquisition unit for acquiring a real-time rotation angle of a steering wheel;
and the differential processing unit is used for carrying out differential processing on the real-time rotation angle to obtain the rotation angular speed.
In a specific embodiment, the driving state determining module 620 may include:
and the horizontal running state determining unit is used for determining that the running state is the horizontal running state when the longitudinal acceleration is smaller than a preset longitudinal acceleration threshold, the transverse acceleration is smaller than a preset transverse acceleration threshold, the vertical direction acceleration is smaller than a preset vertical direction acceleration, and the horizontal azimuth angle is smaller than a preset angle threshold.
In some embodiments, the target rotational direction may include: the torque corresponding to the plurality of target rotation angles of the steering wheel may include: the torque corresponding to a plurality of target rotation angles in the clockwise direction and the torque corresponding to a plurality of target rotation angles in the counterclockwise direction may include:
a first target corner corresponding torque determination unit configured to determine torques corresponding to a plurality of target corners in a clockwise rotation direction based on a steering system and the clockwise rotation direction;
and a second target rudder angle-corresponding torque determining unit configured to determine torques corresponding to a plurality of target rudder angles in the counterclockwise direction based on the steering system and the counterclockwise direction.
In this embodiment, the target relationship curve generating module 640 may include:
a target relation broken line generating unit for generating a target relation broken line based on a plurality of target rotation angles in the target rotation direction and a torque corresponding to each target rotation angle;
and the smoothing unit is used for smoothing the target relation broken line to obtain the target relation curve.
In some embodiments, the target relationship curve may include a first relationship curve and a second relationship curve, and the target relationship curve generating module 640 may include:
a first relational curve generation unit configured to generate a first relational curve based on torques corresponding to a plurality of target rotation angles in the clockwise rotation direction;
and a second relational curve generation unit configured to generate a second relational curve based on the torques corresponding to the plurality of target rotation angles in the counterclockwise rotation direction.
In a specific embodiment, the torque symmetry module 650 may include:
the mean value processing unit is used for carrying out mean value processing on the corresponding torque in the first relation curve and the corresponding torque in the second relation curve according to the same steering wheel rotation angle to obtain a third relation curve;
a ratio determining unit configured to determine a ratio between a torque corresponding to a left turn angle of the steering wheel and a torque corresponding to a right turn angle of the steering wheel in the third relation curve, based on the turn angle center;
and a torque symmetry degree generating unit for generating the torque symmetry degree based on the ratio.
The embodiment of the application provides a vehicle steering control device, which comprises a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded by the processor and executed to realize the vehicle steering control method provided by the method embodiment.
The memory may be used to store software programs and modules, and the processor may execute various functional applications and data processing by operating the software programs and modules stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs needed by functions and the like; the storage data area may store data created according to the use of the above-described apparatus, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory may also include a memory controller to provide the processor access to the memory.
The method provided by the embodiment of the application can be executed in a vehicle-mounted terminal or a similar operation device, that is, the computer device can comprise the vehicle-mounted terminal or the similar operation device.
The present application further provides a storage medium, where the storage medium may be disposed in a server to store at least one instruction or at least one program for implementing the vehicle steering control method in one of the method embodiments, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the vehicle steering control method provided by the method embodiment.
Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and various media capable of storing program codes.
As can be seen from the above embodiments of the vehicle steering control method, device, equipment, or storage medium provided by the present application, with the technical solution provided by the embodiments of the present specification, when the driving state of the target vehicle is a horizontal driving state and the rotational angular velocity of the steering wheel is less than a preset angular velocity threshold, based on the steering system of the target vehicle and the target rotational direction of the steering wheel, torques corresponding to a plurality of target steering angles of the steering wheel are determined, and a target relationship curve is generated, and then based on the target relationship curve and the steering angle neutral position of the steering wheel, torque symmetry of left and right steering angles of the steering wheel in the steering system with respect to the steering angle neutral position is obtained, on one hand, after the vehicle is installed, torque symmetry of the vehicle steering system can be learned without a specific experimental scenario, and convenience of the method is improved; on the other hand, a third relation curve is obtained based on the average value of the first relation curve and the second relation curve, the torque symmetry of the steering system is obtained based on the third relation curve and the corner middle position of the steering wheel, the difference in the two rotation directions is comprehensively considered, and the accuracy of the torque symmetry is improved; on the other hand, the torque symmetry state of the steering system can be obtained in real time aiming at the torque symmetry difference of the steering system caused by larger tolerance, the torque symmetry difference introduced by steering and chassis training, the torque symmetry difference introduced by the difference of various tire pressures in the using process, uneven load distribution and the like, and the universality of the method is improved; on the other hand, the steering of the target vehicle is controlled based on the torque symmetry, and the consistency of steering force when the vehicle steers left and right is ensured, so that the accuracy of vehicle steering control and the safety of vehicle running are improved; on the other hand, stability and comfortableness of driving experience can be improved.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. 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 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.
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 the other embodiments. In particular, for the apparatus, device and storage medium embodiments, since they are substantially similar to the method embodiments, the description is relatively simple and reference may be made to the partial description of the method embodiments for relevant points.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program to instruct relevant hardware to implement the above program, and the above program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (7)
1. A vehicle steering control method, characterized by comprising:
the method comprises the steps of obtaining the rotating angular speed of a steering wheel of a target vehicle and the running state data of the target vehicle, wherein the running state data comprise longitudinal acceleration, transverse acceleration, vertical acceleration and horizontal azimuth;
when the longitudinal acceleration is smaller than a preset longitudinal acceleration threshold, the transverse acceleration is smaller than a preset transverse acceleration threshold, the vertical direction acceleration is smaller than a preset vertical direction acceleration, and the horizontal azimuth angle is smaller than a preset angle threshold, determining that the running state of the target vehicle is a horizontal running state;
when the running state is the horizontal running state and the rotating angular speed is smaller than a preset angular speed threshold value, determining torques corresponding to a plurality of target rotating angles of the steering wheel based on a steering system of the target vehicle and a target rotating direction of the steering wheel;
generating a target relation broken line based on the plurality of target turning angles and the torque corresponding to each target turning angle in the target rotating direction;
smoothing the target relation broken line to obtain a target relation curve, wherein the target relation curve comprises: a first relationship curve and a second relationship curve;
carrying out mean value processing on the torque corresponding to the first relation curve and the torque corresponding to the second relation curve according to the same steering wheel rotation angle to obtain a third relation curve;
determining a ratio between a torque corresponding to a left turn angle of the steering wheel and a torque corresponding to a right turn angle of the steering wheel in the third relation curve by taking a turn angle center of the steering wheel as a reference;
generating torque symmetry of left and right corners of the steering wheel in the steering system relative to the corner neutral position based on the ratio;
controlling steering of the target vehicle based on the torque symmetry.
2. The method according to claim 1, wherein the target turning direction includes a clockwise turning direction and a counterclockwise turning direction, the torques corresponding to the plurality of target steered angles include torques corresponding to the plurality of target steered angles in the clockwise turning direction and torques corresponding to the plurality of target steered angles in the counterclockwise turning direction, and the determining the torques corresponding to the plurality of target steered angles of the steering wheel based on the steering system of the target vehicle and the target turning direction of the steering wheel comprises:
determining torques corresponding to the plurality of target steering angles in the clockwise rotation direction based on the steering system and the clockwise rotation direction;
determining torques corresponding to the plurality of target steered angles in the counterclockwise direction based on the steering system and the counterclockwise direction.
3. The method of claim 2, further comprising:
generating the first relation curve based on the torque corresponding to the plurality of target rotation angles in the clockwise rotation direction;
and generating the second relation curve based on the torques corresponding to the plurality of target rotation angles in the counterclockwise direction.
4. The method according to any one of claims 1 to 3, wherein the obtaining of the rotational angular velocity of the steering wheel of the target vehicle comprises:
acquiring a real-time rotation angle of the steering wheel;
and carrying out differential processing on the real-time rotation angle to obtain the rotation angular speed.
5. A vehicle steering control apparatus, characterized by comprising:
the system comprises a data acquisition module, a data processing module and a data processing module, wherein the data acquisition module is used for acquiring the rotating angular speed of a steering wheel of a target vehicle and the driving state data of the target vehicle, and the driving state data comprises longitudinal acceleration, transverse acceleration, vertical acceleration and horizontal azimuth;
the horizontal running state determining module is used for determining that the running state of the target vehicle is a horizontal running state when the longitudinal acceleration is smaller than a preset longitudinal acceleration threshold, the transverse acceleration is smaller than a preset transverse acceleration threshold, the vertical direction acceleration is smaller than a preset vertical direction acceleration, and the horizontal azimuth angle is smaller than a preset angle threshold;
a target steering angle corresponding torque determination module, configured to determine, when the driving state is the horizontal driving state and the rotational angular speed is smaller than a preset angular speed threshold, torques corresponding to a plurality of target steering angles of the steering wheel based on a steering system of the target vehicle and a target rotational direction of the steering wheel;
the target relation broken line determining module is used for generating a target relation broken line based on the target rotation directions and the torques corresponding to the target rotation angles;
a target relation curve generating module, configured to smooth the target relation broken line to obtain a target relation curve, where the target relation curve includes: a first relationship curve and a second relationship curve;
the mean value processing module is used for carrying out mean value processing on the torque corresponding to the first relation curve and the torque corresponding to the second relation curve according to the same steering wheel rotation angle to obtain a third relation curve;
a ratio determination module, configured to determine, based on a middle position of a corner of the steering wheel, a ratio between a torque corresponding to a left corner of the steering wheel and a torque corresponding to a right corner of the steering wheel in the third relation curve;
the torque symmetry degree module is used for generating the torque symmetry degree of the left and right rotating angles of the steering wheel in the steering system relative to the middle position of the rotating angle based on the ratio;
and the steering control module is used for controlling the steering of the target vehicle based on the torque symmetry.
6. A vehicle steering control apparatus, characterized by comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to: performing the method of any one of claims 1 to 4.
7. A non-transitory computer readable storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the method of any of claims 1 to 4.
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| US8392063B2 (en) * | 2007-12-06 | 2013-03-05 | Steering Solutions Ip Holding Corporation | Systems and methods for determining an absolute rotational position of a vehicle handwheel |
| DE102010048261A1 (en) * | 2010-10-12 | 2012-04-12 | Volkswagen Ag | Method for tuning a steering wheel return torque and electromechanical motor vehicle steering system |
| KR20180019820A (en) * | 2016-08-17 | 2018-02-27 | 현대자동차주식회사 | Control apparatus and method of motor driven power steering system |
| CN111547128B (en) * | 2020-04-21 | 2022-06-14 | 浙江吉利汽车研究院有限公司 | Neutral position self-learning method and device for electric steering system and storage medium |
| CN112213124B (en) * | 2020-09-28 | 2022-02-15 | 湖北恒隆汽车系统集团有限公司 | Method for detecting overall output efficiency and performance of EPS-SAM subassembly |
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