CN113619679B - Reversing tracking method and device for electric automobile, storage medium and terminal - Google Patents
Reversing tracking method and device for electric automobile, storage medium and terminal Download PDFInfo
- Publication number
- CN113619679B CN113619679B CN202110992228.3A CN202110992228A CN113619679B CN 113619679 B CN113619679 B CN 113619679B CN 202110992228 A CN202110992228 A CN 202110992228A CN 113619679 B CN113619679 B CN 113619679B
- Authority
- CN
- China
- Prior art keywords
- array
- reversing
- rotation angle
- speed
- rotating speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
-
- 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
-
- 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
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention relates to the technical field of track tracking, and provides a reversing tracking method, a reversing tracking device, a storage medium and a terminal of an electric automobile, wherein the method comprises the following steps: acquiring a forward rotation angle array, a forward rotation speed array and a forward driving distance of an electric power steering system; determining a corner fitting function and a rotating speed fitting function according to the forward rotating angle array, the forward rotating speed array and the forward driving distance; determining the current reversing driving distance of the motor according to the reversing output shaft rotating speed signal; and determining a corner recorded value of the electric power steering system according to the corner fitting function and the reversing driving distance, and carrying out dynamic precision compensation on the corner of the electric power steering system to determine a corner control target value of the electric power steering system. The method of the invention realizes tracking by only using the original driving motor rotation speed signal of the electric vehicle, the rotation angle and rotation speed of the electric power steering, gear, vehicle speed and other signals, and is simple and low in cost.
Description
Technical Field
The invention relates to the technical field of track tracking, in particular to a reversing tracking method and device for an electric automobile, a storage medium and a terminal.
Background
In the intelligent driving field, a track generation and tracking algorithm is mainly applied to the functional fields of lane keeping, automatic parking, automatic driving and the like, wherein the track generation is mainly dependent on information input assistance of external sensors such as cameras, ultrasonic radars, GPS (global positioning system), wheel speed sensors and the like, for example, the lane keeping function is to determine the deviation between the center of a lane and the current position of a vehicle by utilizing a camera image recognition technology, so as to determine the starting point and the end point of the vehicle track; the automatic parking function requires a camera or an ultrasonic radar to identify a target point to be parked, and simultaneously determines the current position and the course of the vehicle according to chassis information, so as to determine the starting point and the ending point of the track of the vehicle; and the high-level automatic driving technology is more dependent on a high-precision GPS and corresponding data fusion technology to determine the real-time position of the vehicle.
However, in the conventional technology, at least one sensor information input means such as a camera, a radar, a wheel speed sensor or a GPS is required, so that the cost is high and the algorithm is complex; and the traditional technology is mostly used for the forward running working condition or the parking working condition of the vehicle, and the reversing auxiliary field is rarely applied.
Disclosure of Invention
In order to solve at least one technical problem, the invention provides a reversing tracking method, a reversing tracking device, a storage medium and a terminal of an electric automobile, which are realized by the following technical scheme:
the first aspect of the invention provides a reversing tracking method of an electric automobile, which comprises the following steps:
acquiring a forward rotation angle array, a forward rotation speed array and a forward driving distance of an electric power steering system;
determining a corner fitting function according to the forward corner array and the forward running distance, and determining a rotating speed fitting function according to the forward rotating speed array and the forward running distance;
acquiring a current reversing speed, and if the current reversing speed is smaller than a first preset value, acquiring a current reversing output shaft rotating speed signal of a driving motor;
determining the current reversing driving distance of the driving motor according to the reversing output shaft rotating speed signal;
and determining a corner record value of the electric power steering system according to the corner fitting function and the reversing driving distance, and carrying out dynamic precision compensation on the corner of the electric power steering system according to the rotating speed fitting function and the current driving distance so as to determine a corner control target value of the electric power steering system.
In some possible embodiments, the method further comprises:
when an electric automobile is in forward running, detecting the current forward running speed of the electric automobile, and if the current forward running speed is smaller than a second preset value, acquiring the current forward output shaft rotating speed of the driving motor;
determining the current forward running distance of the driving motor according to the rotating speed of the forward output shaft;
if the increasing interval value of the forward driving distance reaches a third preset value, acquiring a rotation angle value and a rotation speed value of the electric power steering system;
and respectively storing the rotation angle value and the rotation speed value into a forward rotation angle array and a forward rotation speed array.
In some possible embodiments, the storing the rotation angle value and the rotation speed value in a forward rotation angle array and a forward rotation speed array, respectively, includes:
judging the number of the rotation angle values in the forward rotation angle array and the number of the rotation speed values in the forward rotation speed array;
and if the number of the rotation angle values or the number of the rotation speed values is larger than a third preset value, the rotation angle values to be stored or the rotation speed values to be stored are sequentially covered from the first element of the forward rotation angle array or the first element of the forward rotation speed array.
In some possible embodiments, before the acquiring the forward rotation angle array, the forward rotation speed array and the forward travel distance of the electric power steering system, the method further includes:
and responding to the reversing tracking auxiliary function request, determining that the current speed of the electric automobile is smaller than a first preset value, and determining that the gear of the electric automobile is a reversing gear.
In some possible embodiments, the determining the corner fitting function according to the forward corner array and the forward travel distance includes:
the forward rotation angle arrays are arranged in a reverse order to obtain reverse order forward rotation angle arrays;
and carrying out interpolation continuous processing on the reverse sequence forward rotation angle array and the forward driving distance to obtain a rotation angle fitting function.
In some possible embodiments, the determining a rotation speed fitting function according to the forward rotation speed array and the forward travel distance includes:
the forward rotation speed arrays are arranged in a reverse order to obtain reverse order forward rotation speed arrays;
and carrying out interpolation continuous processing on the reverse sequence forward rotating speed array and the forward driving distance to obtain a rotating speed fitting function.
In some possible embodiments, the determining the current reverse running distance of the driving motor according to the reverse output shaft rotation speed signal includes:
and carrying out integral operation on the reversing output shaft rotating speed signal to determine the current reversing driving distance of the driving motor.
In some possible embodiments, the method further comprises performing reverse according to the rotation angle control target value.
A second aspect of the present invention proposes a reverse tracking device for an electric vehicle, the device comprising:
the data acquisition module is used for acquiring a forward rotation angle array, a forward rotation speed array and a forward driving distance of the electric power steering system;
the fitting function construction module is used for determining a corner fitting function according to the forward rotation angle array and the forward running distance, and determining a rotation speed fitting function according to the forward rotation speed array and the forward running distance;
the output shaft rotating speed acquisition module is used for acquiring the current reversing speed, and acquiring a current reversing output shaft rotating speed signal of the driving motor if the current reversing speed is smaller than a first preset value;
the reversing driving distance determining module is used for determining the current reversing driving distance of the driving motor according to the reversing output shaft rotating speed signal;
and the turning angle control target value determining module is used for determining a turning angle record value of the electric power steering system according to the turning angle fitting function and the reversing driving distance, and dynamically compensating the turning angle of the electric power steering system according to the turning angle fitting function and the current driving distance so as to determine the turning angle control target value of the electric power steering system.
The invention also provides a storage medium, on which a computer program is stored, which when being executed by a processor, implements the electric vehicle reversing tracking method as described above.
The invention also provides a terminal comprising one or more processors and a memory. A memory coupled to the processor for storing one or more programs; and when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the electric vehicle reversing tracking method.
By adopting the technical scheme, the reversing tracking method and device for the electric automobile have the following beneficial effects:
the method has practical value under the working conditions that the driver cannot turn around and need the original road to return back, such as narrow and identical, parking lot vehicle searching and the like, and does not depend on a special sensor, and the tracking function is realized only by using the original driving motor rotation speed signal of the electric vehicle, the rotation angle and signals of the rotation speed, the gear, the vehicle speed and the like of an electric power steering system (EPS), and the cost is low. In addition, the method can restore the track within a certain distance of the vehicle by recording the corresponding relation between the running distance of the driving motor of the vehicle and the EPS rotation angle and the rotation speed without referring to the direct track of the vehicle, and is simple and easy to realize.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a reversing tracking method of an electric automobile according to an embodiment of the present invention;
FIG. 2 is a flow chart of providing data preparation for forward travel of a vehicle in accordance with an embodiment of the present invention;
fig. 3 is a structural diagram of a reversing and tracking device of an electric automobile according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a computer terminal device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the several embodiments provided in this application, the described system embodiments are merely illustrative, such as the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, such as multiple modules or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interface, module or unit indirect coupling or communication connection, electrical or other form.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated units may be implemented in hardware or in software functional units.
The first aspect of the present invention proposes a reversing tracking method for an electric vehicle, as shown in fig. 1, the method includes:
s101, acquiring a forward rotation angle array, a forward rotation speed array and a forward driving distance of an electric power steering system;
when a driver has a requirement of a reversing tracking auxiliary function, a preset function key is pressed, a reversing tracking auxiliary function request is sent, if the vehicle is stopped currently and a gear is a reverse gear (R gear) and the like and meets a function activation condition, a forward rotating speed array and a forward rotating angle array of an Electric Power Steering (EPS) during forward running are obtained, and a forward running distance of an output shaft of a driving motor during forward running of the vehicle is obtained;
s102, determining a corner fitting function according to the forward corner array and the forward driving distance, and determining a rotating speed fitting function according to the forward rotating speed array and the forward driving distance;
the method comprises the steps of performing reverse sequence sequencing on a recorded forward rotating speed array and data elements in a forward rotating angle array of an Electric Power Steering (EPS), wherein at the moment, a forward running end point is a running start point of a reversing tracking auxiliary function, performing interpolation continuous processing on intervals between the forward rotating angle array and a forward running distance after the reversing, and obtaining a rotating angle fitting function of a reversing driving motor of a vehicle and the EPS; interpolation continuous processing is carried out on the intervals between the forward rotation speed array and the forward running distance after the description, and a rotation speed fitting function of the running mileage of the reversing driving motor of the vehicle and the EPS can be obtained;
s103, acquiring a current reversing speed, and if the current reversing speed is smaller than a first preset value, acquiring a current reversing output shaft rotating speed signal of a driving motor;
acquiring the reversing speed of a current vehicle, and if the current reversing speed is greater than or equal to a first preset value, exiting the reversing tracking auxiliary function, and taking over reversing by a driver; if the current reversing speed is smaller than a first preset value, acquiring a rotating speed signal of an output shaft of a driving motor in real time;
s104, determining the current reversing driving distance of the driving motor according to the reversing output shaft rotating speed signal;
integrating the rotation speed signal of the current driving motor of the vehicle to obtain the reversing driving distance of the output shaft of the driving motor under the current reversing working condition;
s105, determining a corner record value of the electric power steering system according to the corner fitting function and the reversing driving distance, and carrying out dynamic precision compensation on the corner of the electric power steering system according to the rotating speed fitting function and the current driving distance so as to determine a corner control target value of the electric power steering system.
Finding out the rotation angle which the current EPS should reach through the rotation angle fitting function and the reversing driving distance, finding out the rotation speed of the current EPS according to the rotation speed fitting function, carrying out dynamic precision compensation on the rotation angle value, and then outputting a rotation angle control target value of the EPS;
the method does not depend on a special sensor, and only utilizes the original driving motor rotation speed signal, EPS (electric power steering) rotation angle and signals of rotation speed, gear, vehicle speed and the like of the electric vehicle to realize the tracking function, thus being easy to realize and low in cost.
Referring to fig. 2, in one embodiment, the method further comprises:
s201, when an electric automobile runs forward, detecting the current forward running speed of the electric automobile, and if the current forward running speed is smaller than a second preset value, acquiring the current forward output shaft rotating speed of the driving motor;
s202, determining the current forward running distance of the driving motor according to the rotating speed of the forward output shaft;
s203, if the increasing interval value of the forward driving distance reaches a third preset value, acquiring a rotation angle value and a rotation speed value of the electric power steering system;
s204, respectively storing the rotation angle value and the rotation speed value into a forward rotation angle array and a forward rotation speed array.
Specifically, when the vehicle is in forward running and the vehicle speed is lower than a second preset value, the output rotating speed of the driving motor is obtained, and the forward running distance of the output shaft of the driving motor is obtained by integrating the output rotating speed of the driving motor, if the vehicle speed is too high, too few recording points in the same distance are easily caused, and the accuracy of reversing tracking is affected; when the interval of the forward running distance increases to reach a set value, the rotation angle value and the rotation speed value of the EPS at the moment are recorded, the rotation angle value and the rotation speed value are respectively and sequentially stored into a forward rotation angle array and a forward rotation speed array, and when the storage quantity of the forward rotation angle array and the forward rotation speed array reaches the capacity of the array, the rotation angle value or the rotation speed value to be stored is updated and covered one by one data from the first element to the full forward rotation angle array or the full forward rotation speed array. When the vehicle runs forward, signals such as the rotation angle, the rotation speed, the vehicle speed and the like of the EPS are recorded, and work is performed in advance for the subsequent reversing.
In one embodiment, storing the rotation angle value and the rotation speed value in a forward rotation angle array and a forward rotation speed array, respectively, includes:
judging the number of the rotation angle values in the forward rotation angle array and the number of the rotation speed values in the forward rotation speed array;
and if the number of the rotation angle values or the number of the rotation speed values is larger than a third preset value, the rotation angle values to be stored or the rotation speed values to be stored are sequentially covered from the first element of the forward rotation angle array or the first element of the forward rotation speed array.
Specifically, the array capacity of the forward rotation angle array a or the forward rotation speed array b is 200, the storage direction of the array is from a [0] to a [200], or from b [0] to b [200], when the array is stored to a [200] or b [200], the rotation angle value or the rotation speed value to be stored next is stored, and the first element a [0] or b [0] is sequentially stored in a covering mode. Therefore, in the forward running process of the vehicle, the EPS corner value and the EPS rotating speed value of a distance which are recently travelled are always stored in the reversing tracking method, and the travel distance change interval can be represented by the subscript interval of the forward corner array or the forward rotating speed array.
In one embodiment, before the acquiring the forward rotation angle array, the forward rotation speed array and the forward travel distance of the electric power steering system, the method further includes:
and responding to the reversing tracking auxiliary function request, determining that the current speed of the electric automobile is smaller than a first preset value, and determining that the gear of the electric automobile is a reversing gear.
Specifically, when the driver has a requirement for the reverse tracking auxiliary function, a preset function key is pressed, a reverse tracking auxiliary function request is sent, and if the vehicle is currently stopped and the reverse gear (R gear) or the like meets the function activation condition, the reverse tracking auxiliary work is performed.
In one embodiment, the determining the corner fitting function according to the forward corner array and the forward travel distance includes:
the forward rotation angle arrays are arranged in a reverse order to obtain reverse order forward rotation angle arrays;
and carrying out interpolation continuous processing on the reverse sequence forward rotation angle array and the forward driving distance to obtain a rotation angle fitting function.
After the forward corner array is obtained, the forward corner array is subjected to reverse sequencing to obtain a reverse sequence forward corner array, wherein the first element of the reverse sequence forward corner array is the corner value of the last driving distance when the vehicle is driven forward, and the end point of forward driving is the driving starting point of the reversing tracking auxiliary function; and performing interpolation continuous processing on intervals between the reverse sequence forward rotation angle array and the forward running distance to obtain an EPS rotation angle fitting function.
In one embodiment, the determining a rotation speed fitting function according to the forward rotation speed array and the forward travel distance includes:
the forward rotation speed arrays are arranged in a reverse order to obtain reverse order forward rotation speed arrays;
and carrying out interpolation continuous processing on the reverse sequence forward rotating speed array and the forward driving distance to obtain a rotating speed fitting function.
After the forward rotating speed array is obtained, the forward rotating speed array is subjected to reversing sequencing to obtain a reverse sequence forward rotating speed array, wherein the first element of the reverse sequence forward rotating speed array is the rotating speed value of the last driving distance when the vehicle is in forward driving, and the end point of the forward driving is the driving starting point of the reversing tracking auxiliary function; and performing interpolation continuous processing on intervals between the reverse sequence forward rotating speed array and the forward driving distance to obtain an EPS rotating speed fitting function.
In one embodiment, the determining the current reverse running distance of the driving motor according to the reverse output shaft rotation speed signal includes:
and carrying out integral operation on the reversing output shaft rotating speed signal to determine the current reversing driving distance of the driving motor.
And integrating the rotation speed signal of the current driving motor of the vehicle to obtain the reversing driving distance of the output shaft of the driving motor under the current reversing working condition.
In one embodiment, the method further comprises, in accordance with the rotation angle control target value, performing reverse.
And the EPS controller executes an automatic steering command according to the steering angle control target value to finish the reversing tracking auxiliary function, and if the reversing speed exceeds a preset value or the driving distance of the output shaft of the driving motor reaches a set value, namely the reversing distance exceeds the set value in the function execution process, the reversing tracking function is ended, and a driver takes over reversing by himself.
Referring to fig. 3, a second aspect of the present invention provides a reversing and tracking device for an electric vehicle, the device comprising:
the data acquisition module 10 is used for acquiring a forward rotation angle array, a forward rotation speed array and a forward driving distance of the electric power steering system;
the fitting function construction module 20 is configured to determine a corner fitting function according to the forward rotation angle array and the forward driving distance, and determine a rotation speed fitting function according to the forward rotation speed array and the forward driving distance;
the output shaft rotation speed obtaining module 30 is configured to obtain a current reversing vehicle speed, and if the current reversing vehicle speed is less than a first preset value, obtain a current reversing output shaft rotation speed signal of the driving motor;
a reversing driving distance determining module 40, configured to determine a current reversing driving distance of the driving motor according to the reversing output shaft rotation speed signal;
the steering angle control target value determining module 50 is configured to determine a steering angle record value of the electric power steering system according to the steering angle fitting function and the reversing driving distance, and dynamically compensate the steering angle of the electric power steering system according to the steering angle fitting function and the current driving distance, so as to determine a steering angle control target value of the electric power steering system.
For specific limitations on the electric vehicle reversing tracking device, reference may be made to the above-mentioned limitations, and the details are not repeated here.
All or part of each module in the electric automobile reversing tracking device can be realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
Referring to fig. 4, an embodiment of the present invention provides a terminal including one or more processors and a memory. The memory is coupled to the processor and is configured to store one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the electric vehicle reverse tracking method as in any of the embodiments described above.
The processor is used for controlling the whole operation of the computer terminal equipment so as to complete all or part of the steps of the reversing tracking method of the electric automobile. The memory is used to store various types of data to support operation at the computer terminal device, which may include, for example, instructions for any application or method operating on the computer terminal device, as well as application-related data. The Memory may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as static random access Memory (Static Random Access Memory, SRAM for short), electrically erasable programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM for short), erasable programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM for short), programmable Read-Only Memory (Programmable Read-Only Memory, PROM for short), read-Only Memory (ROM for short), magnetic Memory, flash Memory, magnetic disk or optical disk.
In an exemplary embodiment, the computer terminal device may be implemented by one or more application specific integrated circuits (Application Specific, ntegrated Circuit, abbreviated AS 1C), digital signal processors (Digital Signal Processor, abbreviated AS DSP), digital signal processing devices (Digital Signal Processing Device, abbreviated AS DSPD), programmable logic devices (Programmable Logic Device, abbreviated AS PLD), field programmable gate arrays (Field Programmable Gate Array, abbreviated AS FPGA), controllers, microcontrollers, microprocessors, or other electronic components for executing the above-described method for reverse tracking of an electric vehicle, and achieving technical effects consistent with the above-described method.
In another exemplary embodiment, there is also provided a storage medium including program instructions which, when executed by a processor, implement the steps of the electric vehicle reverse tracking method in any of the above embodiments. For example, the storage medium may be a memory including the program instructions, where the program instructions may be executed by a processor of the terminal to complete the electric vehicle reverse tracking method, and achieve technical effects consistent with the method.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (10)
1. An electric vehicle reverse tracking method, characterized in that the method comprises the following steps:
acquiring a forward rotation angle array, a forward rotation speed array and a forward running distance of the electric power steering system, wherein the forward rotation angle array is used for storing the rotation angle value of the electric power steering system when the increase interval value of the forward running distance reaches a third preset value during forward running of the electric vehicle, and the forward rotation speed array is used for storing the rotation speed value of the electric power steering system when the increase interval value of the forward running distance reaches the third preset value during forward running of the electric vehicle;
determining a corner fitting function according to the forward corner array and the forward running distance, wherein the corner fitting function is obtained by carrying out interpolation continuous processing on an inverse sequence forward corner array and the forward running distance, the inverse sequence forward corner array is an inverse sequence arrangement form of the forward corner array, and a rotating speed fitting function is determined according to the forward rotating speed array and the forward running distance, and the rotating speed fitting function is obtained by carrying out interpolation continuous processing on an inverse sequence forward rotating speed array and the forward running distance, wherein the inverse sequence forward rotating speed array is an inverse sequence arrangement form of the forward rotating speed array;
acquiring a current reversing speed, and if the current reversing speed is smaller than a first preset value, acquiring a current reversing output shaft rotating speed signal of a driving motor;
determining the current reversing driving distance of the driving motor according to the reversing output shaft rotating speed signal;
and determining a corner recorded value of the electric power steering system according to the corner fitting function and the reversing driving distance, and performing dynamic precision compensation on the corner recorded value of the electric power steering system according to the rotating speed fitting function and the reversing driving distance so as to determine a corner control target value of the electric power steering system.
2. The method according to claim 1, wherein the method further comprises:
when an electric automobile is in forward running, detecting the current forward running speed of the electric automobile, and if the current forward running speed is smaller than a second preset value, acquiring the current forward output shaft rotating speed of the driving motor;
determining the current forward running distance of the driving motor according to the rotating speed of the forward output shaft;
if the increasing interval value of the forward driving distance reaches a third preset value, acquiring a rotation angle value and a rotation speed value of the electric power steering system;
and respectively storing the rotation angle value and the rotation speed value into a forward rotation angle array and a forward rotation speed array.
3. The method of claim 2, wherein storing the rotation angle value and the rotation speed value in a forward rotation angle array and a forward rotation speed array, respectively, comprises:
judging the number of the rotation angle values in the forward rotation angle array and the number of the rotation speed values in the forward rotation speed array;
and if the number of the rotation angle values or the number of the rotation speed values is larger than a third preset value, the rotation angle values to be stored or the rotation speed values to be stored are sequentially covered from the first element of the forward rotation angle array or the first element of the forward rotation speed array.
4. The method of claim 1, wherein prior to obtaining the forward rotation angle array, the forward rotation speed array, and the forward travel distance of the electric power steering system, further comprising:
and responding to the reversing tracking auxiliary function request, determining that the current speed of the electric automobile is smaller than a first preset value, and determining that the gear of the electric automobile is a reversing gear.
5. The method of claim 1, wherein said determining a corner fitting function from said forward corner array and said forward travel distance comprises:
the forward rotation angle arrays are arranged in a reverse order to obtain reverse order forward rotation angle arrays;
and carrying out interpolation continuous processing on the reverse sequence forward rotation angle array and the forward driving distance to obtain a rotation angle fitting function.
6. The method of claim 1, wherein said determining a speed fitting function from said forward speed array and said forward travel distance comprises:
the forward rotation speed arrays are arranged in a reverse order to obtain reverse order forward rotation speed arrays;
and carrying out interpolation continuous processing on the reverse sequence forward rotating speed array and the forward driving distance to obtain a rotating speed fitting function.
7. The method of claim 1, wherein determining a current reverse travel distance of the drive motor based on the reverse output shaft rotational speed signal comprises:
and carrying out integral operation on the reversing output shaft rotating speed signal to determine the current reversing driving distance of the driving motor.
8. The method of claim 1, further comprising,
and executing reversing according to the rotation angle control target value.
9. An electric vehicle reverse tracking device, the device comprising:
the data acquisition module is used for acquiring a forward rotation angle array, a forward rotation speed array and a forward running distance of the electric power steering system, wherein the forward rotation angle array is used for storing the rotation angle value of the electric power steering system when the increasing interval value of the forward running distance reaches a third preset value during forward running of the electric vehicle, and the forward rotation speed array is used for storing the rotation speed value of the electric power steering system when the increasing interval value of the forward running distance reaches the third preset value during forward running of the electric vehicle;
the fitting function construction module is used for determining a corner fitting function according to the forward corner array and the forward running distance, wherein the corner fitting function is obtained by interpolation continuous processing of an inverse sequence forward corner array and the forward running distance, the inverse sequence forward corner array is an inverse sequence arrangement form of the forward corner array, and a rotating speed fitting function is determined according to the forward rotating speed array and the forward running distance, and the rotating speed fitting function is obtained by interpolation continuous processing of an inverse sequence forward rotating speed array and the forward running distance, wherein the inverse sequence forward rotating speed array is an inverse sequence arrangement form of the forward rotating speed array;
the output shaft rotating speed acquisition module is used for acquiring the current reversing speed, and acquiring a current reversing output shaft rotating speed signal of the driving motor if the current reversing speed is smaller than a first preset value;
the reversing driving distance determining module is used for determining the current reversing driving distance of the driving motor according to the reversing output shaft rotating speed signal;
the rotation angle control target value determining module is used for determining a rotation angle recording value of the electric power steering system according to the rotation angle fitting function and the reversing driving distance, and dynamically compensating the rotation angle recording value of the electric power steering system according to the rotation speed fitting function and the reversing driving distance so as to determine the rotation angle control target value of the electric power steering system.
10. A terminal comprising a memory storing instructions and a processor loading the instructions to perform the steps of the method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110992228.3A CN113619679B (en) | 2021-08-27 | 2021-08-27 | Reversing tracking method and device for electric automobile, storage medium and terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110992228.3A CN113619679B (en) | 2021-08-27 | 2021-08-27 | Reversing tracking method and device for electric automobile, storage medium and terminal |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113619679A CN113619679A (en) | 2021-11-09 |
| CN113619679B true CN113619679B (en) | 2023-06-20 |
Family
ID=78387982
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110992228.3A Active CN113619679B (en) | 2021-08-27 | 2021-08-27 | Reversing tracking method and device for electric automobile, storage medium and terminal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113619679B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202847557U (en) * | 2012-09-11 | 2013-04-03 | 长安大学 | Reverse auxiliary device capable of automatic tracking |
| JP2014044096A (en) * | 2012-08-24 | 2014-03-13 | Tokyo Keiki Inc | Orbital position data giving system, and orbital position data giving method |
| CN112172800A (en) * | 2020-11-27 | 2021-01-05 | 深兰人工智能(深圳)有限公司 | Articulated vehicle and tracking parking control method and device thereof |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008056173A (en) * | 2006-09-01 | 2008-03-13 | Toyota Motor Corp | Driving supporting system for vehicle |
| KR101558708B1 (en) * | 2013-12-30 | 2015-10-07 | 현대자동차주식회사 | Auto backing route control system for vehicle |
| DE102014213074B4 (en) * | 2014-07-04 | 2023-12-14 | Bayerische Motoren Werke Aktiengesellschaft | Reversing assistance system for a two-lane motor vehicle with front wheel steering |
| DE102016121465A1 (en) * | 2016-11-09 | 2018-05-09 | Valeo Schalter Und Sensoren Gmbh | Method for maneuvering a motor vehicle taking into account position values determined in a recording phase, driver assistance system and motor vehicle |
| DE102017200219A1 (en) * | 2017-01-09 | 2018-07-12 | Bayerische Motoren Werke Aktiengesellschaft | Control unit and method for determining a trajectory for a reversing assistance system |
| KR102299823B1 (en) * | 2017-07-28 | 2021-09-08 | 현대모비스 주식회사 | Backward driving assist apparatus of vehicle and control method thereof |
| CN108437981B (en) * | 2018-03-01 | 2020-02-21 | 东软集团股份有限公司 | Automatic reversing method and device |
| CN110654372B (en) * | 2018-06-29 | 2021-09-03 | 比亚迪股份有限公司 | Vehicle driving control method and device, vehicle and storage medium |
| KR102574289B1 (en) * | 2018-10-08 | 2023-09-05 | 주식회사 에이치엘클레무브 | Reverse drive control apparatus and everse drive control method thereof |
| CN111674465B (en) * | 2020-05-25 | 2022-01-04 | 长城汽车股份有限公司 | Reversing control method and system and vehicle |
| CN112172820A (en) * | 2020-10-21 | 2021-01-05 | 同致电子科技（厦门）有限公司 | Vehicle autonomous backing method and system device in narrow space and computer readable storage medium |
-
2021
- 2021-08-27 CN CN202110992228.3A patent/CN113619679B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014044096A (en) * | 2012-08-24 | 2014-03-13 | Tokyo Keiki Inc | Orbital position data giving system, and orbital position data giving method |
| CN202847557U (en) * | 2012-09-11 | 2013-04-03 | 长安大学 | Reverse auxiliary device capable of automatic tracking |
| CN112172800A (en) * | 2020-11-27 | 2021-01-05 | 深兰人工智能(深圳)有限公司 | Articulated vehicle and tracking parking control method and device thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113619679A (en) | 2021-11-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108609014B (en) | Transverse control method and device of intelligent vehicle | |
| CN110069064B (en) | Method for upgrading automatic driving system, automatic driving system and vehicle-mounted equipment | |
| US9043087B2 (en) | Method of determining a steering angle in a motor vehicle | |
| CN111547128B (en) | Neutral position self-learning method and device for electric steering system and storage medium | |
| CN114735002B (en) | Steering control method and device for vehicle, vehicle and storage medium | |
| CN113460086B (en) | Control system, method, vehicle and storage medium for automatically driving to enter ramp | |
| CN114312987B (en) | Automatic driving steering angle detection method and electronic equipment | |
| CN115303262A (en) | Vehicle control method, device, terminal device and computer readable storage medium | |
| CN113619679B (en) | Reversing tracking method and device for electric automobile, storage medium and terminal | |
| CN114228702B (en) | Method and device for parking passengers, storage medium and vehicle | |
| CN112046601B (en) | Method for calibrating limit position of steering angle, steering controller and automobile | |
| US20200239066A1 (en) | Vehicle control system | |
| JPS61263851A (en) | Device for automatically moving automobile widthwise thereof | |
| CN116495008A (en) | Vehicle control method and device and terminal equipment | |
| CN111721309A (en) | Path planning method and device | |
| CN115071817B (en) | Control method, terminal and computer storage medium for steering wheel of vehicle | |
| CN116080683A (en) | Driving method and device, vehicle and storage medium | |
| CN114475776B (en) | Torque compensation method and device, vehicle and storage medium | |
| CN112356915B (en) | Method, system and storage medium for learning extreme angular position of steering wheel | |
| CN110550092A (en) | DSP high-precision motor controller based on automobile electronic power-assisted steering system | |
| US20200284589A1 (en) | Parking assistance apparatus for aiding a driver of a motor vehicle with a parking process | |
| CN114802433B (en) | Steering control method, device, equipment and storage medium of steer-by-wire system | |
| WO2023119651A1 (en) | Onboard electronic control device and position estimation method | |
| WO2024031453A1 (en) | Vehicle control method and apparatus, terminal device, and computer-readable storage medium | |
| CN111538322A (en) | Sensor data selection method and device for automatic driving vehicle and vehicle-mounted equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |