CN114889692A - EPS automatic parking control optimization method and system - Google Patents
EPS automatic parking control optimization method and system Download PDFInfo
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- CN114889692A CN114889692A CN202210185818.XA CN202210185818A CN114889692A CN 114889692 A CN114889692 A CN 114889692A CN 202210185818 A CN202210185818 A CN 202210185818A CN 114889692 A CN114889692 A CN 114889692A
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- 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
- B62D15/0285—Parking performed automatically
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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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- 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 provides an EPS automatic parking control optimization method and system, which distinguish the current limit of a basic power-assisted function module and the current limit of an automatic parking function module by decoupling a set of current output limit judgment logic shared by the basic power-assisted function module and the automatic parking function module in an EPS control system, thereby realizing the functions of optimizing the power-assisted current limit control and the state jump process of automatic parking. The invention solves the problem that the EPS can not respond to the target corner request of the APA due to the fact that the EPS _ APA _ St jumps from the available state to the limited state, and therefore automatic parking is interrupted. The steering wheel angle range [ -a, -b ] & [ b, a ] from the steering wheel angle range protected by the set gear rack end and the allowable controlled steering wheel angle range [ -c, c ] of the EPS automatic parking function can be calibrated according to the functional performance requirement and the real vehicle, and the application range of the EPS automatic parking control system is enlarged.
Description
Technical Field
The invention belongs to the technical field of automatic parking control, and particularly relates to an EPS automatic parking control optimization method and system.
Background
In a conventional control system with an EPS (electric power steering) system, a basic power-assisted function module and an automatic parking function module share a set of current output limit determination logic, which is shown in fig. 1. In the prior art, the steering wheel angle range protected by the tail end of the rack is set to be [ -a, -b ] & [ b, a ], and the allowable controlled steering wheel angle range of the EPS automatic parking function is set to be [ -c, c ]. When c is greater than b, the APA (automatic parking controller) requests the EPS to enter the automatic parking controlled state, the EPS drives the steering wheel to turn to the angle region of the soft dead point action [ -a, -b ] & [ b, a ] in the available state, triggering current limitation, and the EPS _ APA _ St jumps from the available state to the limited state, causing the EPS to fail to respond to the target turning angle request of the automatic parking controller APA, thereby causing automatic parking interruption.
Therefore, in a vehicle matched with the automatic parking function, for the EPS, an automatic parking function module needs to be newly developed on the basis of a basic power-assisted function module: when the vehicle is normally powered on and the APA does not request the EPS to enter an automatic parking controlled state, the EPS outputs power-assisted current through the basic power-assisted function module to provide power for a driver to manually operate a steering wheel; when the APA requests the EPS to enter an automatic parking controlled state, the EPS outputs power-assisted current through the automatic parking function module, and takes over a steering wheel to enable the vehicle to realize the transverse control of the vehicle according to the intention of the APA.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: an EPS automatic parking control optimization method and system are provided, which are used for optimizing the boosting current limit control and the state jump process of automatic parking.
The technical scheme adopted by the invention for solving the technical problems is as follows: an EPS automatic parking control optimization method comprises the following steps:
s1: decoupling a current output limit judgment logic shared by a basic power-assisted function module and an automatic parking function module in the EPS, and distinguishing current limit of the basic power-assisted function module and current limit of the automatic parking function module;
s2: the current limiting logic which influences the implementation of the automatic parking function module in the EPS is used as the composition of the current limiting function of the automatic parking function module, the judgment of the rack tail end protection limiting condition is removed, and the mutual influence inhibition of the rack tail end protection function and the automatic parking function in the EPS output is avoided;
s3: the EPS jumps to the limited state from the available state to the controlled state of the APA;
s4: the APA receives an instruction that the EPS is in a limited state and then stops the automatic parking request; and when receiving the instruction of the limited state, the EPS switches to the basic power-assisted function module in the switching process of the basic power-assisted function and the automatic parking function, and provides power for a driver to manually operate a steering wheel.
According to the scheme, in the step S2, the current limiting logic comprises logic for judging limiting conditions of overheat protection, ECU internal fault and external power supply voltage fault and arbitrating maximum limiting value.
According to the above scheme, in the step S3, the available state refers to a state in which the target rotation angle command of the APA can be executed and acted.
In the above-described manner, in step S3, the limited state refers to a state in which the target rotation angle command of the APA cannot be executed due to the EPS internal determination current output being limited.
According to the scheme, the steering wheel angle range [ -a, -b ] & [ b, a ] of the rack end protection and the allowable controlled steering wheel angle range [ -c, c ] of the EPS automatic parking function are freely set according to the functional performance requirement and the real vehicle calibration, and the steering wheel angle range [ -a, -b ] & [ b, a ] and the allowable controlled steering wheel angle range [ -c, c ] do not have a coupling relation.
An EPS automatic parking control optimization system comprises a control module, a power supply module, a CAN communication module, a sensor signal acquisition module, a storage module, a temperature monitoring module, a current sampling module and a motor driving module; the control module is used for storing programs and key parameters and carrying out operation; the power supply module is used for converting a power supply and supplying power to other modules; the CAN communication module is used for transmitting and receiving CAN messages between the control module and the whole vehicle network; the sensor signal acquisition module is used for sampling and converting signals input by the sensor; the storage module is used for storing control parameters and data; the temperature monitoring module is used for measuring the internal temperature of the control module through the thermistor; the current sampling module is used for sampling output current; the motor driving module is used for driving the motor according to the output current of the motor driving module.
A computer storage medium having stored therein a computer program executable by a computer processor, the computer program executing an EPS automatic parking control optimization method.
The invention has the beneficial effects that:
1. according to the EPS automatic parking control optimization method and system, the current limit of the basic power-assisted function module and the current limit of the automatic parking function module are distinguished by decoupling a set of current output limit determination logic shared by the basic power-assisted function module and the automatic parking function module in the EPS control system, so that the functions of optimizing the power-assisted current limit control and the state jump process of automatic parking are realized.
2. The invention solves the problem that the EPS can not respond to the target corner request of the APA due to the fact that the EPS _ APA _ St jumps from the available state to the limited state, and therefore automatic parking is interrupted.
3. The steering wheel angle range [ -a, -b ] & [ b, a ] from the steering wheel angle range protected by the set gear rack end and the allowable controlled steering wheel angle range [ -c, c ] of the EPS automatic parking function can be calibrated according to the functional performance requirement and the real vehicle, and the application range of the EPS automatic parking control system is enlarged.
Drawings
Fig. 1 is a logic diagram of an unoptimized EPS automatic parking control.
Fig. 2 is an EPS automatic parking control optimization logic diagram according to the embodiment of the invention.
Fig. 3 is a functional block diagram of an EPS system controller according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 2, an EPS automatic parking control optimization method according to an embodiment of the present invention includes the following steps:
s1: decoupling a set of current output limit determination logic shared by a basic power-assisted function module and an automatic parking function module in an EPS control system, and distinguishing current limit of the basic power-assisted function module and current limit of the automatic parking function module;
s2: taking current limiting logics which have influence on implementation of the automatic parking function module in the EPS, such as judgment of limiting conditions such as overheating protection, ECU internal fault and external power supply voltage fault, maximum limiting value arbitration and other logics as a component of the current limiting function of the automatic parking function module, and removing judgment of rack terminal protection limiting conditions; the mutual influence and inhibition of the rack tail end protection function and the automatic parking function in the EPS output are avoided.
S3: after the current limiting condition of the automatic parking function module described in step S2 is satisfied, the controlled state of the EPS to the APA may jump from the available state (i.e., the target steering angle command of the APA may be executed and acted), to the limited state (i.e., the target steering angle command of the APA may not be executed because the EPS internally determines that the current output is limited).
S4: and the APA receives the EPS which is in a limited state, stops the automatic parking request, receives the instruction, and switches to the basic power-assisted function module in the basic power-assisted function/automatic parking function switching function to provide power for a driver to manually operate the steering wheel.
An electric power steering control system of an embodiment of the present invention, referring to fig. 3, includes: the device comprises an MCU, a power module, a CAN communication module, a sensor signal acquisition module, an EEPROM, a temperature monitoring module, a current sampling module and a motor driving module. The MCU is a micro control unit of the EPS controller, stores programs and key parameters and carries out operation; the power supply module is a circuit module which is used for converting a 12V power supply of the vehicle and then supplying power to the MCU, the sensor and the like; the CAN communication module is used for realizing a circuit module for transmitting and receiving CAN messages between the EPS controller and the whole vehicle network; the sensor signal acquisition module is used for sampling and converting various signals input to the controller by the sensor; the EEPROM is a storage area for control parameters and data; the temperature monitoring module is used for measuring the internal temperature of the controller by adopting a thermistor; the current sampling module is used for sampling the output current of the EPS controller; the motor driving module is used for driving the motor according to the output control current of the EPS controller.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes or modifications based on the principles and design concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (7)
1. An EPS automatic parking control optimization method is characterized in that: the method comprises the following steps:
s1: decoupling a current output limit judgment logic shared by a basic power-assisted function module and an automatic parking function module in the EPS, and distinguishing current limit of the basic power-assisted function module and current limit of the automatic parking function module;
s2: the current limiting logic which influences the implementation of the automatic parking function module in the EPS is used as the composition of the current limiting function of the automatic parking function module, the judgment of the rack tail end protection limiting condition is removed, and the mutual influence inhibition of the rack tail end protection function and the automatic parking function in the EPS output is avoided;
s3: the EPS jumps to the limited state from the available state to the controlled state of the APA;
s4: the APA receives an instruction that the EPS is in a limited state and then stops the automatic parking request; and when receiving the instruction of the limited state, the EPS switches to the basic power-assisted function module in the switching process of the basic power-assisted function and the automatic parking function, and provides power for a driver to manually operate a steering wheel.
2. The EPS automatic parking control optimization method according to claim 1, characterized in that: in step S2, the current limiting logic includes logic for determining the limiting conditions of overheat protection, internal failure of the ECU, and external power supply voltage failure, and arbitration of the maximum limit value.
3. The EPS automatic parking control optimization method according to claim 1, characterized in that: in step S3, the available state refers to a state in which the target rotation angle command and action of the APA can be executed.
4. The EPS automatic parking control optimization method according to claim 1, characterized in that: in step S3, the limited state is a state in which the target rotation angle command of the APA cannot be executed due to the EPS inside determination that the current output is limited.
5. The EPS automatic parking control optimization method according to claim 1, characterized in that: according to the functional performance requirement and the real vehicle calibration, the steering wheel angle range [ -a, -b ] & [ b, a ] of the rack end protection and the allowable controlled steering wheel angle range [ -c, c ] of the EPS automatic parking function are freely set, and no coupling relation exists between the steering wheel angle range [ -a, -b ] & [ b, a ] and the allowable controlled steering wheel angle range [ -c, c ] of the EPS automatic parking function.
6. A system for the EPS automatic parking control optimization method according to any one of claims 1 to 5, characterized in that: the device comprises a control module, a power module, a CAN communication module, a sensor signal acquisition module, a storage module, a temperature monitoring module, a current sampling module and a motor driving module;
the control module is used for storing programs and key parameters and carrying out operation;
the power supply module is used for converting a power supply and supplying power to other modules;
the CAN communication module is used for transmitting and receiving CAN messages between the control module and the whole vehicle network;
the sensor signal acquisition module is used for sampling and converting signals input by the sensor;
the storage module is used for storing control parameters and data;
the temperature monitoring module is used for measuring the internal temperature of the control module through the thermistor;
the current sampling module is used for sampling output current;
the motor driving module is used for driving the motor according to the output current of the motor driving module.
7. A computer storage medium, characterized in that: stored therein is a computer program executable by a computer processor, the computer program executing an EPS automatic parking control optimization method according to any one of claims 1 to 5.
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| CN202210185818.XA CN114889692B (en) | 2022-02-28 | 2022-02-28 | EPS automatic parking control optimization method and system |
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| CN202210185818.XA CN114889692B (en) | 2022-02-28 | 2022-02-28 | EPS automatic parking control optimization method and system |
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| CN114889692A true CN114889692A (en) | 2022-08-12 |
| CN114889692B CN114889692B (en) | 2023-07-25 |
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| JP2013086610A (en) * | 2011-10-17 | 2013-05-13 | Mitsubishi Electric Corp | Electric power steering control device |
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| JP2019130994A (en) * | 2018-01-30 | 2019-08-08 | トヨタ自動車株式会社 | Parking assist apparatus |
| CN113401220A (en) * | 2021-07-20 | 2021-09-17 | 恒大新能源汽车投资控股集团有限公司 | Automatic parking steering method, device and system based on steer-by-wire system |
| CN113492834A (en) * | 2020-03-18 | 2021-10-12 | 本田技研工业株式会社 | Vehicle control device |
| CN113602258A (en) * | 2021-08-31 | 2021-11-05 | 奇瑞新能源汽车股份有限公司 | Parking method and device for vehicle and vehicle |
| WO2021249321A1 (en) * | 2020-06-08 | 2021-12-16 | 中国第一汽车股份有限公司 | Automatic parking control method, apparatus and device, and storage medium |
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2022
- 2022-02-28 CN CN202210185818.XA patent/CN114889692B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070288143A1 (en) * | 2006-06-13 | 2007-12-13 | Jtekt Corporation | Vehicle steering system |
| JP2013086610A (en) * | 2011-10-17 | 2013-05-13 | Mitsubishi Electric Corp | Electric power steering control device |
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| CN106467131A (en) * | 2016-08-31 | 2017-03-01 | 东风汽车公司 | Parking assisting system based on electric boosting steering system and method |
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