CN114987600A - Control method and device for keeping central position of automobile steering wheel and automobile - Google Patents
Control method and device for keeping central position of automobile steering wheel and automobile Download PDFInfo
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- CN114987600A CN114987600A CN202110226643.8A CN202110226643A CN114987600A CN 114987600 A CN114987600 A CN 114987600A CN 202110226643 A CN202110226643 A CN 202110226643A CN 114987600 A CN114987600 A CN 114987600A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000005070 sampling Methods 0.000 claims description 32
- 230000008859 change Effects 0.000 claims description 10
- 238000012423 maintenance Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 description 19
- 238000003745 diagnosis Methods 0.000 description 11
- 230000007246 mechanism Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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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 embodiment of the invention provides a control method and a control device for keeping the central position of an automobile steering wheel and an automobile, and relates to the technical field of automobile power-assisted steering control. The method comprises the following steps: acquiring a steering angle of a steering wheel, a steering torque of the steering wheel, an angular speed of the steering wheel and a vehicle speed, and determining a vehicle speed variation of the vehicle according to the vehicle speed; determining that a steering angle of a steering wheel, a steering torque of the steering wheel and an angular speed of the steering wheel meet a first condition and determining that a vehicle speed and a vehicle speed variation meet a second condition; and determining a target power-assisted torque according to the steering angle of the steering wheel and controlling the power-assisted motor to output the target power-assisted torque so that the steering angle of the steering wheel is kept at an angle enabling the vehicle to run in a straight line. The present embodiment determines a target assist torque output by an assist motor when it is determined that it is necessary to keep the vehicle running straight based on the determination of the driving intention of the driver, thereby maintaining control of the center position of the steering wheel without requiring the driver to frequently correct the steering angle.
Description
Technical Field
The invention relates to the technical field of automobile power-assisted steering control, in particular to a control method for keeping the central position of an automobile steering wheel, a control device for keeping the central position of the automobile steering wheel and an automobile.
Background
An Electric Power Steering (EPS) system can calculate the assistance torque required to be provided by an assistance motor according to vehicle speed information, the torque of a Steering wheel steered by a driver and Steering wheel angle information, and apply the assistance torque to a Steering executing mechanism so as to provide lighter Steering control for the driver. With the continuous development of the EPS control technology, in order to improve the driving comfort and driving safety of a driver and combine with the requirement of intelligent driving, advanced function control strategies such as lane line keeping control (LKA), Adaptive Cruise Control (ACC), lane line deviation early warning control (LDWS) and the like are generally added to the existing EPS products. For example, the invention of CN201810628064.4, entitled "method and system for active steering control of electric power steering system", proposes a steering control of power steering system, in which an ECU determines the driving intention of a driver through input signals such as steering wheel torque, steering angle, and vehicle speed, and if it determines that the steering wheel is in an automatic steering process, controls a power motor to provide corresponding assistance to make the steering wheel return to a middle position smoothly and quickly, but the steering wheel needs to be continuously corrected by the driver when the steering wheel is at the center position to maintain the center position state of the steering wheel, and thus independent autonomous torque control for maintaining the middle position of the steering wheel cannot be performed. The invention patent CN201410144167.5, entitled lane keeping control device and method for vehicle, proposes to determine the position of the vehicle in the lane and the heading of the lane ahead by a lane recognition algorithm based on the image information captured by a camera, and to automatically apply an auxiliary steering torque to keep the vehicle in the driving direction during the vehicle yaw.
However, the existing EPS system has the following problems: when a vehicle runs, when a driver operates by mistake to generate unexpected steering torque and performs power-assisted control according to the existing control strategy, the vehicle can generate unexpected steering, so that the vehicle has overlarge yaw angle and safety risk; when the steering wheel of the vehicle returns to the central position, in order to keep the vehicle running straight, the driver needs to continuously and frequently correct the steering angle of the steering wheel, so that the driving strength of the driver is increased, the driving comfort is reduced, and the driver is easy to drive fatiguedly; the control method for keeping the lane line can realize the control of keeping the central position of the steering wheel, but a vision sensor needs to be added in the device for acquiring the road condition in real time, so that the cost is higher, and meanwhile, the vision sensor is sensitive to the surrounding environment and the light condition, so that misjudgment is easily generated, and the driving safety is influenced.
Disclosure of Invention
The invention aims to provide a control method and a control device for keeping the central position of an automobile steering wheel and an automobile, and aims to solve the problems that the conventional EPS system lacks steady-state control for the moment when the steering angle of the steering wheel is 0 degree, and cannot provide closed-loop control for keeping the central position of the steering wheel based on the steering angle for a driver.
In order to achieve the above object, in a first aspect of the present invention, there is provided a control method for maintaining a center position of a steering wheel of an automobile, applied to an EPS system including a assist motor for providing an assist torque to the steering wheel to control rotation of the steering wheel, the method including:
acquiring a steering angle of a steering wheel, a steering torque of the steering wheel, an angular speed of the steering wheel and a vehicle speed, and determining a vehicle speed variation of the vehicle according to the vehicle speed;
determining that the steering angle of the steering wheel, the steering torque of the steering wheel and the angular speed of the steering wheel meet a first condition and determining that the vehicle speed and the vehicle speed variation meet a second condition;
and determining a target power-assisted torque according to the steering angle of the steering wheel and controlling the power-assisted motor to output the target power-assisted torque so that the steering angle of the steering wheel is kept at an angle enabling the vehicle to run in a straight line.
Optionally, the method further comprises:
and when the steering angle of the steering wheel, the steering torque of the steering wheel and the angular speed of the steering wheel meet a third condition, or the vehicle speed and the vehicle speed variation meet a fourth condition, controlling the power-assisted motor to stop outputting the target power-assisted torque.
Optionally, after determining that the steering angle of the steering wheel, the steering torque of the steering wheel, and the angular velocity of the steering wheel satisfy a first condition and determining that the vehicle speed and the vehicle speed variation satisfy a second condition, the method further includes:
acquiring fault information representing vehicle faults, and determining that the acquired fault information meets a fifth condition;
the fifth condition includes: and failure information is not acquired at each sampling moment in the continuous N sampling moments.
Optionally, the method further comprises:
and if the target power-assisted torque is larger than a set threshold, taking the set threshold as the target power-assisted torque.
Optionally, the first condition comprises:
at each of N consecutive sampling instants:
the steering angle of the steering wheel is less than a first steering angle, the steering torque of the steering wheel is less than a first steering torque, and the angular velocity of the steering wheel is less than a first angular velocity.
Optionally, the third condition comprises:
the steering angle of the steering wheel is greater than a second steering angle, or the steering torque of the steering wheel is greater than a second steering torque, or the angular velocity of the steering wheel is greater than a second angular velocity;
the second steering angle is greater than the first steering angle, the second steering torque is greater than the first steering torque, and the second angular velocity is greater than the first angular velocity.
Optionally, the vehicle speed variation is an absolute value of a difference between a vehicle speed at a current sampling time and a vehicle speed at a previous sampling time, and the second condition includes:
at each of N consecutive sampling instants:
the vehicle speed is greater than a first vehicle speed and the vehicle speed variation amount is smaller than a first vehicle speed variation amount.
Optionally, the fourth condition comprises:
the vehicle speed is less than a second vehicle speed, or the vehicle speed variation is greater than a second vehicle speed variation;
the second vehicle speed is less than the first vehicle speed, and the second vehicle speed change amount is greater than the first vehicle speed change amount.
In a second aspect of the present invention, there is provided a control device for maintaining a center position of a steering wheel of an automobile, the control device applying the above control method for maintaining a center position of a steering wheel of an automobile, the device comprising:
the data acquisition module is configured to acquire a steering angle of a steering wheel, a steering torque of the steering wheel, an angular speed of the steering wheel and a vehicle speed, and determine a vehicle speed variation of the vehicle according to the vehicle speed;
the judging module is configured to determine that a steering angle of the steering wheel, a steering torque of the steering wheel and an angular speed of the steering wheel meet a first condition and determine that the vehicle speed and the vehicle speed variation meet a second condition;
a control module configured to determine a target assist torque depending on a steering angle of the steering wheel and control the assist motor to output the target assist torque such that the steering angle of the steering wheel is maintained at an angle that allows a vehicle to travel straight.
In a third aspect of the present invention, there is provided an automobile comprising the control device for maintaining the center position of the steering wheel of the automobile described above.
According to the technical scheme, the driving intention of the driver can be determined when the steering angle of the steering wheel, the steering torque of the steering wheel, the angular speed of the steering wheel and the vehicle speed meet preset conditions, the target power-assisted torque output by the power-assisted motor can be determined according to the steering angle of the steering wheel when the vehicle needs to keep running linearly, so that the control of the central position of the steering wheel is maintained, the driver does not need to frequently correct the steering angle, the driving fatigue of the driver can be effectively reduced, additional sensing equipment does not need to be added, the steering angle is not influenced by the environment, the cost is low, and the reliability is high.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is a flowchart of a method for controlling a central position of a steering wheel of a vehicle according to a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of the steering wheel center position maintenance control logic provided by the preferred embodiment of the present invention;
FIG. 3 is a flow chart of driver status determination provided by the preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of a steering wheel center position closed loop control provided by the preferred embodiment of the present invention;
fig. 5 is a schematic block diagram of a control device for maintaining the center position of a steering wheel of an automobile according to a preferred embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
As shown in fig. 1 and fig. 2, in a first aspect of the present embodiment, there is provided a control method for maintaining a center position of a steering wheel of an automobile, which is applied to an EPS system, where the EPS system includes a power assist motor, and the power assist motor is configured to provide a power assist torque to the steering wheel to control rotation of the steering wheel, the method includes:
acquiring a steering angle of a steering wheel, a steering torque of the steering wheel, an angular speed of the steering wheel and a vehicle speed, and determining a vehicle speed variation of the vehicle according to the vehicle speed; determining that a steering angle of a steering wheel, a steering torque of the steering wheel and an angular speed of the steering wheel meet a first condition and determining that a vehicle speed and a vehicle speed variation meet a second condition; and determining a target power-assisted torque according to the steering angle of the steering wheel and controlling the power-assisted motor to output the target power-assisted torque so that the steering angle of the steering wheel is kept at an angle enabling the vehicle to run in a straight line.
In this way, the present embodiment can determine the driving intention of the driver when the steering angle of the steering wheel, the steering torque of the steering wheel, the angular velocity of the steering wheel, and the vehicle speed satisfy the preset conditions, and can determine the target assist torque output by the assist motor according to the steering angle of the steering wheel when it is determined that the vehicle needs to keep running straight, thereby maintaining the control of the center position of the steering wheel, eliminating the need for the driver to frequently modify the steering angle, effectively reducing the driving fatigue of the driver, eliminating the need for additional sensor devices, and being free from environmental influences, low in cost, and high in reliability.
Specifically, the EPS system comprises a controller, a power-assisted motor and a speed reducing mechanism, wherein the controller is connected with the power-assisted motor, the power-assisted motor is connected with the speed reducing mechanism, and the speed reducing mechanism is connected with a rack and pinion assembly. The controller is used for controlling the power-assisted motor to output torque, the torque output by the power-assisted motor is transmitted to the speed reducing mechanism, the connecting rod connected with the rack and pinion assembly drives the wheels to rotate, the steering wheel is connected with the rack and pinion assembly, and therefore steering torque generated by rotation of the steering wheel drives the wheels to rotate through the connecting rod connected with the rack and pinion assembly. The controller can be an ECU (electronic control unit), the ECU is respectively connected with a torque sensor, an angle sensor, an angular velocity sensor and a speed sensor, the torque sensor is used for detecting the steering torque of a steering wheel, the angle sensor is used for detecting the steering angle of the steering wheel, the angular velocity sensor is used for detecting the steering speed of the steering wheel, and the speed sensor is used for detecting the vehicle speed of a vehicle. In the running process of the vehicle, the steering angle of the steering wheel, the steering torque of the steering wheel, the angular speed of the steering wheel and the vehicle speed are obtained in real time, and at each sampling moment, the current vehicle speed variation is determined according to the current vehicle speed, wherein the vehicle speed variation is an absolute value of a difference between the vehicle speed at the current sampling moment and the vehicle speed at the previous sampling moment, for example, the vehicle speed obtained at the current sampling moment is 70km/h, the vehicle speed obtained at the previous sampling moment is 68km/h, and the vehicle speed variation at the current sampling moment is 2 km/h. Thus, by using the preset first condition and the second condition as the constraint conditions and judging whether the steering angle of the steering wheel, the steering moment of the steering wheel, the angular speed of the steering wheel, the vehicle speed and the vehicle speed variation satisfy the first condition and the second condition, namely, the driving intention of the driver can be determined, when the steering angle of the steering wheel, the steering torque of the steering wheel and the angular speed of the steering wheel meet the first condition and the vehicle speed variation meet the second condition, determining that a driver needs to keep the vehicle running straight, at this time, the controller determines a target assist torque output by the assist motor according to a steering angle of the steering wheel, and controls the assist motor to output the target assist torque so as to keep the steering wheel at a central position, thereby realizing control of autonomously maintaining the central position of the steering wheel, where the central position of the steering wheel refers to a position where the steering angle of the steering wheel is 0 degree in the present embodiment. In order to avoid the system outputting the ultra-large unexpected assistance due to the special working condition, the moment firewall is constructed by the preset set threshold value in the embodiment, and if the target assistance moment is larger than the set threshold value, the set threshold value is used as the target assistance moment. Through presetting a threshold value, the output torque of the power-assisted motor is limited within the set threshold value, so that the fault tolerance of the system can be effectively improved.
In the present embodiment, a first condition is used as a determination condition for determining the driving intention of the driver, and when the steering angle of the steering wheel, the steering torque of the steering wheel, and the angular velocity of the steering wheel satisfy the first condition, the driver state is marked at position 1; taking a second condition as a judgment condition of the vehicle state, for example, the vehicle state is an acceleration state or a deceleration state, and when the vehicle speed and the vehicle speed variation satisfy the second condition, monitoring the vehicle state to a mark position 1; in order to further ensure the safety when the central position of the steering wheel is maintained, the embodiment also acquires fault information representing vehicle faults, and when the acquired fault information meets a fifth condition, the fault diagnosis monitoring mark position 1 is set; when the driver state flag bit, the vehicle state monitoring flag bit and the obstacle diagnosis monitoring flag bit are all 1, the central position of the steering wheel is kept started, and the system controls the power-assisted motor to output a target power-assisted torque so as to automatically maintain the central position of the steering wheel; otherwise, the central position of the steering wheel is kept closed, and the system performs conventional EPS general power control on the steering wheel.
As shown in fig. 3, the first condition includes: at each of N consecutive sampling instants: the steering angle of the steering wheel is less than the first steering angle, the steering torque of the steering wheel is less than the first steering torque, and the angular velocity of the steering wheel is less than the first angular velocity. In this embodiment, the first steering angle, the first steering torque, the first angular velocity, and the continuous sampling time may be set according to actual conditions, for example, the first steering angle may be 2deg, the first steering torque may be 0.5Nm, the first angular velocity may be 0.5rad/s, and N may be 100; when the steering angle of the steering wheel is less than 2deg, the steering torque of the steering wheel is less than 0.5Nm and the angular speed of the steering wheel is less than 0.5rad/s at each of 100 continuous sampling moments, it is judged that the driving intention of the driver is to keep the vehicle running straight, namely, the central position of the steering wheel needs to be kept. At any sampling moment, when three conditions that the steering angle of the steering wheel is less than 2deg, the steering torque of the steering wheel is less than 0.5Nm and the angular speed of the steering wheel is less than 0.5rad/s are all met, adding 1 to a driver state counter, otherwise, resetting the driver state counter, judging that the driver state flag bit is valid and marking the driver state flag position at 1 when the value of the driver state counter is not less than 100, and otherwise, judging that the driver state flag bit is invalid and marking the driver state flag position at 0. For example, at each of sampling time 1 to sampling time 89, the three conditions of the steering angle of the steering wheel being less than 2deg, the steering torque of the steering wheel being less than 0.5Nm, and the angular velocity of the steering wheel being less than 0.5rad/s are satisfied, and at this time, the driver state counter value is 89, and if any of the three conditions of the steering angle of the steering wheel being less than 2deg, the steering torque of the steering wheel being less than 0.5Nm, and the angular velocity of the steering wheel being less than 0.5rad/s is not satisfied at sampling time 90, and if the steering angle of the steering wheel being greater than 2deg, the driver state counter is cleared, and at this time, the driver state counter value is 0.
When the system is in a steering wheel center position holding state, whether the steering angle of the steering wheel, the steering torque of the steering wheel and the angular speed of the steering wheel meet a third condition or not needs to be judged in real time, when the steering angle of the steering wheel, the steering torque of the steering wheel and the angular speed of the steering wheel meet the third condition, the steering wheel center position is kept closed, and the system controls the power-assisted motor to stop outputting the target power-assisted torque.
Wherein the third condition comprises: the steering angle of the steering wheel is greater than the second steering angle, or the steering torque of the steering wheel is greater than the second steering torque, or the angular velocity of the steering wheel is greater than the second angular velocity; the second steering angle is greater than the first steering angle, the second steering torque is greater than the first steering torque, and the second angular velocity is greater than the first angular velocity. The second steering angle, the second steering torque, and the second angular velocity may be set according to actual circumstances, for example, the second steering angle may be 5deg, the second steering torque may be 0.8Nm, and the second angular velocity may be 0.8 rad/s. When the steering angle of the steering wheel is larger than 5deg, or the steering torque of the steering wheel is larger than 0.8Nm, or the angular speed of the steering wheel is larger than 0.8rad/s, the driver is judged to intentionally steer the steering wheel, for example, the steering wheel is turned around, at the moment, the center position of the steering wheel is kept closed, the power motor stops outputting the target power torque, and the center position of the steering wheel is not controlled any more.
Wherein the second condition comprises: at each of N consecutive sampling instants: the vehicle speed is greater than the first vehicle speed and the vehicle speed variation amount is smaller than the first vehicle speed variation amount. In the present embodiment, the first vehicle speed variation and the continuous sampling time may be set according to actual conditions, for example, the first vehicle speed is 80km/h, the first vehicle speed variation is 5km/h, and N is 100; when the vehicle speed is more than 80km/h and the vehicle speed variation is less than 5km/h at each of the 100 continuous sampling moments, judging that the driving intention of the driver is to keep the vehicle running straight, namely, the keeping of the central position of the steering wheel needs to be maintained at the moment. At any sampling moment, when the vehicle speed is greater than 80km/h and the vehicle speed variation is less than 5km/h, adding 1 to a vehicle state monitoring counter, otherwise, resetting the vehicle state monitoring counter, judging that the vehicle state monitoring zone bit is effective and marking the position of a driver state 1 when the value of the vehicle state monitoring counter is not less than 100, and otherwise, judging that the vehicle state monitoring zone bit is ineffective and marking the position of the vehicle state monitoring zone bit 0.
Similarly, when the system is in a steering wheel center position holding state, whether the vehicle speed and the vehicle speed variation satisfy a fourth condition needs to be judged in real time, and when the vehicle speed and the vehicle speed variation satisfy the fourth condition, the steering wheel center position is kept closed, and the system controls the power-assisted motor to stop outputting the target power-assisted torque.
Wherein the fourth condition comprises: the vehicle speed is less than the second vehicle speed, or the vehicle speed variation is greater than the second vehicle speed variation; the second vehicle speed is less than the first vehicle speed, and the second vehicle speed change amount is greater than the first vehicle speed change amount. The second vehicle speed and the second vehicle speed change amount may be set according to actual conditions, for example, the second vehicle speed is 60km/h, and the second vehicle speed change amount is 10 km/h. When the vehicle speed is less than 60km/h or the vehicle speed variation is more than 10km/h, the situation that the driver intentionally takes over the steering control of the steering wheel is judged, for example, the steering wheel enters an acceleration or deceleration state, the steering wheel is kept closed at the central position, the power-assisted motor stops outputting the target power-assisted torque, and the steering wheel is not controlled to be kept at the central position.
In this embodiment, the fault information includes a valid fault flag of the vehicle and a diagnostic fault code of the vehicle, i.e., DTC, where the valid fault flag of the vehicle includes, but is not limited to, conventional fault status information of the vehicle, such as a headlight fault flag indicating a headlight fault, a tire pressure fault flag indicating a tire pressure fault, and an engine fault flag indicating an engine fault, for example, when the headlight fault flag is 1, it is determined that the headlight fault flag is a valid fault flag, and when the headlight fault flag is 0, it is determined that the headlight fault flag is an invalid fault flag. The fifth condition includes: no fault information is acquired at each of N consecutive sampling instants, where N may be 100. And at any sampling moment, if the fault information is not acquired, adding 1 to the fault diagnosis monitoring counter, and otherwise, resetting. And when the fault flag bit or the diagnosis fault code of the vehicle is not acquired at each of 100 continuous sampling moments, judging that the fault diagnosis monitoring flag bit is valid and marking the fault diagnosis monitoring flag position 1, otherwise, judging that the fault diagnosis monitoring flag bit is invalid and marking the fault diagnosis monitoring flag position 0. It can be understood that, in this embodiment, the fault information is not acquired, that is, the valid fault flag bit is not acquired, for example, when the acquired fault flag bit is 0, it is considered that the valid fault flag bit is not acquired, and the diagnostic fault code does not exist; when the fault flag bit is 0, the fault flag bit indicates that each component in the vehicle system has no fault report, and when the diagnosis fault code does not exist, the fault flag bit indicates that the vehicle runs normally.
The method and the device establish a mode selection state machine by taking a driver state zone bit, a vehicle state monitoring zone bit and a fault diagnosis monitoring zone bit as input signals, and realize mode selection of system operation by using the mode selection state machine through set judgment conditions. And when the state zone bit of the driver, the state monitoring zone bit of the vehicle and the fault diagnosis monitoring zone bit are all effective, the system selects to enter a steering wheel state maintaining control mode, an autonomous steering wheel center position maintaining torque is provided through a power-assisted motor, and otherwise, the system enters a conventional EPS general power-assisted mode. As shown in fig. 4, in the present embodiment, the steering wheel center position 0 degree is used as a target angle, the actual steering angle of the steering wheel is used as a feedback signal, the controller establishes the steering angle closed-loop control to obtain the target assist torque of the motor, and the assist motor is controlled to perform the autonomous torque holding.
Wherein, the closed-loop control formula of the corner is as follows:
T motor_return is the target power-assisted torque of the power-assisted motor, K p Is a proportionality coefficient, K i Is the integral coefficient, K d Is the differential coefficient, s is the s domain. Through closed-loop feedback control, the center position of the steering wheel can be effectively stabilized near 0 ℃, and the steering hand feeling of a driver is effectively improved. In order to improve the fault tolerance of the system, the embodiment limits the target power-assisted torque obtained by closed-loop control calculation to construct a torque firewall, uses the limited torque as the final output power-assisted torque of the motor and controls a steering mechanism to maintain the central position of the steering wheel, and ensures that the output torque is in a safe and controllable range, so that the problem that the motor power-assisted torque in an unexpected range interferes with the system due to faults to cause potential safety hazards is avoided.
As shown in fig. 5, in a second aspect of the present invention, there is provided a control device for maintaining a center position of a steering wheel of an automobile, which applies the above-mentioned control method for maintaining a center position of a steering wheel of an automobile, the device comprising:
the data acquisition module is configured to acquire a steering angle of a steering wheel, a steering torque of the steering wheel, an angular speed of the steering wheel and a vehicle speed, and determine a vehicle speed variation of the vehicle according to the vehicle speed;
the judging module is configured to determine that the steering angle of the steering wheel, the steering torque of the steering wheel and the angular speed of the steering wheel meet a first condition and determine that the vehicle speed and the vehicle speed variation meet a second condition;
and a control module configured to determine a target assist torque according to a steering angle of the steering wheel and control the assist motor to output the target assist torque such that the steering angle of the steering wheel is maintained at an angle at which the vehicle travels straight.
In a third aspect of the present invention, there is provided an automobile comprising the control device for maintaining the center position of the steering wheel of the automobile described above.
In summary, the present embodiment can determine the driving intention of the driver based on the steering angle of the steering wheel, the steering torque of the steering wheel, the angular velocity of the steering wheel, and the vehicle speed satisfying the preset conditions, and can determine the target assist torque output by the assist motor according to the steering angle of the steering wheel when it is determined that the vehicle needs to keep running straight, thereby maintaining the control of the center position of the steering wheel, without frequently correcting the steering angle by the driver, effectively reducing the driving fatigue of the driver, without additionally adding a sensing device, and without being influenced by the environment, and having low cost and high reliability.
While the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications are within the scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention will not be described separately for the various possible combinations.
In addition, any combination of the various embodiments of the present invention may be made, and the same should be considered as what is disclosed in the embodiments of the present invention as long as it does not depart from the spirit of the embodiments of the present invention.
Claims (10)
1. A control method for keeping the central position of a steering wheel of an automobile is applied to an EPS system, the EPS system comprises a power-assisted motor, and the power-assisted motor is used for providing power-assisted torque for the steering wheel to control the rotation of the steering wheel, and the method is characterized by comprising the following steps:
acquiring a steering angle of a steering wheel, a steering torque of the steering wheel, an angular speed of the steering wheel and a vehicle speed, and determining a vehicle speed variation of the vehicle according to the vehicle speed;
determining that the steering angle of the steering wheel, the steering torque of the steering wheel and the angular speed of the steering wheel meet a first condition and determining that the vehicle speed and the vehicle speed variation meet a second condition;
and determining a target power-assisted torque according to the steering angle of the steering wheel and controlling the power-assisted motor to output the target power-assisted torque so that the steering angle of the steering wheel is kept at an angle enabling the vehicle to run in a straight line.
2. The control method for maintaining the center position of the steering wheel of the automobile as set forth in claim 1, further comprising:
and when the steering angle of the steering wheel, the steering torque of the steering wheel and the angular speed of the steering wheel meet a third condition, or the vehicle speed and the vehicle speed variation meet a fourth condition, controlling the power-assisted motor to stop outputting the target power-assisted torque.
3. The control method of the center position maintenance of the steering wheel of the automobile as set forth in claim 1, wherein after determining that the steering angle of the steering wheel, the steering torque of the steering wheel, and the angular velocity of the steering wheel satisfy a first condition and determining that the vehicle speed and the amount of change in the vehicle speed satisfy a second condition, the method further comprises:
acquiring fault information representing vehicle faults, and determining that the acquired fault information meets a fifth condition;
the fifth condition includes: and failure information is not acquired at each sampling moment in the continuous N sampling moments.
4. The control method for maintaining the center position of the steering wheel of the automobile as set forth in claim 1, further comprising:
and if the target power-assisted torque is larger than a set threshold, taking the set threshold as the target power-assisted torque.
5. The control method of the center position maintenance of the steering wheel of the automobile according to claim 2, wherein the first condition includes:
at each of N consecutive sampling instants:
the steering angle of the steering wheel is less than a first steering angle, the steering torque of the steering wheel is less than a first steering torque, and the angular velocity of the steering wheel is less than a first angular velocity.
6. The control method of a steering wheel center position maintenance for an automobile according to claim 5, wherein the third condition includes:
the steering angle of the steering wheel is greater than a second steering angle, or the steering torque of the steering wheel is greater than a second steering torque, or the angular velocity of the steering wheel is greater than a second angular velocity;
the second steering angle is greater than the first steering angle, the second steering torque is greater than the first steering torque, and the second angular velocity is greater than the first angular velocity.
7. The control method of the center position holding of the steering wheel of the vehicle according to claim 2, wherein the amount of change in the vehicle speed is an absolute value of a difference between the vehicle speed at the present sampling timing and the vehicle speed at the previous sampling timing, and the second condition includes:
at each of N consecutive sampling instants:
the vehicle speed is greater than a first vehicle speed and the vehicle speed variation amount is smaller than a first vehicle speed variation amount.
8. The control method of the center position holding of the steering wheel of the automobile as set forth in claim 7, wherein the fourth condition includes:
the vehicle speed is less than a second vehicle speed, or the vehicle speed variation is greater than a second vehicle speed variation;
the second vehicle speed is less than the first vehicle speed, and the second vehicle speed change amount is greater than the first vehicle speed change amount.
9. A control apparatus for maintaining a center position of a steering wheel of a vehicle, to which the control method for maintaining a center position of a steering wheel of a vehicle according to any one of claims 1 to 8 is applied, the apparatus comprising:
the data acquisition module is configured to acquire a steering angle of a steering wheel, a steering torque of the steering wheel, an angular speed of the steering wheel and a vehicle speed, and determine a vehicle speed variation of the vehicle according to the vehicle speed;
the judging module is configured to determine that the steering angle of the steering wheel, the steering torque of the steering wheel and the angular speed of the steering wheel meet a first condition and determine that the vehicle speed and the vehicle speed variation meet a second condition;
a control module configured to determine a target assist torque depending on a steering angle of the steering wheel and control the assist motor to output the target assist torque such that the steering angle of the steering wheel is maintained at an angle that allows a vehicle to travel straight.
10. An automobile characterized by comprising the control device for maintaining the center position of the steering wheel of an automobile according to claim 9.
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| CN114987600B (en) | 2024-05-17 |
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Effective date of registration: 20221228 Address after: 868 Gangxing Road, Yangzhong Economic Development Zone, Zhenjiang City, Jiangsu Province Applicant after: Beehive intelligent steering system (Jiangsu) Co.,Ltd. Address before: 071000 in yard 75, Dongsheng Road, Jiaozhuang Township, Lianchi District, Baoding City, Hebei Province Applicant before: Baoding Branch of honeycomb intelligent steering system (Jiangsu) Co.,Ltd. |
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