CN114987600B - Control method and device for maintaining central position of steering wheel of automobile and automobile - Google Patents
Control method and device for maintaining central position of steering wheel of automobile and automobile Download PDFInfo
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- CN114987600B CN114987600B CN202110226643.8A CN202110226643A CN114987600B CN 114987600 B CN114987600 B CN 114987600B CN 202110226643 A CN202110226643 A CN 202110226643A CN 114987600 B CN114987600 B CN 114987600B
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000005070 sampling Methods 0.000 claims description 31
- 238000003745 diagnosis Methods 0.000 claims description 12
- 238000012544 monitoring process Methods 0.000 description 19
- 239000003550 marker Substances 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 230000007935 neutral effect Effects 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000011217 control strategy Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
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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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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The embodiment of the invention provides a control method and device for maintaining 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 the 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 moment according to the steering angle of the steering wheel and controlling the power-assisted motor to output the target power-assisted moment so as to keep the steering angle of the steering wheel at an angle enabling the vehicle to run in a straight line. The present embodiment determines the target assist torque output by the assist motor based on a determination of the driving intention of the driver when it is determined that it is necessary to keep the vehicle traveling straight, thereby maintaining control of the center position of the steering wheel without requiring frequent correction of the steering angle by the driver.
Description
Technical Field
The invention relates to the technical field of automobile power-assisted steering control, in particular to a control method for maintaining the central position of an automobile steering wheel, a control device for maintaining the central position of the automobile steering wheel and an automobile.
Background
The electric power steering system (Electric Power Steering, EPS) can calculate the power-assisted torque required to be provided by the power-assisted motor according to the vehicle speed information, the torque of the steering wheel of the driver and the steering angle information of the steering wheel, and apply the power-assisted torque to the steering actuating mechanism to provide lighter steering control for the driver. With the continuous development of EPS control technology, in order to improve the driving comfort and driving safety of a driver, in combination with intelligent driving needs, existing EPS products generally increase advanced function control strategies, such as lane keeping control (LKA), adaptive Cruise Control (ACC), lane departure warning control (LDWS), and the like. For example, the invention patent CN201810628064.4, an active centering control method and system for an electric power steering system, proposes a centering control for a power steering system, where 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 is determined that the steering wheel is in an automatic centering process, a power-assisted motor is controlled to provide corresponding power to make the steering wheel return to a neutral position smoothly and quickly, but the steering wheel needs to be corrected continuously by the driver when in the neutral position to maintain the state of the steering wheel in the neutral position, so that independent autonomous torque control cannot be performed on the neutral position of the steering wheel. The invention patent with the application number of CN201410144167.5, namely a lane line keeping control device and a lane line keeping control method for a vehicle, proposes to determine the position of the vehicle on a traffic lane and the trend of a front traffic lane through a lane recognition algorithm according to image information shot by a camera, and automatically apply auxiliary steering moment when the vehicle is yawed so as to keep the running direction of the vehicle.
However, the existing EPS system has the following problems: when a vehicle runs, unexpected steering torque is generated by misoperation of a driver, and unexpected steering is generated by the vehicle when power-assisted control is performed according to the existing control strategy, so that the yaw angle of the vehicle is overlarge, and safety risks exist; 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 correct the steering angle of the steering wheel frequently, so that the driving intensity of the driver is increased, the driving comfort is reduced, and the driver is easy to generate fatigue driving; the control method for keeping the center position of the steering wheel can be realized through the control method for keeping the lane lines, but the realization device needs to be additionally provided with a visual sensor for collecting road conditions in real time, so that the cost is high, and meanwhile, the visual sensor is sensitive to the surrounding environment and the light conditions, misjudgment is easy to generate, and the driving safety is influenced.
Disclosure of Invention
The invention aims to provide a control method and device for maintaining the central position of an automobile steering wheel and an automobile, and aims to solve the problem that the conventional EPS system lacks steady-state control for steering angle of the steering wheel at 0 degree and cannot provide closed-loop control for maintaining 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 of center position maintenance of a steering wheel of an automobile, applied to an EPS system including a booster motor for providing a booster torque to the steering wheel to control rotation of the steering wheel, the method comprising:
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 the steering wheel, a steering torque of the steering wheel and an 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 moment according to the steering angle of the steering wheel and controlling the power-assisted motor to output the target power-assisted moment so as to keep the steering angle of the steering wheel 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 meet the first condition and determining that the vehicle speed and the vehicle speed variation meet the second condition, the method further includes:
Acquiring fault information representing a vehicle fault, and determining that the acquired fault information meets a fifth condition;
The fifth condition includes: no fault information is acquired at each of the N consecutive sampling instants.
Optionally, the method further comprises:
and if the target assisting torque is larger than a set threshold value, taking the set threshold value as the target assisting torque.
Optionally, the first condition includes:
at each of the N consecutive sampling instants:
The steering angle of the steering wheel is smaller than the first steering angle, the steering torque of the steering wheel is smaller than the first steering torque, and the angular velocity of the steering wheel is smaller than the first angular velocity.
Optionally, the third condition includes:
The steering angle of the steering wheel is larger than the second steering angle, or the steering torque of the steering wheel is larger than the second steering torque, or the angular velocity of the steering wheel is larger 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.
Optionally, the vehicle speed change amount 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 the N consecutive sampling instants:
The vehicle speed is greater than the first vehicle speed and the vehicle speed variation is less than the first vehicle speed variation.
Optionally, the fourth condition includes:
The vehicle speed is smaller than a second vehicle speed, or the vehicle speed variation is larger than a second vehicle speed variation;
the second vehicle speed is smaller than the first vehicle speed, and the second vehicle speed variation is larger than the first vehicle speed variation.
In a second aspect of the present invention, there is provided a control device for maintaining the center position of an automobile steering wheel, the control device applying the above control method for maintaining the center position of an automobile steering wheel, the device comprising:
The data acquisition module is configured to acquire 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, and determine the vehicle speed variation of the vehicle according to the vehicle speed;
A judging module configured to determine that a steering angle of the steering wheel, a steering torque of the steering wheel, and an angular velocity of the steering wheel satisfy a first condition, and determine that the vehicle speed and the vehicle speed variation satisfy a second condition;
and the control module is configured to determine a target power-assisted moment according to the steering angle of the steering wheel and control the power-assisted motor to output the target power-assisted moment so that the steering angle of the steering wheel is kept at an angle enabling the vehicle to run in a straight line.
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.
According to the technical scheme, the driving intention of the driver can be determined based on the steering angle of the steering wheel, the steering moment of the steering wheel, the angular speed of the steering wheel and the vehicle speed when the preset conditions are met, and the target power-assisted moment output by the power-assisted motor can be determined according to the steering angle of the steering wheel when the vehicle is required to be kept to run in a straight line, 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, and meanwhile, the sensor device is not required to be additionally arranged, and the vehicle steering system is free from environmental influence, low in cost and high in reliability.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of 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, without limitation, the embodiments of the invention. In the drawings:
FIG. 1 is a method flow chart of a control method for maintaining the center position of an automotive steering wheel according to a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of control logic for steering wheel center position maintenance provided by a preferred embodiment of the present invention;
FIG. 3 is a flow chart of a driver status determination provided by a preferred embodiment of the present invention;
FIG. 4 is a schematic illustration of a steering wheel center position closed loop control provided by a 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 describes specific embodiments of the present invention in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
As shown in fig. 1 and 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 including a booster motor for providing a booster 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 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 determining that a vehicle speed and a vehicle speed variation meet a second condition; and determining a target power-assisted moment according to the steering angle of the steering wheel and controlling the power-assisted motor to output the target power-assisted moment so as to keep the steering angle of the steering wheel at an angle enabling the vehicle to run in a straight line.
In this way, the driving intention of the driver can be determined based on the steering angle of the steering wheel, the steering moment of the steering wheel, the angular speed of the steering wheel and the vehicle speed when the preset conditions are met, and the target power-assisted moment output by the power-assisted motor can be determined according to the steering angle of the steering wheel when the vehicle is required to be kept to run straight, 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, and meanwhile, the sensor device does not need to be additionally arranged, and the vehicle is free from environmental influence, 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 the gear rack 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 and drives wheels to rotate through the connecting rod connected with the gear rack assembly, the steering wheel is connected with the gear rack assembly, and therefore steering torque generated by the rotation of the steering wheel drives the wheels to rotate through the connecting rod connected with the gear rack assembly. The controller may be an ECU, and the ECU is connected with a torque sensor, an angle sensor, an angular velocity sensor, and a speed sensor, respectively, where the torque sensor is used to detect a steering torque of the steering wheel, the angle sensor is used to detect a steering angle of the steering wheel, the angular velocity sensor is used to detect a steering speed of the steering wheel, and the speed sensor is used to detect a vehicle speed of the vehicle. In the running process of the vehicle, the steering angle of the steering wheel, the steering moment of the steering wheel, the angular speed of the steering wheel and the vehicle speed are obtained in real time, and at each sampling time, the current vehicle speed change quantity is determined according to the current vehicle speed, wherein the vehicle speed change quantity is the absolute value of the difference between the vehicle speed at the current sampling time and the vehicle speed at the previous sampling time, for example, the vehicle speed obtained at the current sampling time is 70km/h, the vehicle speed obtained at the previous sampling time is 68km/h, and the vehicle speed change quantity at the current sampling time is 2km/h. In this way, by determining whether the steering angle of the steering wheel, the steering torque of the steering wheel, the angular velocity of the steering wheel, the vehicle speed and the vehicle speed variation satisfy the first condition and the second condition, the driving intention of the driver can be determined, 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 and the vehicle speed variation satisfy the second condition, the driver is determined to need to keep the vehicle traveling straight, and at this time, the controller determines the target assist torque output by the assist motor according to the steering angle of the steering wheel and controls the assist motor to output the target assist torque so that the steering wheel is kept at the center position, thereby realizing the control of autonomously maintaining the center position of the steering wheel. In order to avoid that the system outputs excessive unexpected power assistance due to special working conditions, the embodiment constructs a moment firewall according to a preset set threshold value, and if the target power assistance moment is larger than the set threshold value, the set threshold value is used as the target power assistance moment. The output torque of the booster motor is limited within the preset threshold value through the preset threshold value, so that the fault tolerance of the system can be effectively improved.
In the present embodiment, the 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 status flag is set to the position 1; taking the second condition as a judging condition of the vehicle state, for example, the vehicle state is in an accelerating or decelerating state, and when the vehicle speed and the vehicle speed variation meet the second condition, monitoring the position 1 of the sign by the vehicle state; in order to further ensure the safety when maintaining the central position of the steering wheel, the embodiment also acquires fault information representing the fault of the vehicle, and monitors the position 1 of the fault diagnosis monitoring mark when the acquired fault information meets a fifth condition; when the driver state marker bit, the vehicle state monitoring marker bit and the obstacle diagnosis monitoring marker 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 moment so as to autonomously 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-assisted control on the steering wheel.
As shown in fig. 3, the first condition includes: at each of the N consecutive sampling instants: the steering angle of the steering wheel is smaller than the first steering angle, the steering torque of the steering wheel is smaller than the first steering torque, and the angular velocity of the steering wheel is smaller 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 practical situations, 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 velocity of the steering wheel is less than 0.5rad/s simultaneously satisfied at each of 100 consecutive sampling moments, it is judged that the driving intention of the driver is that the vehicle needs to be kept traveling straight, that is, that the maintenance of the center position of the steering wheel is needed at this time. At any sampling moment, when the steering angle of the steering wheel is smaller than 2deg, the steering torque of the steering wheel is smaller than 0.5Nm and the angular speed of the steering wheel is smaller than 0.5rad/s, the driver state counter is increased by 1, otherwise, the driver state counter is cleared, when the value of the driver state counter is not smaller than 100, the driver state marker bit is judged to be effective and the driver state marker position is judged to be 1, otherwise, the driver state marker bit is judged to be ineffective and the driver state marker position is judged to be 0. For example, at each of sampling times 1 to 89, three conditions of steering angle of the steering wheel being less than 2deg, steering torque of the steering wheel being less than 0.5Nm, and angular velocity of the steering wheel being less than 0.5rad/s are satisfied, at which time the driver state counter value is 89, and if at sampling time 90, any one of three conditions of steering angle of the steering wheel being less than 2deg, steering torque of the steering wheel being less than 0.5Nm, and angular velocity of the steering wheel being less than 0.5rad/s is not satisfied, if steering angle of the steering wheel being greater than 2deg, the driver state counter is cleared, at which time the driver state counter value is 0.
When the system is in a state of maintaining the central position of the steering wheel, 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 is also required to be judged in real time, 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 the third condition, the central position of the steering wheel is maintained to be 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 larger than the second steering angle, or the steering torque of the steering wheel is larger than the second steering torque, or the angular velocity of the steering wheel is larger 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 conditions, for example, the second steering angle may be 5deg, the second steering torque may be 0.8Nm, and the second angular velocity may be 0.8rad/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 velocity of the steering wheel is larger than 0.8rad/s, the driver is judged to intentionally steer the steering wheel, such as steering, turning around and other operations, at the moment, the center position of the steering wheel is kept closed, the power assisting motor stops outputting the target power assisting torque, and the center position of the steering wheel is not controlled any more.
Wherein the second condition comprises: at each of the N consecutive sampling instants: the vehicle speed is greater than the first vehicle speed and the vehicle speed variation is less than the first vehicle speed variation. In this embodiment, the first vehicle speed variation and the continuous sampling time may be set according to practical situations, 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 greater than 80km/h and the vehicle speed variation is less than 5km/h at each of 100 continuous sampling moments, judging that the driving intention of the driver is that the vehicle needs to be kept in a straight line, namely, the center position of the steering wheel needs to be kept at the moment. At any sampling moment, when two conditions of a vehicle speed greater than 80km/h and a vehicle speed variation less than 5km/h are met, adding 1 to a vehicle state monitoring counter, otherwise, resetting the vehicle state monitoring counter, when the value of the vehicle state monitoring counter is not less than 100, judging that a vehicle state monitoring zone bit is effective and a driver state marking position 1, otherwise, judging that the vehicle state monitoring zone bit is ineffective and the vehicle state monitoring marking position 0.
Similarly, when the system is in the steering wheel center position maintaining state, whether the vehicle speed and the vehicle speed variation meet the fourth condition or not needs to be judged in real time, and when the vehicle speed and the vehicle speed variation meet 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 moment.
Wherein the fourth condition comprises: the vehicle speed is smaller than the second vehicle speed, or the vehicle speed variation is larger than the second vehicle speed variation; the second vehicle speed is less than the first vehicle speed, and the second vehicle speed variation is greater than the first vehicle speed variation. The second vehicle speed and the second vehicle speed variation amount may be set according to actual conditions, for example, the second vehicle speed is 60km/h, and the second vehicle speed variation amount is 10km/h. When the vehicle speed is less than 60km/h or the vehicle speed variation is greater than 10km/h, the driver is judged to intentionally take over the steering control of the steering wheel, for example, the steering wheel enters an acceleration or deceleration state, and at the moment, the steering wheel center position is kept closed, the power assisting motor stops outputting the target power assisting moment, and the steering wheel center position is not kept controlled.
In this embodiment, the fault information includes a valid fault flag bit of the vehicle and a diagnostic fault code of the vehicle, that is, DTC, where the valid fault flag bit of the vehicle includes, but is not limited to, a headlight fault flag bit indicating a headlight fault, a tire pressure fault flag bit indicating a tire pressure fault, and conventional fault state information existing in the vehicle such as an engine fault flag bit indicating an engine fault, for example, when the headlight fault flag bit is 1, the headlight fault flag bit is determined to be a valid fault flag bit, and when the headlight fault flag bit is 0, the headlight fault flag bit is determined to be an invalid fault flag bit. The fifth condition includes: no fault information is acquired at each of N consecutive sampling instants, N may be 100. And at any sampling time, if no fault information is acquired, adding 1 to the fault diagnosis monitoring counter, and otherwise, resetting. When the fault zone 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 zone bit is effective and the fault diagnosis monitoring zone bit is 1, otherwise, judging that the fault diagnosis monitoring zone bit is ineffective and the fault diagnosis monitoring zone bit is 0. It can be understood that in this embodiment, no fault information is obtained, that is, no valid fault flag bit is obtained, for example, when the obtained fault flag bit 0 is regarded that no valid fault flag bit is obtained, and no diagnostic fault code exists; and when the fault flag bit is 0, no fault report is displayed on all components in the vehicle system, and when the fault code is not diagnosed, normal operation of the vehicle is displayed.
In the embodiment, a mode selection state machine is established by taking a driver state zone bit, a vehicle state monitoring zone bit and a fault diagnosis monitoring zone bit as input signals, and the mode selection of the system operation is realized by using the mode selection state machine through set judgment conditions. When the driver state zone bit, the vehicle state monitoring zone bit 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 moment is provided through the power-assisted motor, and otherwise, the system enters a conventional EPS general power-assisted mode. As shown in fig. 4, in this embodiment, the target assist torque of the motor is obtained by establishing a closed-loop control of the steering angle by using the center position of the steering wheel as a target angle and using the actual steering angle of the steering wheel as a feedback signal, and the autonomous torque holding is performed by controlling the assist motor.
The closed-loop control formula of the rotation angle is as follows:
T motor_return is the target power-assisted torque of the power-assisted motor, K p is a proportional coefficient, K i is an integral coefficient, K d is a differential coefficient, and s is an s domain. Through closed loop feedback control, the center position of the steering wheel can be effectively stabilized near 0 degrees, and the steering hand feeling of a driver is effectively improved. In order to improve the fault tolerance of the system, the torque firewall is constructed by limiting the target power-assisted torque calculated by closed-loop control under the control state that the central position of the steering wheel is kept, the limited torque is used as the final power-assisted torque of the motor, the steering mechanism is controlled to maintain the central position of the steering wheel, the output torque is ensured to be in a safe and controllable range, and the problem that the system is disturbed by the motor power-assisted torque in an unexpected range caused by faults is avoided, so that potential safety hazards are caused.
As shown in fig. 5, in a second aspect of the present invention, there is provided a control device for maintaining the center position of a steering wheel of an automobile, to which the above control method for maintaining the center position of the steering wheel of the automobile is applied, the device comprising:
The data acquisition module is configured to acquire 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, and determine the 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 variation of the vehicle speed 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 so that the steering angle of the steering wheel is maintained at an angle at which the vehicle is caused 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.
In summary, this embodiment can confirm the driving intention of driver when satisfying preset condition based on steering angle of steering wheel, steering moment of steering wheel, angular velocity of steering wheel and speed of a motor vehicle to can confirm the target power-assisted torque of helping hand motor output according to the steering angle of steering wheel when confirming to keep the vehicle straight line to travel, thereby maintain the control of steering wheel central point put, need not the driver and frequently revise steering angle, can effectively reduce driver's driving fatigue, need not additionally to increase sensing equipment simultaneously, and do not receive environmental impact, with low costs, the reliability is high.
The alternative embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the embodiments of the present invention are not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solutions of the embodiments of the present invention within the scope of the technical concept of the embodiments of the present invention, and all the simple modifications belong to the protection scope of the embodiments of the present invention.
In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the various possible combinations of embodiments of the invention are not described in detail.
In addition, any combination of the various embodiments of the present invention may be made, so long as it does not deviate from the idea of the embodiments of the present invention, and it should also be regarded as the disclosure of the embodiments of the present invention.
Claims (8)
1. A control method for maintaining a center position of a steering wheel of an automobile, applied to an EPS system including a booster motor for providing a booster torque to the steering wheel to control rotation of the steering wheel, the method comprising:
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 the steering wheel, a steering torque of the steering wheel and an 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;
Acquiring fault information representing a vehicle fault, and determining that the acquired fault information meets a fifth condition, wherein the fifth condition comprises: failure information is not acquired at each of the N continuous sampling moments, wherein the failure information comprises an effective failure zone bit of the vehicle and a diagnosis failure code of the vehicle;
determining a target power-assisted moment according to the steering angle of the steering wheel and controlling the power-assisted motor to output the target power-assisted moment so as to keep the steering angle of the steering wheel at an angle enabling the vehicle to run in a straight line;
The first condition includes:
at each of the N consecutive sampling instants:
The steering angle of the steering wheel is smaller than the first steering angle, the steering torque of the steering wheel is smaller than the first steering torque, and the angular velocity of the steering wheel is smaller than the first angular velocity.
2. The control method for maintaining the center position of a steering wheel of an automobile according to claim 1, characterized in that 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.
3. The control method for maintaining the center position of a steering wheel of an automobile according to claim 1, characterized in that the method further comprises:
and if the target assisting torque is larger than a set threshold value, taking the set threshold value as the target assisting torque.
4. The control method for maintaining the center position of the steering wheel of the automobile according to claim 2, wherein the third condition includes:
The steering angle of the steering wheel is larger than the second steering angle, or the steering torque of the steering wheel is larger than the second steering torque, or the angular velocity of the steering wheel is larger 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.
5. The control method for maintaining the center position of an automotive steering wheel according to claim 2, wherein 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 the N consecutive sampling instants:
The vehicle speed is greater than the first vehicle speed and the vehicle speed variation is less than the first vehicle speed variation.
6. The control method for maintaining the center position of the steering wheel of the automobile according to claim 5, wherein the fourth condition includes:
The vehicle speed is smaller than a second vehicle speed, or the vehicle speed variation is larger than a second vehicle speed variation;
the second vehicle speed is smaller than the first vehicle speed, and the second vehicle speed variation is larger than the first vehicle speed variation.
7. A control device for maintaining the center position of a steering wheel of an automobile, applying the control method for maintaining the center position of the steering wheel of an automobile according to any one of claims 1 to 6, characterized in that the device comprises:
The data acquisition module is configured to acquire 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, and determine the vehicle speed variation of the vehicle according to the vehicle speed;
A judging module configured to determine that a steering angle of the steering wheel, a steering torque of the steering wheel, and an angular velocity of the steering wheel satisfy a first condition, and determine that the vehicle speed and the vehicle speed variation satisfy a second condition;
Acquiring fault information representing a vehicle fault, and determining that the acquired fault information meets a fifth condition, wherein the fifth condition comprises: failure information is not acquired at each of the N continuous sampling moments, wherein the failure information comprises an effective failure zone bit of the vehicle and a diagnosis failure code of the vehicle;
a control module configured to determine a target assist torque in accordance with a steering angle of the steering wheel and control the assist motor to output the target assist torque so that the steering angle of the steering wheel is maintained at an angle at which the vehicle travels straight;
Wherein the first condition includes:
at each of the N consecutive sampling instants:
The steering angle of the steering wheel is smaller than the first steering angle, the steering torque of the steering wheel is smaller than the first steering torque, and the angular velocity of the steering wheel is smaller than the first angular velocity.
8. An automobile comprising the control device for maintaining the center position of the steering wheel of the automobile according to claim 7.
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| CN114987600A (en) | 2022-09-02 |
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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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