CN115009265A - Automobile steering driving safety early warning method and device based on steering control characteristics - Google Patents
Automobile steering driving safety early warning method and device based on steering control characteristics Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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Abstract
The invention discloses a steering operation characteristic-based automobile steering driving safety early warning method and device, wherein the method comprises the following steps: s1, acquiring a front wheel side deflection angle, a rear wheel side deflection angle, a steering wheel steering angle and a target azimuth angle of the automobile in the steering driving process; s2, identifying the steering control characteristic delta alpha of the automobile in the steering driving process; s3, calculating steering wheel steering angle deviation delta s (ii) a S4, carrying out risk identification on the steering control characteristics, specifically: delta alpha<0, the steering control characteristic is over-steering, and the risk level is high; delta alpha>0, the steering handling characteristic is understeer, and the risk level is high; the delta alpha is 0, the steering control characteristic is neutral steering, and the risk level is low; s5, aiming at the identified risk level, utilizing the steering wheel steering angle deviation delta obtained by calculation s And controlling the driving risk. The invention avoids the steering control characteristic of the automobile by monitoring the steering driving safety state of the automobileA source of sexual risk causes a safety hazard.
Description
Technical Field
The invention belongs to the technical field of automobile safety early warning, and particularly relates to an automobile steering driving safety early warning method and device based on steering control characteristics.
Background
The automobile steering system ensures that an automobile can run in a straight line or in a steering way according to the intention of a driver, and the out-of-control steering operation of the automobile is one of the main factors of traffic accidents. The automobile steering control characteristics comprise neutral steering, understeer and oversteer, wherein the neutral steering means that the actual steering angle of the automobile is equal to the rotation angle of the front wheels in the steering process; understeer means that the actual steering angle of the vehicle is smaller than the steering angle of the front wheels in the steering process, and the front wheels slide outwards (push heads); the oversteer means that the actual steering angle of the vehicle is larger than the steering angle of the front wheels in the steering process, and the rear wheels slide outwards (drift).
The transmission system is a front-drive vehicle with a front engine, the center of gravity is arranged on a front shaft, the front wheel is a steering wheel and a driving wheel, and when the front wheel runs in a steering mode, the front wheel is subjected to centrifugal force to increase outward sliding, and understeer occurs; the transmission system is a vehicle with a front engine, a rear engine, a middle engine and a rear engine, the center of gravity is at the center, the front wheels are responsible for steering, and the rear wheels are responsible for driving and neutral steering; the transmission system is a vehicle with a rear-drive engine, the center of gravity is on a rear axle, the front wheels are responsible for steering, and the rear wheels are responsible for driving and are oversteer.
The steering characteristics of the automobile are related to road adhesion coefficient, turning radius, automobile transmission form, tire cornering stiffness, wheel cornering angle, steering speed, front wheel steering angle and steering wheel steering angle. When the automobile is driven at low speed, the neutral steering is basically kept; the steering speed is increased, the understeer trend is generated, and the understeer degree can be reduced by reducing the accelerator and the speed of the vehicle by a driver; and when the speed exceeds the critical vehicle speed, the steering operation is unstable, and the oversteer correction is difficult. Generally, the automobile has good maneuverability due to proper understeer, and the oversteer leads to unstable steering of the automobile. GB38900-2020 Motor vehicle safety technology inspection project and method requires that "automobiles (except three-wheeled automobiles) should have moderate understeer characteristics"; JT/T1178.2-2019 section 2 of commercial truck safety Condition: towing vehicles and trailers require "understeer should be greater than or equal to 0 °/(m/s2) and less than or equal to 1 °/(m/s 2)".
The steering runaway becomes a cause of a vehicle steering running danger source: firstly, the automobile is influenced by unbalanced braking force, road adhesion coefficient change, side wind and the like in the steering driving process, so that the steering operation of the automobile is unstable; secondly, when the automobile changes lanes at high speed and is suddenly steered when meeting obstacles, the lateral instability of the automobile is caused by understeer or oversteer operation; thirdly, when the automobile is over-steered, the steering wheel is over-large in turning angle and slow in returning, after the automobile reaches a target lane, the steering wheel is back-hit to enable the automobile to shake, and severe over-steering causes the phenomena of side slipping, side turning and the like; and fourthly, when the automobile is under-steered, the automobile cannot be over-bent, the rear wheels lose the grip force by hard driving the steering wheel, the automobile is turned over, and the serious under-steering generates a drifting phenomenon.
As a great potential safety hazard in the steering driving process of a vehicle, safety management is carried out on steering control characteristics: firstly, safety identification is carried out, the risk of the steering control characteristic is identified, and the characteristic is determined; and secondly, safety control is carried out, an early warning method is provided for a driver according to the steering control characteristic risk, and the risk is reduced, eliminated or controlled. The method has very important effects on avoiding traffic accidents caused by the risk of the steering control characteristics of the automobile and ensuring the steering driving stability and safety of the automobile.
At present, steering control characteristic monitoring and alarming only relate to individual parameters of steering angles of a steering wheel, vehicle steering control characteristics are not monitored, and safety risk management methods such as safety identification and control on the steering control characteristics in the steering driving process of an automobile are not available, so that the steering control characteristic risk is difficult to reduce, eliminate or control by providing an early warning method for a driver according to the steering control characteristic risk, and the driving safety of the steering driving of the automobile is ensured.
Disclosure of Invention
The invention mainly aims to overcome the defects of the prior art and provide a steering driving safety early warning method and device based on steering control characteristics, and safety accidents caused by a steering control characteristic risk source of an automobile are avoided by monitoring the steering driving safety state of the automobile.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides an automobile steering driving safety early warning method based on steering control characteristics, which comprises the following steps:
s1, acquiring a front wheel side deflection angle, a rear wheel side deflection angle, a steering wheel steering angle and a target azimuth angle of the automobile in the steering driving process;
s2, identifying a steering control characteristic delta alpha of the automobile in the steering driving process, wherein the steering control characteristic delta alpha is as follows:
Δα＝α f -α r
in the formula, alpha f Indicating the front wheel side slip angle, α r Representing a rear wheel side slip angle;
s3, calculating steering wheel steering angle deviation delta s The steering angle deviation delta of the steering wheel s The calculation formula is as follows:
Δδ s ＝δ sw -δ s
in the formula, delta sw Is a theoretical value of steering angle, delta, of the steering wheel s Steering angle for steering the steering wheel;
s3, carrying out risk identification on the steering control characteristics, specifically:
the delta alpha is less than 0, the steering control characteristic is oversteer, and the risk level is high;
Δ α >0, the steering handling characteristic is understeer, the risk level is high;
Δ α is 0, the steering handling characteristic is neutral steering, and the risk level is low.
S4, aiming at the identified risk level, the steering wheel steering angle deviation delta obtained by calculation is utilized s And controlling the driving risk.
Preferably, in step S1, the front wheel slip angle and the rear wheel slip angle are sensed by wheel inertia sensors;
sensing the steering angle of a steering wheel through a corner sensor;
the front target azimuth is perceived by the millimeter wave radar.
Preferably, in step S3, the steering wheel steering angle theoretical value δ sw Is calculated as follows:
δ sw ＝i s δ tf ＝i s (α target ±α f )
in the formula, delta tf Representing the theoretical value of the steering angle, i, of the front wheels s Indicating steering system gear ratio, alpha target Representing the forward target azimuth.
Preferably, in step S2, the front wheel steering angle theoretical value δ tf Is calculated as follows:
δ tf ＝α target ±α f
in the formula, alpha target Indicating the forward target azimuth, α f Indicating the front wheel side slip angle.
Preferably, in step S5, the calculated steering wheel steering angle deviation Δ δ is used s Controlling the risk level, specifically:
when the steering characteristic is oversteer, the speed and acceleration are reduced, and the steering angle deviation delta of the steering wheel is controlled s Less than zero;
when the steering characteristic is understeer, the speed and acceleration are reduced, and the steering angle deviation delta of the steering wheel is controlled s Is greater than zero;
when the steering control characteristic is neutral steering, the vehicle normally runs, the steering angle of the steering wheel is maintained to be proper and the steering characteristic is not sufficient, and the deviation delta of the steering angle of the steering wheel is controlled s Is less than zero.
The invention provides a steering driving safety early warning system of an automobile based on steering control characteristics, which comprises a parameter acquisition module, a steering control characteristic module, a steering wheel steering angle deviation calculation module, a risk identification module and a risk control module, wherein the parameter acquisition module is used for acquiring steering control characteristics of the automobile;
the parameter acquisition module is used for acquiring a front wheel side deflection angle, a rear wheel side deflection angle, a steering wheel steering angle and a target azimuth angle of the automobile in the steering driving process;
the steering control characteristic module is used for identifying a steering control characteristic delta alpha of the automobile in the steering driving process, wherein the steering control characteristic delta alpha is as follows:
Δα＝α f -α r
in the formula, alpha f Indicating the front wheel side slip angle, α r Representing a rear wheel side slip angle;
the steering wheel steering angle deviation calculation module is used for calculating the steering wheel steering angle deviation delta s The steering angle deviation delta of the steering wheel s The calculation formula is as follows:
Δδ s ＝δ sw -δ s
in the formula, delta sw Is a theoretical value of steering angle, delta, of the steering wheel s Steering angle for steering the steering wheel;
the risk identification module is used for carrying out risk identification on the steering control characteristics, and specifically comprises the following steps:
the delta alpha is less than 0, the steering control characteristic is oversteer, and the risk level is high;
Δ α >0, the steering handling characteristic is understeer, the risk level is high;
Δ α is 0, the steering handling characteristic is neutral steering, and the risk level is low.
The risk control module is used for utilizing the steering wheel steering angle deviation delta obtained by calculation according to the identified risk level s And controlling the stroke risk.
Yet another aspect of the present invention provides an electronic device, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores computer program instructions executable by the at least one processor to enable the at least one processor to perform the steering driving safety precaution method for a vehicle based on steering manipulation characteristics.
Still another aspect of the present invention provides a computer-readable storage medium storing a program, which when executed by a processor, implements the steering driving safety warning method for an automobile based on steering characteristics.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention carries out safety risk management on the steering control characteristic in the steering driving process of the automobile, thereby bringing the advantages of avoiding traffic accidents caused by the steering control characteristic when the automobile is in steering driving and ensuring the steering driving safety of the automobile.
2. The method and the device have the advantage of determining the steering characteristic risk because the steering characteristic risk source is safely identified in the steering driving process of the automobile.
3. The invention has the advantage of reducing, eliminating or controlling the risk because the risk control is carried out on the steering control characteristic in the steering driving process of the automobile.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a safety warning method for automobile steering driving based on steering characteristics according to an embodiment of the present invention;
FIG. 2 is a schematic view showing the steering operation characteristic during the steering driving according to the embodiment of the present invention;
fig. 3 is a block diagram of a safety warning system for driving a vehicle in a steering state based on steering characteristics according to an embodiment of the present invention.
Fig. 4 is a structural diagram of an electronic device according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
As shown in fig. 1 and fig. 2, the steering driving safety warning method for the automobile based on the steering operation characteristics of the embodiment includes the following steps:
s1, acquiring a front wheel side deflection angle, a rear wheel side deflection angle, a steering wheel steering angle and a target azimuth angle of the automobile in the steering driving process;
further, a front wheel side slip angle and a rear wheel side slip angle are sensed through a wheel inertia sensor;
sensing a steering angle of a steering wheel through a steering angle sensor;
and sensing the front target azimuth angle through a millimeter wave radar.
S2, identifying the steering control characteristic delta alpha of the automobile in the steering driving process,
the steering characteristic Δ α is:
Δα＝α f -α r
in the formula, alpha f Indicating the front wheel side slip angle, α r Representing a rear wheel side slip angle;
s3, calculating the steering angle deviation delta of the steering wheel s The steering angle deviation delta of the steering wheel s The calculation formula is as follows:
Δδ s ＝δ sw -δ s
in the formula, delta sw Is a theoretical value of steering angle, delta, of the steering wheel s Steering angle for steering the steering wheel;
further, the steering wheel steering angle theoretical value delta sw Is calculated as follows:
δ sw ＝i s δ tf ＝i s (α target ±α f )
in the formula, delta tf Representing the theoretical value of the steering angle, i, of the front wheels s Indicating steering system gear ratio, alpha target Representing the forward target azimuth.
Further, the theoretical value delta of the steering angle of the front wheels tf Is calculated as follows:
δ tf ＝α target ±α f
in the formula, alpha target Indicating the forward target azimuth, α f Indicating front wheel side slip angle
S4, carrying out risk identification on the steering control characteristics, specifically:
the delta alpha is less than 0, the steering control characteristic is oversteer, and the risk level is high;
Δ α >0, the steering handling characteristic is understeer, the risk level is high;
Δ α is 0, the steering handling characteristic is neutral steering, and the risk level is low.
S5, according to the steering control characteristic risk in the steering driving process of the automobile, a driver takes corresponding safety control measures to reduce, eliminate or control the risk, which specifically comprises the following steps:
the understeer risk control reduces the speed, acceleration, steering angle deviation delta of the steering wheel s Is greater than zero;
the risk control of over-steering reduces the speed and acceleration, and controls the steering angle deviation delta of the steering wheel s Less than zero;
the normal running risk control steers the vehicle with the steering wheel steering angle kept at the proper understeer characteristic, and the steering wheel steering angle deviation Delta s Is less than zero.
It should be noted that, for the sake of simplicity, the foregoing method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present invention is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present invention.
Based on the same idea as that of the steering operation characteristic-based automobile steering driving safety early warning method in the embodiment, the invention also provides a steering operation characteristic-based automobile steering driving safety early warning system, which can be used for executing the steering operation characteristic-based automobile steering driving safety early warning method. For convenience of explanation, the structural schematic diagram of the embodiment of the safety warning system for driving under steering of an automobile based on the steering handling characteristics only shows the parts related to the embodiment of the present invention, and those skilled in the art will understand that the illustrated structure does not constitute a limitation to the device, and may include more or less components than those illustrated, or combine some components, or arrange different components.
Referring to fig. 3, in another embodiment of the present application, a steering driving safety warning system 100 for an automobile based on steering characteristics is provided, which includes a parameter obtaining module 101, a steering characteristics module 102, a steering angle deviation calculating module 103, a risk identifying module 104, and a risk control module 105;
the parameter acquisition module 101 is configured to acquire a front wheel side deflection angle, a rear wheel side deflection angle, a steering wheel steering angle and a target azimuth angle of an automobile during steering and driving;
the steering characteristic module 102 is configured to identify a steering characteristic Δ α of the automobile during a steering driving process, where the steering characteristic Δ α is:
Δα＝α f -α r
in the formula, alpha f Indicating the front wheel side slip angle, α r Representing a rear wheel side slip angle;
the steering wheel steering angle deviation calculating module 103 is configured to calculate a steering wheel steering angle deviation Δ δ s The steering angle deviation delta of the steering wheel s The calculation formula is as follows:
Δδ s ＝δ sw -δ s
in the formula, delta sw Is a theoretical value of steering angle, delta, of the steering wheel s Steering angle for steering the steering wheel;
the risk identification module 104 is configured to perform risk identification on the steering control characteristic, specifically:
the delta alpha is less than 0, the steering control characteristic is oversteer, and the risk level is high;
Δ α >0, the steering handling characteristic is understeer, the risk level is high;
Δ α is 0, the steering handling characteristic is neutral steering, and the risk level is low.
The risk control module 105 is configured to utilize the calculated steering wheel steering angle deviation Δ δ for the identified risk level s And controlling the stroke risk.
It should be noted that, the steering operation characteristic-based safety early warning system for vehicle steering driving of the present invention corresponds to the steering operation characteristic-based safety early warning method for vehicle steering driving of the present invention one by one, and the technical features and the beneficial effects thereof described in the above embodiment of the steering operation characteristic-based safety early warning method for vehicle steering driving of the present invention are all applicable to the embodiment of the steering operation characteristic-based safety early warning for vehicle steering driving of the present invention, and specific contents thereof can be referred to the description in the embodiment of the method of the present invention, and are not described herein again, and thus, the present invention is declared.
In addition, in the implementation of the steering driving safety warning system of the vehicle based on the steering handling characteristics according to the above embodiment, the logical division of the program modules is only an example, and in practical applications, the above function distribution may be performed by different program modules according to needs, for example, due to the configuration requirements of corresponding hardware or the convenience of implementation of software, that is, the internal structure of the steering driving safety warning system of the vehicle based on the steering handling characteristics is divided into different program modules to perform all or part of the above described functions.
Referring to fig. 4, in an embodiment, an electronic device for implementing a steering driving safety warning method for a vehicle based on steering characteristics is provided, where the electronic device 200 may include a first processor 201, a first memory 202, and a bus, and may further include a computer program stored in the first memory 202 and operable on the first processor 201, such as a steering driving safety warning program 203 for a vehicle based on steering characteristics.
The first memory 202 includes at least one type of readable storage medium, which includes flash memory, removable hard disk, multimedia card, card-type memory (e.g., SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, etc. The first memory 202 may in some embodiments be an internal storage unit of the electronic device 200, such as a removable hard disk of the electronic device 200. The first memory 202 may also be an external storage device of the electronic device 200 in other embodiments, such as a plug-in mobile hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the electronic device 200. Further, the first memory 202 may also include both an internal storage unit and an external storage device of the electronic device 200. The first memory 202 may be used to store not only application software installed in the electronic device 200 and various types of data, such as codes of a steering driving safety warning program 203 of the vehicle based on steering characteristics, but also data that has been output or will be output.
The first processor 201 may be composed of an integrated circuit in some embodiments, for example, a single packaged integrated circuit, or may be composed of a plurality of integrated circuits packaged with the same function or different functions, and includes one or more Central Processing Units (CPUs), microprocessors, digital Processing chips, graphics processors, and combinations of various control chips. The first processor 201 is a Control Unit (Control Unit) of the electronic device, connects various components of the whole electronic device by using various interfaces and lines, and executes various functions and processes data of the electronic device 200 by running or executing programs or modules stored in the first memory 202 and calling data stored in the first memory 202.
Fig. 4 shows only an electronic device having components, and those skilled in the art will appreciate that the structure shown in fig. 4 does not constitute a limitation of the electronic device 200, and may include fewer or more components than those shown, or some components may be combined, or a different arrangement of components.
The steering driving safety precaution program 203 of the vehicle based on the steering handling characteristics stored in the first memory 202 of the electronic device 200 is a combination of a plurality of instructions, and when running in the first processor 201, can realize:
s1, acquiring a front wheel side deflection angle, a rear wheel side deflection angle, a steering wheel steering angle and a target azimuth angle of the automobile in the steering driving process;
s2, identifying the steering control characteristic delta alpha of the automobile in the steering driving process, wherein the steering control characteristic delta alpha is as follows:
Δα＝α f -α r
in the formula, alpha f Indicating the front wheel side slip angle, α r Representing a rear wheel side slip angle;
s3, calculating the steering angle deviation delta of the steering wheel s The steering angle deviation delta of the steering wheel s The calculation formula is as follows:
Δδ s ＝δ sw -δ s
in the formula, delta sw Is a theoretical value of steering angle, delta, of the steering wheel s Steering angle for steering the steering wheel;
s4, carrying out risk identification on the steering control characteristics, specifically:
the delta alpha is less than 0, the steering control characteristic is oversteer, and the risk level is high;
Δ α >0, the steering handling characteristic is understeer, the risk level is high;
the delta alpha is 0, the steering control characteristic is neutral steering, and the risk level is low;
s5, calculating the identified risk levelSteering wheel steering angle deviation Δ δ s And controlling the driving risk.
Further, the modules/units integrated with the electronic device 200, if implemented in the form of software functional units and sold or used as independent products, may be stored in a non-volatile computer-readable storage medium. The computer-readable medium may include: any entity or device capable of carrying said computer program code, a recording medium, a usb-disk, a removable hard disk, a magnetic diskette, an optical disk, a computer Memory, a Read-Only Memory (ROM).
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (8)
1. The automobile steering driving safety early warning method based on the steering control characteristic is characterized by comprising the following steps of:
s1, acquiring a front wheel side deflection angle, a rear wheel side deflection angle, a steering wheel steering angle and a target azimuth angle of the automobile in the steering driving process;
s2, identifying a steering control characteristic delta alpha of the automobile in the steering driving process, wherein the steering control characteristic delta alpha is as follows:
Δα＝α f -α r
in the formula, alpha f Indicating the front wheel side slip angle, α r Representing a rear wheel side slip angle;
s3, calculating the steering angle deviation delta of the steering wheel s The steering wheel steering angle deviation Delta s The calculation formula is as follows:
Δδ s ＝δ sw -δ s
in the formula, delta sw Is a theoretical value of steering angle, delta, of the steering wheel s Steering angle for steering the steering wheel;
s4, carrying out risk identification on the steering control characteristics, specifically:
the delta alpha is less than 0, the steering control characteristic is oversteer, and the risk level is high;
Δ α >0, the steering handling characteristic is understeer, the risk level is high;
the delta alpha is 0, the steering control characteristic is neutral steering, and the risk level is low;
s5, aiming at the identified risk level, utilizing the steering wheel steering angle deviation delta obtained by calculation s And controlling the driving risk.
2. The steering driving safety warning method according to claim 1, wherein in step S1, the front wheel side slip angle and the rear wheel side slip angle are sensed by the wheel inertia sensor;
sensing the steering angle of a steering wheel through a corner sensor;
and sensing the front target azimuth angle through a millimeter wave radar.
3. The steering driving safety warning method according to claim 1, wherein in step S3, the steering wheel steering angle theoretical value δ is sw Is calculated as follows:
δ sw ＝i s δ tf ＝i s (α target ±α f )
in the formula, delta tf Representing the theoretical value of the steering angle, i, of the front wheels s Indicating steering system gear ratio, alpha target Representing the forward target azimuth.
4. The steering driving safety warning method for the automobile based on the steering control characteristics as claimed in claim 3, wherein the theoretical value δ of the steering angle of the front wheels tf Is calculated as follows:
δ tf ＝α target ±α f
in the formula, alpha target Indicating the forward target azimuth, α f Indicating the front wheel side slip angle.
5. The steering driving safety warning method according to claim 1, wherein in step S5, the calculated steering angle deviation Δ δ of the steering wheel is used s Controlling the risk level, specifically:
when the steering characteristic is oversteer, the speed and acceleration are reduced, and the steering angle deviation delta of the steering wheel is controlled s Less than zero;
when the steering characteristic is understeer, the speed and acceleration are reduced, and the steering angle deviation delta of the steering wheel is controlled s Is greater than zero;
when steeringWhen the longitudinal characteristic is neutral steering, the vehicle normally runs, the steering angle of the steering wheel is maintained at a proper understeer characteristic, and the steering angle deviation Delta s Is less than zero.
6. The automobile steering driving safety early warning system based on the steering control characteristic is characterized by comprising a parameter acquisition module, a steering control characteristic module, a steering wheel steering angle deviation calculation module, a risk identification module and a risk control module;
the parameter acquisition module is used for acquiring a front wheel side deflection angle, a rear wheel side deflection angle, a steering wheel steering angle and a target azimuth angle of the automobile in the steering driving process;
the steering control characteristic module is used for identifying a steering control characteristic delta alpha of the automobile in the steering driving process, wherein the steering control characteristic delta alpha is as follows:
Δα＝α f -α r
in the formula, alpha f Indicating the front wheel side slip angle, α r Representing a rear wheel side slip angle;
the steering wheel steering angle deviation calculation module is used for calculating the steering wheel steering angle deviation delta s The steering angle deviation delta of the steering wheel s The calculation formula is as follows:
Δδ s ＝δ sw -δ s
in the formula, delta sw Is a theoretical value of steering angle, delta, of the steering wheel s Steering angle for steering the steering wheel;
the risk identification module is used for carrying out risk identification on the steering control characteristics, and specifically comprises the following steps:
the delta alpha is less than 0, the steering control characteristic is oversteer, and the risk level is high;
Δ α >0, the steering handling characteristic is understeer, the risk level is high;
Δ α is 0, the steering handling characteristic is neutral steering, and the risk level is low.
The risk control module is used for utilizing the steering wheel steering angle deviation delta obtained by calculation according to the identified risk level s And controlling the stroke risk.
7. An electronic device, characterized in that the electronic device comprises:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores computer program instructions executable by the at least one processor to enable the at least one processor to perform a steering driving safety warning method for an automobile based on steering manipulation characteristics according to any one of claims 1 to 5.
8. A computer-readable storage medium storing a program, wherein the program, when executed by a processor, implements the steering driving safety warning method for an automobile based on steering characteristics according to any one of claims 1 to 5.
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| CN202210773689.6A CN115009265A (en) | 2022-07-01 | 2022-07-01 | Automobile steering driving safety early warning method and device based on steering control characteristics |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115230680A (en) * | 2022-09-23 | 2022-10-25 | 万向钱潮股份公司 | Vehicle steering adjustment control method and vehicle steering adjustment control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115230680A (en) * | 2022-09-23 | 2022-10-25 | 万向钱潮股份公司 | Vehicle steering adjustment control method and vehicle steering adjustment control system |
| CN115230680B (en) * | 2022-09-23 | 2022-12-20 | 万向钱潮股份公司 | Vehicle steering adjustment control method and vehicle steering adjustment control system |
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