CN115009355B - Vehicle control method, device, vehicle and storage medium - Google Patents
Vehicle control method, device, vehicle and storage medium Download PDFInfo
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- CN115009355B CN115009355B CN202210806791.1A CN202210806791A CN115009355B CN 115009355 B CN115009355 B CN 115009355B CN 202210806791 A CN202210806791 A CN 202210806791A CN 115009355 B CN115009355 B CN 115009355B
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 239000006096 absorbing agent Substances 0.000 claims abstract description 12
- 230000035939 shock Effects 0.000 claims abstract description 12
- 230000008569 process Effects 0.000 claims abstract description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 238000003491 array Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 1
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 1
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
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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
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
- B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a vehicle control method, a device, a vehicle and a storage medium, wherein the method comprises the following steps: in the automatic driving process of the vehicle, acquiring a torque value detected by a torque angle sensor in an electric power steering system; when the torque value is larger than the automatic driving calibration threshold value, judging whether to control the vehicle to exit from the automatic driving mode according to at least part of a stroke value detected by a shock absorber stroke sensor, a brake pressure value detected by a brake pedal pressure sensor, a rotation angle value detected by a torque rotation angle sensor and a steering pressure value detected by a steering wheel pressure sensor in the electric power steering system. Therefore, when the torque value in the electric power steering system is obtained, at least one part of the stroke value, the brake pressure value, the corner value and the steering pressure value is combined, and the actual vehicle control intention is comprehensively judged, so that the vehicle is ensured not to trigger the exit of the non-actual driving state, and the safety and the comfort of automatic driving are ensured.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a vehicle control method based on an electric power steering system, a computer readable storage medium, a vehicle control device based on an electric power steering system, and a vehicle.
Background
Currently, intelligent driving assist systems (ADASs) judge the actual control state of a vehicle by receiving a torque signal from an electric power steering system and by setting a torque threshold, for example, when the torque signal reaches the set threshold, the intelligent driving assist system judges that an automatic driving function is being deduced, and the driver takes over the vehicle.
However, the problem of the related art is that under some special road conditions, such as a pit, a mountain road, and other unusual road surfaces, jump of the torque response of the system can occur, so that the input torque signal reaches the set torque threshold value, however, the driver does not actually take over the steering wheel, which results in misjudgment of the intelligent driving assistance system, influences the function exertion of the intelligent driving assistance system, and causes serious threat to the safety of the whole vehicle.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, a first object of the present invention is to provide a vehicle control method based on an electric power steering system, which can ensure that the vehicle does not trigger the exit of the non-actual driving state, and ensure the safety and the comfort of the automatic driving.
A second object of the present invention is to propose a computer readable storage medium.
A third object of the present invention is to provide a vehicle control device based on an electric power steering system.
A fourth object of the present invention is to propose a vehicle.
To achieve the above object, a vehicle control method based on an electric power steering system according to an embodiment of a first aspect of the present invention includes the following steps: in the automatic driving process of the vehicle, acquiring a torque value detected by a torque angle sensor in the electric power steering system; and when the torque value is larger than an automatic driving calibration threshold value, judging whether to control the vehicle to exit from an automatic driving mode according to at least part of a travel value detected by a shock absorber travel sensor, a brake pressure value detected by a brake pedal pressure sensor, a rotation angle value detected by a torque rotation angle sensor and a steering pressure value detected by a steering wheel pressure sensor in the electric power steering system.
According to the vehicle control method based on the electric power steering system, which is provided by the embodiment of the invention, in the automatic driving process of the vehicle, the torque value detected by the torque corner sensor in the electric power steering system is obtained, and when the torque value is larger than the automatic driving calibration threshold value, whether the vehicle exits from the automatic driving mode is judged according to at least part of the stroke value detected by the shock absorber stroke sensor, the braking pressure value detected by the brake pedal pressure sensor, the corner value detected by the torque corner sensor and the steering pressure value detected by the steering wheel pressure sensor in the electric power steering system. Therefore, when the torque value in the electric power steering system is obtained, at least one part of the stroke value, the brake pressure value, the corner value and the steering pressure value is combined, and the actual vehicle control intention is comprehensively judged, so that the vehicle is ensured not to trigger the exit of the non-actual driving state, and the safety and the comfort of automatic driving are ensured.
In addition, the vehicle control method based on the electric power steering system according to the above embodiment of the invention may further have the following additional technical features:
according to one embodiment of the present invention, determining whether to control the vehicle to exit from the automatic driving mode based on at least part of a stroke value detected by a damper stroke sensor, a brake pressure value detected by a brake pedal pressure sensor, a steering angle value detected by the torque angle sensor, and a steering pressure value detected by a steering wheel pressure sensor in the electric power steering system includes: and when the travel value is smaller than a preset travel threshold value, controlling the vehicle to exit from an automatic driving mode.
According to one embodiment of the present invention, determining whether to control the vehicle to exit from the automatic driving mode according to at least part of a stroke value detected by a damper stroke sensor, a brake pressure value detected by a brake pedal pressure sensor, a steering angle value detected by the torque angle sensor, and a steering pressure value detected by a steering wheel pressure sensor in the electric power steering system further includes: and when the braking pressure value is larger than a first preset pressure threshold value and the torque value is larger than a preset hand-off torque initial threshold value, controlling the vehicle to exit from an automatic driving mode.
According to one embodiment of the present invention, determining whether to control the vehicle to exit from the automatic driving mode according to at least part of a stroke value detected by a damper stroke sensor, a brake pressure value detected by a brake pedal pressure sensor, a steering angle value detected by the torque angle sensor, and a steering pressure value detected by a steering wheel pressure sensor in the electric power steering system further includes: and when the rotation angle value is larger than a preset rotation angle threshold value and the torque value is larger than a preset initial threshold value of the hand-off torque, controlling the vehicle to exit from the automatic driving mode.
According to one embodiment of the present invention, determining whether to control the vehicle to exit from the automatic driving mode according to at least part of a stroke value detected by a damper stroke sensor, a brake pressure value detected by a brake pedal pressure sensor, a steering angle value detected by the torque angle sensor, and a steering pressure value detected by a steering wheel pressure sensor in the electric power steering system further includes: and when the steering pressure value is larger than a second preset pressure threshold value and the torque value is larger than a preset initial threshold value of the hand-off torque, controlling the vehicle to exit from the automatic driving mode.
According to an embodiment of the present invention, the steering pressure value has a higher judgment priority than the steering angle value, the steering angle value has a higher judgment priority than the brake pressure value, and the brake pressure value has a higher judgment priority than the stroke value.
According to one embodiment of the invention, when the vehicle starts the automatic driving mode, a torque value of the torque rotation angle sensor at the hand-off moment is obtained, and the larger value of the torque value at the hand-off moment and a preset initial threshold value of the hand-off torque is used as the automatic driving calibration threshold value.
To achieve the above object, a second aspect of the present invention provides a computer-readable storage medium having stored thereon a vehicle control program based on an electric power steering system, which when executed by a processor, implements a vehicle control method based on an electric power steering system according to the first aspect.
According to the computer readable storage medium provided by the embodiment of the invention, by executing the vehicle control program stored on the computer readable storage medium and based on the electric power steering system, at the same time of acquiring the torque value in the electric power steering system, at least part of the stroke value, the brake pressure value, the corner value and the steering pressure value is combined to comprehensively judge the control intention of the vehicle, so that the vehicle is ensured not to trigger the exit of the non-actual driving state, and the safety and the comfort of automatic driving are ensured.
To achieve the above object, a vehicle control device based on an electric power steering system according to a third aspect of the present invention includes: the acquisition module is used for acquiring a torque value detected by a torque angle sensor in the electric power steering system in the automatic driving process of the vehicle; and the control module is used for judging whether to control the vehicle to exit from the automatic driving mode according to at least part of a travel value detected by a shock absorber travel sensor, a brake pressure value detected by a brake pedal pressure sensor, a rotation angle value detected by a torque rotation angle sensor and a steering pressure value detected by a steering wheel pressure sensor in the electric power steering system when the torque value is larger than an automatic driving calibration threshold.
According to the vehicle control device based on the electric power steering system, which is provided by the embodiment of the invention, the torque value detected by the torque corner sensor in the electric power steering system is obtained through the obtaining module in the automatic driving process of the vehicle, and whether the vehicle exits from the automatic driving mode is judged according to at least part of the stroke value detected by the shock absorber stroke sensor, the brake pressure value detected by the brake pedal pressure sensor, the corner value detected by the torque corner sensor and the steering pressure value detected by the steering wheel pressure sensor in the electric power steering system when the torque value is larger than the automatic driving calibration threshold value through the control module. Therefore, when the torque value in the electric power steering system is obtained, at least one part of the stroke value, the brake pressure value, the corner value and the steering pressure value is combined, and the actual vehicle control intention is comprehensively judged, so that the vehicle is ensured not to trigger the exit of the non-actual driving state, and the safety and the comfort of automatic driving are ensured.
In order to achieve the above object, a vehicle according to a fourth aspect of the present invention includes a vehicle control device based on an electric power steering system according to the third aspect.
According to the vehicle provided by the embodiment of the invention, the vehicle control device based on the electric power steering system can comprehensively judge the actual vehicle control intention by combining at least part of the stroke value, the brake pressure value, the corner value and the steering pressure value while acquiring the torque value in the electric power steering system, thereby ensuring that the vehicle does not trigger the exit of the non-actual driving state and ensuring the safety and the comfort of automatic driving.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart diagram of a method of controlling a vehicle based on an electric power steering system in accordance with an embodiment of the present invention;
FIG. 2 is a block schematic diagram of a vehicle control apparatus based on an electric power steering system according to an embodiment of the invention;
FIG. 3 is a block schematic diagram of a vehicle according to an embodiment of the invention;
fig. 4 is a signal logic diagram of a vehicle according to one embodiment of the invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
A vehicle control method based on an electric power steering system, a computer-readable storage medium, a vehicle control device based on an electric power steering system, and a vehicle according to embodiments of the present invention are described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a vehicle control method based on an electric power steering system according to an embodiment of the invention.
As shown in fig. 1, the vehicle control method based on the electric power steering system includes the steps of:
s101, acquiring a torque value detected by a torque angle sensor in an electric power steering system in the automatic driving process of the vehicle.
It can be appreciated that, during the automatic driving of the vehicle, if the driver needs to take over the vehicle, the steering wheel of the vehicle is operated, so that the torque value detected by the torque angle sensor in the electric power steering system can be obtained, so as to determine whether the driver has the vehicle control intention according to the torque value.
And S102, judging whether to control the vehicle to exit from the automatic driving mode according to at least part of a stroke value detected by a shock absorber stroke sensor, a brake pressure value detected by a brake pedal pressure sensor, a rotation angle value detected by a torque rotation angle sensor and a steering pressure value detected by a steering wheel pressure sensor in the electric power steering system when the torque value is larger than an automatic driving calibration threshold.
It should be understood that, because under some special road conditions, for example, irregular road surfaces such as a pit or a mountain road, the vehicle may likewise jump the torque value detected by the torque angle sensor in the electric power steering system, however, the driver does not actually have the vehicle control intention, and at this time, if the intelligent driving assistance system misjudges and controls the vehicle to exit the automatic driving mode, a vehicle safety accident is very likely to occur, so in the embodiment of the present invention, when the torque value is greater than the automatic driving calibration threshold, whether the vehicle exits the automatic driving mode is further controlled is further determined according to at least part of the stroke value detected by the shock absorber stroke sensor, the brake pressure value detected by the brake pedal pressure sensor, the rotation angle value detected by the torque angle sensor and the steering pressure value detected by the steering wheel pressure sensor in the electric power steering system, thereby accurately judging the vehicle control intention of the driver, ensuring that the vehicle does not trigger the exit of the non-actual driving state, and ensuring the safety and the comfort in the automatic driving mode.
Specifically, when the vehicle starts an automatic driving mode, a torque value at the hand-off moment detected by a torque angle sensor is obtained, and the larger value of the torque value at the hand-off moment and a preset initial threshold value of the hand-off torque is used as an automatic driving calibration threshold value.
It can be understood that when the vehicle starts the automatic driving mode, the steering wheel is separated from the control of the driver, at this time, the torque value of the torque angle sensor at the moment of the hand-off can be obtained, and the larger value of the torque value at the moment of the hand-off and the preset initial threshold value of the torque at the moment of the hand-off is used as the automatic driving calibration threshold value, so that the torque threshold value for controlling the vehicle to exit the automatic driving mode is improved, the vehicle is ensured not to trigger the exit of the non-actual driving state, and the safety and the comfort of the automatic driving are ensured.
Alternatively, the preset initial threshold of the hand-off torque may be set accordingly according to the type of the vehicle, for example, the preset initial threshold of the hand-off torque may be 0.5N/m.
The vehicle control method based on the electric power steering system according to the embodiment of the invention will be described in detail with reference to the specific embodiment of the invention.
Further, judging whether to control the vehicle to exit the automatic driving mode based on at least part of a stroke value detected by a damper stroke sensor, a brake pressure value detected by a brake pedal pressure sensor, a steering angle value detected by a torque steering angle sensor, and a steering pressure value detected by a steering wheel pressure sensor in the electric power steering system, includes: and when the travel value is smaller than the preset travel threshold value, controlling the vehicle to exit from the automatic driving mode.
Specifically, in one embodiment of the present invention, when the torque value is greater than the autopilot calibration threshold and the trip value is less than the preset trip threshold, it may be determined that the vehicle is a torque value jump occurring under normal road conditions (e.g., a flat road surface), at which time it is determined that the driver has a vehicle control intention, the vehicle may be controlled to exit the autopilot mode, and the driver may take over the steering wheel.
In addition, in another embodiment of the present invention, when the torque value is greater than the autopilot calibration threshold and the trip value is greater than the preset trip threshold, it may be determined that the vehicle is a jump in the torque value under a special road condition (for example, a road surface with a pit or a non-flat road surface such as a mountain road surface), and at this time, it is determined that the driver has no intention to control the vehicle, it may be controlled that the vehicle continues to maintain the autopilot mode, so as to ensure safety and comfort in the autopilot mode.
Alternatively, in the above embodiment, the preset travel threshold may be set accordingly according to the type of the vehicle.
Further, judging whether to control the vehicle to exit the automatic driving mode based on at least part of a stroke value detected by a damper stroke sensor, a brake pressure value detected by a brake pedal pressure sensor, a steering angle value detected by a torque steering angle sensor, and a steering pressure value detected by a steering wheel pressure sensor in the electric power steering system, further comprising: and when the braking pressure value is larger than a first preset pressure threshold value and the torque value is larger than a preset initial threshold value of the hand-off torque, controlling the vehicle to exit from the automatic driving mode.
Specifically, in one embodiment of the present invention, when the brake pressure value is greater than the first preset pressure threshold value and the torque value is greater than the preset hand-off torque initial threshold value, it may be determined that the driver has performed a steering operation on the steering wheel and has performed a braking operation on the vehicle, and at this time, it is determined that the driver has a vehicle control intention, it may be controlled that the vehicle exits the automatic driving mode, so that the driver takes over the steering wheel.
Alternatively, the first preset pressure threshold may be set accordingly according to the type of vehicle.
Further, judging whether to control the vehicle to exit the automatic driving mode based on at least part of a stroke value detected by a damper stroke sensor, a brake pressure value detected by a brake pedal pressure sensor, a steering angle value detected by a torque steering angle sensor, and a steering pressure value detected by a steering wheel pressure sensor in the electric power steering system, further comprising: and when the rotation angle value is larger than a preset rotation angle threshold value and the torque value is larger than a preset initial threshold value of the hand-off torque, controlling the vehicle to exit from the automatic driving mode.
Specifically, in one embodiment of the present invention, when the steering angle value is greater than the preset steering angle threshold value and the torque value is greater than the preset initial threshold value of the hand-off torque, it may be determined that the driver performs a large steering operation on the steering wheel, and at this time, it is determined that the driver has a vehicle control intention, the vehicle may be controlled to exit the automatic driving mode, so that the driver takes over the steering wheel.
Alternatively, the preset rotation angle threshold may be set accordingly according to the type of the vehicle.
Further, judging whether to control the vehicle to exit the automatic driving mode based on at least part of a stroke value detected by a damper stroke sensor, a brake pressure value detected by a brake pedal pressure sensor, a steering angle value detected by a torque steering angle sensor, and a steering pressure value detected by a steering wheel pressure sensor in the electric power steering system, further comprising: and when the steering pressure value is larger than a second preset pressure threshold value and the torque value is larger than a preset hand-off torque initial threshold value, controlling the vehicle to exit from the automatic driving mode.
Specifically, in one embodiment of the present invention, when the steering pressure value is greater than the second preset pressure threshold value and the torque value is greater than the preset initial threshold value of the hand-off torque, it may be determined that the driver performs a steering operation with a large degree of force on the steering wheel, and at this time, it is determined that the driver has a vehicle control intention, the vehicle may be controlled to exit the automatic driving mode, and the steering wheel may be taken over by the driver.
Alternatively, the second preset pressure threshold may be set accordingly according to the type of vehicle.
Further, the steering pressure value has a higher judgment priority than the steering angle value, the steering angle value has a higher judgment priority than the brake pressure value, and the brake pressure value has a higher judgment priority than the stroke value.
It can be understood that in the embodiment of the present invention, the judging priority of the steering pressure value > the judging priority of the corner value > the judging priority of the brake pressure value > the judging priority of the travel value, specifically, when the sensor signal value with higher judging priority reaches the corresponding threshold value, the control strategy under the sensor signal value is preferentially executed to control the vehicle to exit the automatic driving mode.
In summary, according to the vehicle control method based on the electric power steering system provided by the embodiment of the invention, during the automatic driving of the vehicle, the torque value detected by the torque angle sensor in the electric power steering system is obtained, and when the torque value is greater than the automatic driving calibration threshold, whether the vehicle exits the automatic driving mode is judged according to at least part of the stroke value detected by the shock absorber stroke sensor, the brake pressure value detected by the brake pedal pressure sensor, the rotation angle value detected by the torque angle sensor and the steering pressure value detected by the steering wheel pressure sensor in the electric power steering system. Therefore, when the torque value in the electric power steering system is obtained, at least one part of the stroke value, the brake pressure value, the corner value and the steering pressure value is combined, and the actual vehicle control intention is comprehensively judged, so that the vehicle is ensured not to trigger the exit of the non-actual driving state, and the safety and the comfort of automatic driving are ensured.
Based on the foregoing electric power steering system-based vehicle control method according to the embodiment of the present invention, the embodiment of the present invention further provides a computer-readable storage medium having stored thereon an electric power steering system-based vehicle control program that, when executed by a processor, implements the electric power steering system-based vehicle control method according to the foregoing embodiment of the present invention.
It should be noted that, when executing the vehicle control program based on the electric power steering system stored on the computer readable storage medium according to the embodiment of the present invention, a specific implementation corresponding to the vehicle control method based on the electric power steering system according to the foregoing embodiment of the present invention may be implemented, which is not described herein.
In summary, according to the computer readable storage medium provided by the embodiment of the invention, by executing the vehicle control program stored on the computer readable storage medium and based on the electric power steering system, the torque value in the electric power steering system can be obtained, and at the same time, at least part of the stroke value, the brake pressure value, the corner value and the steering pressure value are combined, so that the actual vehicle control intention is comprehensively judged, thereby ensuring that the vehicle does not trigger the exit of the non-actual driving state, and ensuring the safety and the comfort of automatic driving.
Fig. 2 is a block schematic diagram of a vehicle control apparatus based on an electric power steering system according to an embodiment of the invention.
As shown in fig. 2, the vehicle control device 100 of the electric power steering system includes: an acquisition module 10 and a control module 20.
Specifically, the acquiring module 10 is configured to acquire a torque value detected by a torque angle sensor in the electric power steering system during automatic driving of the vehicle; the control module 20 is configured to determine whether to control the vehicle to exit from the automatic driving mode based on at least some of a stroke value detected by a shock absorber stroke sensor, a brake pressure value detected by a brake pedal pressure sensor, a steering angle value detected by a torque angle sensor, and a steering pressure value detected by a steering wheel pressure sensor in the electric power steering system when the torque value is greater than an automatic driving calibration threshold.
Further, the control module 20 is further configured to control the vehicle to exit the automatic driving mode when the trip value is less than the preset trip threshold.
Further, the control module 20 is further configured to control the vehicle to exit the automatic driving mode when the brake pressure value is greater than the first preset pressure threshold and the torque value is greater than the preset initial threshold of the hand-off torque.
Further, the control module 20 is further configured to control the vehicle to exit the automatic driving mode when the rotation angle value is greater than the preset rotation angle threshold value and the torque value is greater than the preset initial threshold value of the torque.
Further, the control module 20 is further configured to control the vehicle to exit the automatic driving mode when the steering pressure value is greater than the second preset pressure threshold and the torque value is greater than the preset hands-off torque initial threshold.
Further, the steering pressure value has a higher judgment priority than the steering angle value, the steering angle value has a higher judgment priority than the brake pressure value, and the brake pressure value has a higher judgment priority than the stroke value.
Further, the control module 20 is further configured to obtain a torque value at the time of the hand-off detected by the torque angle sensor when the vehicle starts the automatic driving mode, and use a larger value of the torque value at the time of the hand-off and a preset initial threshold value of the hand-off torque as the automatic driving calibration threshold value.
It should be noted that, the specific implementation of the vehicle control device 100 of the electric power steering system according to the embodiment of the present invention corresponds to the specific implementation of the vehicle control method of the electric power steering system according to the embodiment of the present invention, and will not be described herein.
In summary, according to the vehicle control device based on the electric power steering system provided by the embodiment of the invention, the torque value detected by the torque angle sensor in the electric power steering system is obtained by the obtaining module in the automatic driving process of the vehicle, and when the torque value is greater than the automatic driving calibration threshold value by the control module, whether the vehicle exits from the automatic driving mode is judged according to at least part of the stroke value detected by the shock absorber stroke sensor, the braking pressure value detected by the brake pedal pressure sensor, the angle value detected by the torque angle sensor and the steering pressure value detected by the steering wheel pressure sensor in the electric power steering system. Therefore, when the torque value in the electric power steering system is obtained, at least one part of the stroke value, the brake pressure value, the corner value and the steering pressure value is combined, and the actual vehicle control intention is comprehensively judged, so that the vehicle is ensured not to trigger the exit of the non-actual driving state, and the safety and the comfort of automatic driving are ensured.
Fig. 3 is a block schematic diagram of a vehicle according to an embodiment of the invention.
As shown in fig. 3, the vehicle 1000 includes the electric power steering system-based vehicle control apparatus 100 according to the embodiment of the invention described above.
It should be noted that, in the specific implementation manner of the vehicle 1000 according to the embodiment of the present invention, since the vehicle control device 100 based on the electric power steering system according to the embodiment of the present invention is adopted, the specific implementation manner of the vehicle control method of the electric power steering system according to the embodiment of the present invention is in one-to-one correspondence, and will not be described in detail herein.
Specifically, the stroke sensor, the brake pedal pressure sensor, the torque angle sensor, the steering wheel pressure sensor and the electric power steering system hand-off controller are added to the electric power steering system of the vehicle according to the embodiment of the present invention, wherein the signal logic of each sensor and the electric power steering system hand-off controller is shown in fig. 4, and in addition, other structures and functions of the vehicle according to the embodiment of the present invention are known to those skilled in the art, and for redundancy reduction, no description is given here.
In summary, according to the vehicle provided by the embodiment of the invention, by adopting the vehicle control device based on the electric power steering system, at the same time of acquiring the torque value in the electric power steering system, at least part of the stroke value, the brake pressure value, the corner value and the steering pressure value is combined, and the actual vehicle control intention is comprehensively judged, so that the vehicle is ensured not to trigger the exit of the non-actual driving state, and the safety and the comfort of automatic driving are ensured.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (9)
1. A vehicle control method based on an electric power steering system, characterized by comprising the steps of:
in the automatic driving process of the vehicle, acquiring a torque value detected by a torque angle sensor in the electric power steering system;
when the torque value is larger than an automatic driving calibration threshold value, judging whether to control the vehicle to exit from an automatic driving mode according to at least one part of a travel value detected by a shock absorber travel sensor, a brake pressure value detected by a brake pedal pressure sensor, a rotation angle value detected by a torque rotation angle sensor and a steering pressure value detected by a steering wheel pressure sensor in the electric power steering system;
when the vehicle starts the automatic driving mode, a torque value of the torque rotation angle sensor at the hand-off moment is obtained, and the larger value of the torque value at the hand-off moment and a preset initial threshold value of the hand-off torque is used as the automatic driving calibration threshold value.
2. The vehicle control method according to claim 1, characterized in that determining whether to control the vehicle to exit from the automatic driving mode based on at least part of a stroke value detected by a damper stroke sensor, a brake pressure value detected by a brake pedal pressure sensor, a steering angle value detected by the torque angle sensor, and a steering pressure value detected by a steering wheel pressure sensor in the electric power steering system, includes:
and when the travel value is smaller than a preset travel threshold value, controlling the vehicle to exit from an automatic driving mode.
3. The vehicle control method according to claim 1, characterized in that judging whether to control the vehicle to exit from the automatic driving mode based on at least part of a stroke value detected by a damper stroke sensor, a brake pressure value detected by a brake pedal pressure sensor, a steering angle value detected by the torque angle sensor, and a steering pressure value detected by a steering wheel pressure sensor in the electric power steering system, further comprises:
and when the braking pressure value is larger than a first preset pressure threshold value and the torque value is larger than a preset hand-off torque initial threshold value, controlling the vehicle to exit from an automatic driving mode.
4. The vehicle control method according to claim 1, characterized in that judging whether to control the vehicle to exit from the automatic driving mode based on at least part of a stroke value detected by a damper stroke sensor, a brake pressure value detected by a brake pedal pressure sensor, a steering angle value detected by the torque angle sensor, and a steering pressure value detected by a steering wheel pressure sensor in the electric power steering system, further comprises:
and when the rotation angle value is larger than a preset rotation angle threshold value and the torque value is larger than a preset initial threshold value of the hand-off torque, controlling the vehicle to exit from the automatic driving mode.
5. The vehicle control method according to claim 1, characterized in that judging whether to control the vehicle to exit from the automatic driving mode based on at least part of a stroke value detected by a damper stroke sensor, a brake pressure value detected by a brake pedal pressure sensor, a steering angle value detected by the torque angle sensor, and a steering pressure value detected by a steering wheel pressure sensor in the electric power steering system, further comprises:
and when the steering pressure value is larger than a second preset pressure threshold value and the torque value is larger than a preset initial threshold value of the hand-off torque, controlling the vehicle to exit from the automatic driving mode.
6. The vehicle control method according to any one of claims 1 to 5, characterized in that the determination priority of the steering pressure value is higher than the determination priority of the turning angle value, the determination priority of the turning angle value is higher than the determination priority of the braking pressure value, and the determination priority of the braking pressure value is higher than the determination priority of the stroke value.
7. A computer-readable storage medium, on which a vehicle control program based on an electric power steering system is stored, which when executed by a processor implements the electric power steering system-based vehicle control method according to any one of claims 1 to 6.
8. A vehicle control apparatus based on an electric power steering system, characterized by comprising:
the acquisition module is used for acquiring a torque value detected by a torque angle sensor in the electric power steering system in the automatic driving process of the vehicle;
the control module is used for judging whether the vehicle is controlled to exit from the automatic driving mode or not according to at least one part of a travel value detected by a shock absorber travel sensor, a brake pressure value detected by a brake pedal pressure sensor, a rotation angle value detected by a torque rotation angle sensor and a steering pressure value detected by a steering wheel pressure sensor in the electric power steering system when the torque value is larger than an automatic driving calibration threshold value;
the control module is also used for acquiring a torque value of the torque rotation angle sensor at the hand-off moment detected when the vehicle starts an automatic driving mode, and taking the larger value of the torque value at the hand-off moment and a preset initial threshold value of the hand-off torque as an automatic driving calibration threshold value.
9. A vehicle comprising the electric power steering system-based vehicle control apparatus according to claim 8.
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| CN202210806791.1A CN115009355B (en) | 2022-07-08 | 2022-07-08 | Vehicle control method, device, vehicle and storage medium |
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