CN115056850B - Auxiliary control method, system, vehicle and medium based on steer-by-wire - Google Patents
Auxiliary control method, system, vehicle and medium based on steer-by-wire Download PDFInfo
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- CN115056850B CN115056850B CN202210761306.3A CN202210761306A CN115056850B CN 115056850 B CN115056850 B CN 115056850B CN 202210761306 A CN202210761306 A CN 202210761306A CN 115056850 B CN115056850 B CN 115056850B
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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
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
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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
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- Y02T10/72—Electric energy management in electromobility
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Abstract
The embodiment of the application provides an auxiliary control method, an auxiliary control system, a vehicle and a medium based on steer-by-wire. The method comprises the following steps: acquiring vehicle body state information, corner control information and speed control information; determining first braking information and/or first driving information based on the rotation angle control information and the speed control information; correcting the first braking information and/or the first driving information according to the vehicle body state information to obtain second braking information and/or second driving information; and transmitting the second braking information and/or the second driving information. If the steering-by-wire system of the vehicle cannot control the steering wheel through the upper steering system, the second driving information and the second braking information can be determined through the acquired vehicle body state information, steering wheel rotation angle control information and speed control information, so that the vehicle body posture, the moving direction and the speed can be controlled. Thus, in the event of steering failure, control of the direction of movement of the vehicle is achieved while ensuring that the vehicle speed meets the driver's expectations.
Description
Technical Field
The application relates to the technical field of vehicle control, in particular to an auxiliary control method, an auxiliary control system, a vehicle and a medium based on steer-by-wire.
Background
Along with the development of intelligent driving technology and the popularization of intelligent automobiles, the intelligent automobiles not only can meet the travel demands of users, but also can provide safer driving functions for the users.
In a conventional mechanical steering system, a steering wheel and a steering wheel are mechanically connected, and the steering wheel can directly control the direction through mechanical components. However, in the steer-by-wire system, there is no mechanical connection between the upper steering system and the lower steering system, but steering is controlled by transmission of an electric signal.
Disclosure of Invention
The embodiment of the application provides an auxiliary control method, an auxiliary control system, a vehicle and a medium based on steer-by-wire, which are used for realizing an auxiliary control function scheme based on steer-by-wire.
In a first aspect, an embodiment of the present application provides an auxiliary control method based on steer-by-wire, where the method includes:
responding to the auxiliary control request, and acquiring vehicle body state information, corner control information and speed control information;
determining first braking information and/or first driving information based on the rotation angle control information and the speed control information;
Correcting the first braking information and/or the first driving information according to the vehicle body state information to obtain second braking information and/or second driving information;
and sending the second braking information and/or the second driving information.
Optionally, the generating manner of the auxiliary control request includes:
and if the first steering control system fails or the current steering wheel and speed cannot meet the expected conditions, generating the auxiliary control request.
Optionally, in response to the auxiliary control request, acquiring the vehicle body state information includes:
after the assist control request is generated, the vehicle longitudinal acceleration, the lateral acceleration, and the yaw rate are acquired as the vehicle body state information.
Optionally, in response to the auxiliary control request, acquiring the rotation angle control information and the speed control information includes:
after the auxiliary control request is generated, acquiring the rotation angle control information of the steering wheel;
target driving information corresponding to an accelerator pedal and/or target braking information corresponding to a brake pedal are obtained.
Optionally, the determining the first braking information and/or the first driving information based on the rotation angle control information and the speed control information includes:
If the first steering control system fails, determining direction braking information and/or direction driving information for adjusting the direction of the vehicle according to the steering angle control information;
determining the first driving information based on the target driving information and the direction driving information; and/or the number of the groups of groups,
the first braking information is determined based on the target braking information and the directional braking information.
Optionally, the correcting the first braking information and/or the first driving information according to the vehicle body state information to obtain second braking information and second driving information includes:
determining third braking information and/or third driving information according to the longitudinal acceleration, the lateral acceleration and the yaw rate;
determining the second braking information based on the third braking information and the first braking information; and/or the number of the groups of groups,
the second driving information is determined based on the third driving information and the first driving information.
Optionally, if the first steering control system fails, hand feedback information is generated based on the second braking information and the second driving information, so as to generate steering wheel feedback torque perceived by a driver based on the hand feedback information.
Optionally, if the first steering control system fails, the steering wheel rotatable angle is limited by the steering wheel feedback torque based on the vehicle body state information, the second brake information and the second drive information.
In a second aspect, a steering-by-wire-based auxiliary control method includes:
responding to the auxiliary control request, and acquiring vehicle body state information; wherein the vehicle body state information includes: longitudinal acceleration, lateral acceleration, and yaw rate;
determining third braking information and/or third driving information according to the longitudinal acceleration, the lateral acceleration and the yaw rate;
and sending the third braking information and/or the third driving information.
Optionally, the braking and/or driving control of the vehicle based on the third braking information and/or the third driving information includes:
responding to the auxiliary control request, and acquiring corner control information and speed control information;
determining first braking information and/or first driving information based on the rotation angle control information and the speed control information;
correcting the first braking information and/or the first driving information according to the third braking information and/or the third driving information to obtain second braking information and/or second driving information;
And performing braking and/or driving control on the vehicle based on the second braking information and/or the second driving information.
Optionally, the generating manner of the auxiliary control request includes: the auxiliary control request is generated in response to an emergency braking and/or driven steering operation.
In a third aspect, an auxiliary control system based on steer-by-wire, the system comprising:
the sensor is used for collecting vehicle body state information, rotation angle control information and speed control information;
a controller including a calculation unit for determining first braking information and/or first driving information according to the acquired rotation angle control information and the speed control information provided by the sensor;
the first braking information and/or the first driving information are/is corrected according to the vehicle body state information to obtain second braking information and/or second driving information;
the controller further comprises a speed control unit for controlling the vehicle based on the second braking information and/or the second driving information.
Optionally, the speed control unit includes: a drive control unit and a brake control unit;
the drive control unit performs drive control of at least one wheel of the vehicle based on the second drive information;
The brake control unit performs brake control on at least one wheel of the vehicle based on the second brake information.
Optionally, the method further comprises: a detection unit;
the detection unit is used for detecting whether the first steering system fails or not, or detecting whether the current steering wheel and the speed meet the expected conditions or not.
In a fourth aspect, embodiments of the present application provide a vehicle, including: the vehicle comprises a vehicle body, a steer-by-wire system, a sensor and a processor;
the vehicle body is provided with a memory;
the memory is used for storing one or more computer instructions;
the processor is configured to execute the one or more computer instructions to: the steps of the method of the first aspect are performed or the steps of the method of the second aspect are performed.
An embodiment of the present application provides a computer-readable storage medium storing a computer program, where the computer program is capable of implementing the steps of the method described in the first aspect, or performing the steps of the method described in the second aspect.
The embodiment of the application provides an auxiliary control method, an auxiliary control system, a vehicle and a medium based on steer-by-wire. Responding to the auxiliary control request, and acquiring vehicle body state information, corner control information and speed control information; determining first braking information and/or first driving information based on the rotation angle control information and the speed control information; correcting the first braking information and/or the first driving information according to the vehicle body state information to obtain second braking information and/or second driving information; and controlling the vehicle based on the second braking information and/or the second driving information. Through the scheme, when the direction of the vehicle is controlled, if the steering wheel cannot be controlled through the upper steering system in the on-line steering system, the second driving information and the second braking information can be comprehensively determined through the acquired vehicle body state information, steering wheel angle control information and speed control information, so that the vehicle body posture and the moving direction of the vehicle are controlled, and the steering control is simulated through differential braking. The braking force is used for meeting the control requirement corresponding to the corner control information, and meanwhile, the driving force is also provided, so that under the condition of steering failure, the control and adjustment of the moving direction of the vehicle are realized by utilizing the second driving information and the second braking information, meanwhile, the speed of the vehicle can be ensured to meet the expectations of a driver, and the safety and the controllability of the vehicle are ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
fig. 1 is a schematic structural diagram of a steer-by-wire system of a vehicle according to an embodiment of the present application;
fig. 2 is a schematic diagram of an auxiliary control method based on steer-by-wire according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an emergency obstacle avoidance scenario illustrated in an embodiment of the present application;
fig. 4 is a schematic flow chart of a brake and/or drive control method based on steer-by-wire according to an embodiment of the present application;
fig. 5 is a schematic diagram of an auxiliary control system based on steer-by-wire according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application;
fig. 7 is a schematic diagram of an auxiliary control structure based on steer-by-wire according to an embodiment of the present application.
Detailed Description
In order to enable those skilled in the art to better understand the present invention, the following description will make clear and complete descriptions of the technical solutions according to the embodiments of the present invention with reference to the accompanying drawings.
In some of the flows described in the description of the invention, the claims, and the figures described above, a number of operations occurring in a particular order are included, and the operations may be performed out of order or concurrently with respect to the order in which they occur. The sequence numbers of operations such as 101, 102, etc. are merely used to distinguish between the various operations, and the sequence numbers themselves do not represent any order of execution. In addition, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first" and "second" herein are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, and are not limited to the "first" and the "second" being different types.
For the purposes, technical solutions and advantages of the present application, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Firstly, it should be noted that the technical scheme of the application is realized based on a vehicle steer-by-wire system. Fig. 1 is a schematic structural diagram of a steer-by-wire system of a vehicle according to an embodiment of the present application. As can be seen from fig. 1, the vehicle steer-by-wire system includes three main parts of an upper steering system 1, a lower steering system 2, and a controller 3 (Electronic Control Unit, ECU, electronic control unit), and if necessary, auxiliary systems such as a power supply and the like.
The upper steering system 1 includes a steering wheel 11, a sensor 12 (including, for example, a rotation angle sensor, a torque sensor, an angular velocity sensor, etc.), and a first drive motor 13 of the steering wheel. The steering wheel, the sensor and the first driving motor are connected through a pipe column. The primary function of the upper steering system is to communicate the steering intent of the driver (e.g., by measuring steering wheel angle) to the controller; and meanwhile, the moment control signals sent by the controller are received to generate steering wheel aligning moment so as to provide corresponding hand feeling and/or road feeling information for a driver. The lower steering system comprises a front wheel steering angle sensor, a steering wheel driving motor controller, a front wheel steering assembly (such as a rack and a pull rod mechanical assembly) and the like. The lower steering system 2 has the function of receiving the command of the controller, and controlling the rotation of the steering wheels through the steering wheel driving motor controller to realize the steering intention of a driver.
For easy understanding, the technical scheme of the present application will be described below in connection with specific embodiments.
Fig. 2 is a schematic diagram of an auxiliary control method based on steer-by-wire according to an embodiment of the present application. The method may be performed by an on-board controller. The method specifically comprises the following steps:
201: and responding to the auxiliary control request, and acquiring vehicle body state information, corner control information and speed control information.
202: first braking information and/or first driving information is determined based on the rotation angle control information and the speed control information.
203: and correcting the first braking information and/or the first driving information according to the vehicle body state information to obtain second braking information and/or second driving information.
204: and sending the second braking information and/or the second driving information.
In this embodiment, the rotation angle control information is angle information received by the controller and detected by the angle sensor to turn the steering wheel of the driver. The speed control information is travel information of an accelerator pedal (commonly called an accelerator) pressed by a driver and brake pedal travel information received by a controller; the different travel information of the accelerator pedal indicates different acceleration demands of a driver, and under the condition that the driver operates correctly, the larger the travel of the accelerator pedal is, the stronger the acceleration demands of the driver are, and the driver wants to obtain faster acceleration and speed currently; the different travel information of the brake pedal indicates different braking demands of the driver, and in case of correct operation of the driver, the larger the travel of the brake pedal indicates the stronger the driver's deceleration demand, the faster the current driver wants to obtain a deceleration brake. The steering angle control information and the speed control information are used herein to indicate the driver's speed and direction control requirements for the vehicle.
The vehicle body state information referred to herein is understood to be the longitudinal acceleration, the lateral acceleration, and the yaw rate acquired by using an in-vehicle sensor (e.g., a multi-axis gyroscope) as the vehicle body state information. From the above-described vehicle body state information, the current vehicle movement direction, direction trend, movement speed, speed trend, and the like can be known by calculation. After knowing the actual state of the present vehicle body, the braking force and the driving force can be further controlled in conjunction with the control demand (steering angle control information, speed control information) of the driver.
In practical applications, control of the vehicle body posture, the vehicle movement (traveling or steering) direction, and the vehicle movement speed may be achieved by controlling the braking forces of the respective wheels alone, by controlling the driving forces of the respective wheels alone, or by controlling the driving forces and the braking forces of the respective wheels simultaneously.
In one or more embodiments of the present application, the auxiliary control request refers in the present application to control, adjust, and especially control the direction of a vehicle by controlling the braking force and/or driving force of the wheels of the vehicle, and the auxiliary control request is generated when a first steering control system fails, or if the current steering wheel and speed cannot meet the expected conditions.
The first steering control system referred to herein is an upper steering system constituted by an upper steering system among the steering systems shown in fig. 1. Failure of the upper steering system means that the turning demand of the steering wheel cannot be transmitted to the steering wheel, and the driver turns the steering wheel, but the vehicle does not control the steering wheel to perform the corresponding steering action according to the control demand of the driver. In practical application, the detection unit may detect whether the first steering control system fails, or consider that the first steering control system fails when the controller finds that the control signal cannot be effectively and correspondingly obtained. In order to ensure that the vehicle can run safely or stop emergency, an assist control request may be generated so as to control the braking force and driving force of the vehicle based on the assist control request to achieve the effect of controlling the direction of the vehicle.
The current steering wheel and speed cannot meet the expected conditions, and it is understood that the driver controls the steering wheel, the accelerator pedal and the brake pedal of the vehicle to control the vehicle, but cannot meet the requirement (such as the requirement of emergency obstacle avoidance) which the driver wants to realize, and then a special control mode (hereinafter referred to as differential braking and/or driving mode) can be adopted to change the moving track of the vehicle to avoid the obstacle. For example, fig. 3 is a schematic diagram of an emergency obstacle avoidance scenario illustrated in an embodiment of the present application. As can be seen from fig. 3, when an accident occurs in front of the vehicle position 1, the driver wants to control the vehicle to avoid the obstacle to the right front and drive to the vehicle position 2. If the driving track is detected by the vehicle sensor and is predicted to collide with the obstacle in front of the vehicle position 3 under the rotation angle control and the speed control of the driver, the vehicle cannot drive to the vehicle position 2, that is, the rotation angle control of the driver cannot meet the obstacle avoidance expected condition, and the speed control of the driver cannot meet the obstacle avoidance expected condition. At this point, an auxiliary control request may be initiated to control the braking and driving forces of the vehicle's wheel or wheels, effecting differential braking and/or driving such that the vehicle generates torque about the centroid, thereby causing the vehicle to steer, and may be controlled to safely reach vehicle location 2 prior to collision with a forward obstacle. The control process of the braking force and the driving force will be specifically described in the following embodiments, and the detailed description will not be repeated here.
It should be noted that whether or not the steering wheel and the speed satisfy the expected conditions may be determined based on the predicted trajectory obtained by performing the predictive calculation based on the presented steering angle control information and the speed control information (including the target braking information and/or the target driving information) of the current driver control, and whether or not the predicted destination matches the actual expected trajectory and the actual expected destination. If the predicted track and the predicted destination obtained by prediction calculation based on the rotation angle control information and the speed control information which are displayed by the driver control are consistent with the actual expected track and the actual expected destination, the steering angle and the speed (including the current speed, the acceleration and the deceleration) of the steering wheel are indicated to meet the expected conditions; conversely, the steered wheel and speed are considered to fail the desired conditions. In practical applications, in addition to the prediction calculation, it may also be determined whether a prediction condition is satisfied by referring to a sensor detection result, for example, if the sensor detects that a collision is about to occur, the task does not satisfy the prediction condition.
In one or more embodiments of the present application, obtaining corner control information and speed control information in response to an auxiliary control request includes: after the auxiliary control request is generated, acquiring the rotation angle control information of the steering wheel; target driving information corresponding to an accelerator pedal and/or target braking information corresponding to a brake pedal are obtained.
In practice, the driver still has a need to control the vehicle, although the first steering control system fails, or the current steering wheel and speed do not meet the desired conditions. The driver has the best knowledge of the traveling direction, traveling speed, and traveling expected demand of the vehicle, in other words, the driver knows the expected conditions such as what track the driver wants to control the vehicle to travel in which direction. In addition, the driver also knows how the driver should control the steering angle of the steering wheel and the moving speed of the vehicle in order to realize the expected conditions, and the expected conditions of the driver are reflected by the steering angle control information of the current steering wheel, the target driving information corresponding to the driver stepping on the accelerator pedal, and the target braking information corresponding to the driver stepping on the brake pedal. Therefore, the control requirement of the driver is directly reflected by collecting the steering angle control information of the actual steering wheel, the target driving information corresponding to the accelerator pedal and the target braking information corresponding to the brake pedal when the driver operates the vehicle. Specifically, the corner control information reflects the direction control requirement of a driver on the basis of the current direction of the vehicle; the speed control information comprises target driving information and target braking information, and is used for reflecting the speed control requirement of a driver on the basis of the current speed of the vehicle.
By the mode, the control requirement of the driver is fully considered when the vehicle is controlled. The adjustment of the running direction and the vehicle body state of the vehicle is achieved by controlling and adjusting the braking force and the driving force.
In the actual driving process, the driver may normally only press the accelerator pedal or the brake pedal, and may press the brake pedal and the accelerator pedal simultaneously.
In one or more embodiments of the present application, determining the first braking information and/or the first driving information based on the rotation angle control information includes:
if the first steering control system fails, determining direction braking information and/or direction driving information for adjusting the direction of the vehicle according to the steering angle control information;
determining the first driving information based on the target driving information and the direction driving information; and/or the number of the groups of groups,
the first braking information is determined based on the target braking information and the directional braking information.
As previously described, when the first steering control system fails, the driver turns the steering wheel, and the steered wheels fail to respond to the driver's steering control demand. Therefore, different braking forces and driving forces of all wheels of the vehicle can be controlled, so that different speed relations are formed among all the wheels, and further the adjustment of the moving direction and the vehicle body posture of the vehicle is realized. In other words, when the driver cannot effectively control the traveling direction of the vehicle with the steering wheel (for example, when the driver turns the steering wheel, but an electric signal cannot be transmitted to the lower steering system, in other words, the driver cannot control the traveling direction of the vehicle with the steering wheel), the vehicle traveling direction adjustment is realized by controlling the braking force and the driving force of each wheel, and the control of the vehicle direction with the steering wheel is simulated.
As described above, the failure of the first steering control system, in order to satisfy the driver's demand for the current vehicle direction control by turning the steering wheel, can calculate the direction drive information of how much direction drive force is applied to each wheel and the direction brake information of how much direction brake force is applied to each wheel.
After the target driving information and the direction driving information provided by the driver by stepping on the accelerator pedal are obtained, the first driving information can be comprehensively calculated. Similarly, after target braking information and direction braking information provided by a driver by pressing a brake pedal are obtained, first braking information can be comprehensively calculated.
In one or more embodiments of the present application, the correcting the first braking information and/or the first driving information according to the vehicle body state information to obtain second braking information and second driving information includes:
determining third braking information and/or third driving information according to the longitudinal acceleration, the lateral acceleration and the yaw rate;
determining the second braking information based on the third braking information and the first braking information; and/or the number of the groups of groups,
The second driving information is determined based on the third driving information and the first driving information.
In practical applications, in order to ensure the stability of the vehicle body, the braking force and driving force to be applied to each wheel are not exactly the same in the case of different vehicle body state information. In particular the number of the elements,
the Yaw-rate (also called Yaw rate) can be used with the Yaw-G sensor output being two accelerations (longitudinal acceleration, lateral acceleration) and one Yaw rate. If the vehicle is a four-wheel vehicle, the front wheels are steering wheels, the front wheels are sleeved, the estimated Yaw-rate is Yaw-rate 1= (wf 1-wf 2) ×rr/(a×cos (a)), the estimated Yaw rate is compared with the reference Yaw rate and adjusted, and further third braking information of braking force required for enabling the vehicle body to achieve the stabilizing effect and third driving information of driving force required for enabling the vehicle body to achieve the stabilizing effect can be calculated.
After the third driving information is obtained and the first driving information is obtained by using the scheme, the second driving information can be obtained by comprehensive calculation. After the third braking information is obtained and the first braking information is obtained by using the scheme, the second braking information can be obtained by comprehensive calculation.
By using the scheme, when the first steering control system fails, a driver wants to control the vehicle to park by the safe side or avoid the obstacle through the steering wheel, the accelerator pedal and the brake pedal. Therefore, the steering effect of the steering wheel can be simulated by providing different torques for each wheel and controlling and adjusting the posture and the moving direction of the vehicle body under different torque control of each wheel. It is easy to understand that the driver, when controlling the vehicle, is the corner control information generated based on the corner control made after the information such as the current vehicle speed, direction, etc., is determined, and the speed control information generated by making the speed control. The speed can be ensured to meet the expectations of the driver while the direction control adjustment is performed by providing different torques for each wheel, so that the accurate control of each wheel is required to be realized by combining the braking force and the driving force, and the braking force cannot be provided just like the braking force in the traditional braking force distribution technology, because the vehicle speed can be reduced only by providing the braking force, and the requirements of acceleration or high-speed movement of the driver cannot be met.
With the above-mentioned scheme, in case of emergency (e.g., emergency obstacle avoidance situation), the driver wants to turn the steering wheel and press the accelerator pedal, so that the vehicle can complete the movement track of the emergency obstacle avoidance shown in fig. 3. Because the current steering wheel angle and the vehicle speed can not meet the obstacle avoidance requirements of a driver, the vehicle can generate different torques by applying braking force and driving force to each vehicle to control each wheel of the vehicle so as to generate a yaw angle, thereby realizing the adjustment of the angle and the vehicle body posture. The braking force and the driving force are matched, so that various requirements of acceleration steering, deceleration steering and the like are met.
In one or more embodiments of the present application, further comprising:
and if the first steering control system fails, generating hand feeling feedback information based on the second braking information and the second driving information so as to generate steering wheel feedback moment perceived by a driver based on the hand feeling feedback information.
Because the first steering control system is in a failure state, the driver still has the driving control requirement, and in order to enable the driver to feel that the driver has the control capability, when the moving speed and the moving direction of the vehicle are controlled based on the second braking information and the second driving information, the hand feeling feedback information is generated according to the actual state of the vehicle, and the corresponding steering wheel feedback moment is generated according to the hand feeling feedback information. When the feedback moment of the steering wheel is generated, the rotatable angle of the steering wheel is limited, so that the rotatable angle of the steering wheel is matched with the offset direction of the vehicle, which is simulated by the second braking information and/or the second driving information, so that the driver can feel that the moving direction of the vehicle is still controllable, and the driver can further rotate the steering wheel according to the actual situation. Therefore, in order to make the driver feel that the moving direction of the vehicle is controllable, the steering wheel feedback moment needs to be provided, and the steering wheel rotatable angle is further limited, so that the phenomenon that the driver generates steering out-of-control feeling when the steering wheel rotates too much is avoided.
Based on the same thought, the embodiment of the application also provides a control method based on the steer-by-wire. Fig. 4 is a schematic flow chart of a control method based on steer-by-wire according to an embodiment of the present application. As can be seen from fig. 4, the method specifically comprises the following steps:
401: responding to the auxiliary control request, and acquiring vehicle body state information; wherein the vehicle body state information includes: longitudinal acceleration, lateral acceleration, and yaw rate.
402: and determining third braking information and/or third driving information according to the longitudinal acceleration, the transverse acceleration and the yaw rate.
403: and sending the third braking information and/or the third driving information. So as to brake and/or drive-control the vehicle based on the third brake information and/or the third drive information.
In order to keep the vehicle body stable when braking is performed, the vehicle is generally realized by an EBD (brake force distribution) technique or the like. However, in the conventional braking force distribution technology, control of the vehicle body stability is generally achieved by providing different braking forces to the respective wheels, and although the vehicle body stability can be achieved, the vehicle speed is reduced by the braking force. In some emergency situations, only providing braking force can keep the vehicle body stable but can not realize avoiding obstacles. Therefore, it is possible to provide the driving force to achieve the vehicle body stabilization, or to provide the braking force and the driving force simultaneously to achieve the vehicle body stabilization, depending on the actual situation. In the technology of realizing the vehicle body stabilization, only braking force, only driving force or both braking force and driving force are provided, and the required braking force and driving force can be provided for each wheel by performing accurate control.
Optionally, the generating manner of the auxiliary control request includes: the auxiliary control request is generated in response to an emergency braking and/or driven steering operation.
The auxiliary control request generation method described herein is that, by controlling the braking force and driving force of each wheel and the steering direction of the vehicle (i.e., the driving direction of the vehicle) issued by the driver or the vehicle, for example, in the case of the requirements of emergency braking obstacle avoidance, emergency deceleration obstacle avoidance, emergency acceleration obstacle avoidance, etc. of the vehicle, the auxiliary control request generated for keeping the vehicle stable and the speed in accordance with the driver's expectation or in accordance with the requirements of emergency obstacle avoidance (for example, the driver suddenly depresses the brake pedal and/or the accelerator pedal and steers, and generates the auxiliary control request when the sensor detects that an obstacle is in front of the vehicle), thereby realizing adjustment of the driving direction, the vehicle body posture, the driving speed, etc. of the vehicle, so as to make the vehicle stable emergency braking obstacle avoidance, stable emergency deceleration obstacle avoidance, stable emergency acceleration obstacle avoidance, etc. The emergency braking and the emergency driving can be identified and judged according to the control speed, the acting force and the face tension state of the driver, or the emergency state can be comprehensively judged by combining the results (such as the fact that the vehicle is about to collide, the vehicle body posture is incorrect, the vehicle body posture is suddenly changed and the like) detected by the sensors.
Further, as the driver can know the current road condition, the driver can know at what speed and in which direction the vehicle is safe to avoid the obstacle more accurately. Therefore, the rotation angle control information and the speed control information are also collected while the vehicle body is kept to stably collect the vehicle body state information.
Determining first braking information and/or first driving information based on the rotation angle control information and the speed control information; correcting the first braking information and/or the first driving information according to the third braking information and/or the third driving information to obtain second braking information and/or second driving information; and performing braking and/or driving control on the vehicle based on the second braking information and/or the second driving information.
The braking and/or driving control described herein may be understood as the final purpose of achieving smooth stopping or smooth deceleration of the vehicle, similar to braking force distribution, but differing in that the present solution may also provide driving force to the vehicle (e.g., the driver may simultaneously depress the accelerator pedal and the brake pedal, or sequentially depress the accelerator pedal and the brake pedal, respectively, or simply depress the brake pedal, the vehicle providing driving force to the corresponding wheels based on trajectory estimation). However, in some complex emergency situations, certain obstacle avoidance measures are required to be adopted while the vehicle is stopped or decelerated smoothly, and acceleration requirements may be met; it is also necessary to consider the current environmental reality to trust and meet the control demands of the driver. Therefore, it is necessary to perform braking and/or driving control of the vehicle based on the second braking force information and the second driving force information. In order to achieve independent control of the individual wheels of the vehicle, a drive device (for example, a drive motor) and a brake device (for example, a brake disc) may be associated with each wheel.
Fig. 5 is a schematic diagram of an auxiliary control system based on steer-by-wire according to an embodiment of the present application, where the system includes:
a sensor 51 for collecting vehicle body state information, rotation angle control information, and speed control information;
a controller 52 including a calculation unit 521 for determining first braking information and/or first driving information based on the acquired rotation angle control information and the speed control information provided by the sensor;
the first braking information and/or the first driving information are/is corrected according to the vehicle body state information to obtain second braking information and/or second driving information;
the controller 52 further comprises a speed control unit 522 for controlling the vehicle based on the second braking information and/or the second driving information.
The speed control unit 522 includes: a drive control unit 522a and a brake control unit 522b;
the drive control unit 522a performs drive control of at least one wheel of the vehicle based on the second drive information.
The brake control unit 522b performs brake control on at least one wheel of the vehicle based on the second brake information.
Also included in the system is: the brake control unit 522b performs brake control on at least one wheel of the vehicle based on the second brake information.
Further comprises: a detection unit 53 for detecting whether the first steering system is out of order or whether the current steering wheel and speed meet the expected conditions.
Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application, as shown in fig. 6, the vehicle includes: the vehicle comprises a vehicle body, a steer-by-wire system, a sensor and a processor;
the vehicle body is mounted with a memory 601.
The memory 601 is used to store one or more computer instructions and may be configured to store various other data to support operations on the vehicle device. Examples of such data include instructions for any application or method operating on the vehicular device, contact data, phonebook data, messages, pictures, videos, and the like.
The Memory 601 may be implemented by any type or combination of volatile or non-volatile Memory devices, such as Static Random-Access Memory (SRAM), electrically erasable programmable Read-Only Memory (Electrically Erasable Programmable Read Only Memory, EEPROM), erasable programmable Read-Only Memory (Electrical Programmable Read Only Memory, EPROM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk.
The vehicle further includes: and a display component 603. A processor 602 coupled to the memory 601 for executing computer programs in the memory 601 for use in a steer-by-wire based auxiliary control scheme. In a steer-by-wire based auxiliary control scheme, the processor 602 is configured to:
responding to the auxiliary control request, and acquiring vehicle body state information, corner control information and speed control information;
determining first braking information and/or first driving information based on the rotation angle control information and the speed control information;
correcting the first braking information and/or the first driving information according to the vehicle body state information to obtain second braking information and/or second driving information;
and sending the second braking information and/or the second driving information.
Optionally, the processor 602 is configured to generate the auxiliary control request if the first steering control system fails, or if the current steering wheel and speed cannot meet the expected conditions.
Optionally, the processor 602 is configured to obtain, as the vehicle body state information, a longitudinal acceleration, a lateral acceleration, and a yaw rate of the vehicle after the auxiliary control request is generated.
Optionally, the processor 602 is configured to obtain steering wheel angle control information after generating the auxiliary control request;
target driving information corresponding to an accelerator pedal and/or target braking information corresponding to a brake pedal are obtained.
Optionally, the processor 602 is configured to determine, if the first steering control system fails, direction braking information and/or direction driving information for adjusting the direction of the vehicle according to the steering angle control information;
determining the first driving information based on the target driving information and the direction driving information; and/or the number of the groups of groups,
the first braking information is determined based on the target braking information and the directional braking information.
Optionally, a processor 602 is configured to determine third braking information and/or third driving information according to the longitudinal acceleration, the lateral acceleration and the yaw rate;
determining the second braking information based on the third braking information and the first braking information; and/or the number of the groups of groups,
the second driving information is determined based on the third driving information and the first driving information.
Optionally, the processor 602 is configured to generate, if the first steering control system fails, feel feedback information based on the second braking information and the second driving information, so as to generate a steering wheel feedback torque perceived by the driver based on the feel feedback information.
Optionally, the processor 602 is configured to limit the steering wheel rotatable angle by the steering wheel feedback torque based on the vehicle body state information, the second brake information and the second driving information if the first steering control system fails.
In a steer-by-wire based auxiliary control scheme, the processor 602 is configured to:
responding to the auxiliary control request, and acquiring vehicle body state information; wherein the vehicle body state information includes: longitudinal acceleration, lateral acceleration, and yaw rate;
determining third braking information and/or third driving information according to the longitudinal acceleration, the lateral acceleration and the yaw rate;
and sending the third braking information and/or the third driving information.
The processor 602 is configured to obtain corner control information and speed control information in response to the auxiliary control request;
determining first braking information and/or first driving information based on the rotation angle control information and the speed control information;
correcting the first braking information and/or the first driving information according to the third braking information and/or the third driving information to obtain second braking information and/or second driving information;
And performing braking and/or driving control on the vehicle based on the second braking information and/or the second driving information.
The processor 602 is configured to generate the auxiliary control request in response to an emergency braking and/or driven steering operation.
The display assembly 603 in fig. 6 described above includes a screen, which may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or slide action, but also the duration and pressure associated with the touch or slide operation.
The audio component 604 of fig. 6 above may be configured to output and/or input audio signals. For example, the audio component includes a Microphone (MIC) configured to receive external audio signals when the device in which the audio component is located is in an operational mode, such as a call mode, a recording mode, and a speech recognition mode. The received audio signal may be further stored in a memory or transmitted via a communication component. In some embodiments, the audio assembly further comprises a speaker for outputting audio signals.
Further, as shown in fig. 6, the vehicle apparatus further includes: communication component 605, power supply component 606, and the like. Only part of the components are schematically shown in fig. 6, which does not mean that the vehicle device only comprises the components shown in fig. 6.
The communication component 605 of fig. 6 described above is configured to facilitate wired or wireless communication between the device in which the communication component is located and other devices. The device in which the communication component is located may access a wireless network based on a communication standard, such as WiFi,2G, 3G, 4G, or 5G, or a combination thereof. In one exemplary embodiment, the communication component may be implemented based on near field communication (Near Field Communication, NFC) technology, radio frequency identification (Radio Frequency Identification, RFID) technology, infrared data association (Infrared Data Association, irDA) technology, ultra Wideband (UWB) technology, bluetooth technology, and other technologies.
Wherein the power supply assembly 606 provides power to the various components of the device in which the power supply assembly resides. The power components may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the devices in which the power components are located.
For ease of understanding, the present solution will be described below in connection with specific embodiments. Fig. 7 is a schematic diagram of an auxiliary control structure based on steer-by-wire according to an embodiment of the present application. As can be seen from the view of figure 7,
Starting auxiliary control:
the controller ECU 20 monitors the state signal of the steering controller 32, and when receiving the failure state information of the steering controller 32, the controller ECU 20 turns on the auxiliary control function.
Control is performed based on the driver intention:
when the assist control function is turned on, the controller ECU 20 acquires, through signal transmission, the operation intention of the driver, the rotation angle control of the steering wheel 30, the brake control information of the pedal assembly 22, and the acceleration (driving) control information of the accelerator (accelerator pedal) opening. Calculated by an internal demand calculation unit and transmitted to the brakes 20a,20b,20c,20d, and the drive motor assembly 40.
Feedback closed loop control based on vehicle body state:
during the control, the controller ECU 20 acquires the vehicle body state-related signals through the inertia measurement unit 23 (Inertial Measurement Unit, IMU) to obtain the longitudinal acceleration, lateral acceleration, and yaw rate information of the wheels. The demand computing unit is used for comparing and correcting with the demand of a driver according to the feedback signal of the vehicle body state, and further correcting the control torque to realize closed-loop control.
Meanwhile, the actual output information of steering is given to the steering controller 32, and the steering controller outputs steering wheel feedback torque to a driver according to the actual steering condition, so that feedback of steering hand feeling is realized.
In the embodiment of the application, vehicle body state information, corner control information and speed control information are acquired in response to an auxiliary control request; determining first braking information and/or first driving information based on the rotation angle control information and the speed control information; correcting the first braking information and/or the first driving information according to the vehicle body state information to obtain second braking information and/or second driving information; and controlling the vehicle based on the second braking information and/or the second driving information. Through the scheme, when the vehicle is controlled in the direction, if the steering wheel cannot be controlled through the steering wheel in the wire control steering system, the second driving information and the second braking information can be comprehensively determined through the acquired vehicle body state information, the acquired rotation angle control information and the acquired speed control information, so that the vehicle body posture and the moving direction of the vehicle are controlled, and the steering control is simulated through differential braking. The braking force is used for meeting the control requirement corresponding to the corner control information, and meanwhile, the driving force is also provided, so that under the condition of steering failure, the control and adjustment of the moving direction of the vehicle are realized by utilizing the second driving information and the second braking information, meanwhile, the speed of the vehicle can be ensured to meet the expectations of a driver, and the safety and the controllability of the vehicle are ensured.
Accordingly, the embodiments of the present application also provide a computer readable storage medium storing a computer program, where the computer program can implement the steps in the embodiments of the methods of fig. 1 and fig. 4.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory. The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (10)
1. An auxiliary control method based on steer-by-wire, which is characterized by being applied to a controller, the method comprising:
responding to the auxiliary control request, acquiring vehicle body state information, corner control information and speed control information, and specifically comprising the following steps: after the auxiliary control request is generated, acquiring the rotation angle control information of the steering wheel; acquiring target driving information corresponding to an accelerator pedal and target braking information corresponding to a brake pedal;
based on the rotation angle control information and the speed control information, determining first braking information and first driving information specifically includes: if the first steering control system fails, determining direction braking information and direction driving information for adjusting the direction of the vehicle according to the steering angle control information; determining the first driving information based on the target driving information and the direction driving information; and determining the first braking information based on the target braking information and the directional braking information;
correcting the first braking information and the first driving information according to the vehicle body state information to obtain second braking information and second driving information; the second braking information is obtained by correcting the first braking information by utilizing third braking information, and the third braking information is determined according to longitudinal acceleration, transverse acceleration and yaw rate;
And sending the second braking information and the second driving information so as to control different braking forces and driving forces of all wheels of the vehicle according to the second braking information and the second driving information, so that different speed relations are formed among all the wheels, and further the running speed and the running direction of the vehicle are consistent with the expectations of a driver.
2. The method according to claim 1, wherein the generating manner of the auxiliary control request includes:
if the first steering control system fails, or the current steering wheel and speed cannot meet the expected conditions, the auxiliary control request is generated.
3. The method according to claim 1 or 2, wherein acquiring the vehicle body state information in response to the assist control request includes:
after the assist control request is generated, the longitudinal acceleration, the lateral acceleration, and the yaw rate of the vehicle are acquired as the vehicle body state information.
4. The method as recited in claim 1, further comprising:
and if the first steering control system fails, generating hand feeling feedback information based on the second braking information and the second driving information so as to generate steering wheel feedback moment perceived by a driver based on the hand feeling feedback information.
5. The method of claim 4, wherein steering wheel rotatable angle is limited by the steering wheel feedback torque based on the body state information, the second brake information, and the second drive information if the first steering control system fails.
6. An auxiliary control system based on steer-by-wire, the system comprising:
the sensor responds to the auxiliary control request and is used for collecting vehicle body state information, rotation angle control information and speed control information, and specifically comprises the following steps: comprising the following steps: after the auxiliary control request is generated, acquiring the rotation angle control information of the steering wheel; acquiring target driving information corresponding to an accelerator pedal and target braking information corresponding to a brake pedal;
the controller comprises a calculation unit, is used for determining first braking information and first driving information according to the acquired rotation angle control information and the acquired speed control information provided by the sensor, and specifically comprises the following steps: if the first steering control system fails, determining direction braking information and direction driving information for adjusting the direction of the vehicle according to the steering angle control information; determining the first driving information based on the target driving information and the direction driving information; and determining the first braking information based on the target braking information and the directional braking information;
The first braking information and the first driving information are corrected according to the vehicle body state information to obtain second braking information and second driving information; the second braking information is obtained by correcting the first braking information by utilizing third braking information, and the third braking information is determined according to longitudinal acceleration, transverse acceleration and yaw rate;
the controller further comprises a speed control unit, and the speed control unit is used for controlling the vehicle based on the second braking information and the second driving information, so that different braking forces and driving forces of all wheels of the vehicle are controlled according to the second braking information and the second driving information, different speed relations are formed among all the wheels, and further the running speed and the running direction of the vehicle meet the expectations of a driver.
7. The system of claim 6, wherein the speed control unit comprises: a drive control unit and a brake control unit;
the drive control unit performs drive control of at least one wheel of the vehicle based on the second drive information;
the brake control unit performs brake control on at least one wheel of the vehicle based on the second brake information.
8. The system of claim 6, further comprising: a detection unit;
the detection unit is used for detecting whether the first steering system fails or not, or detecting whether the current steering wheel and the speed meet the expected conditions or not.
9. A vehicle, characterized by comprising: the vehicle comprises a vehicle body, a steer-by-wire system, a sensor and a processor;
the vehicle body is provided with a memory;
the memory is used for storing one or more computer instructions;
the processor is configured to execute the one or more computer instructions to: performing the steps of the method of any one of claims 1-5.
10. A computer readable storage medium storing a computer program, characterized in that the computer program is capable of realizing the steps of the method according to any one of claims 1-5 when executed.
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