CN115285220A - Steering wheel, vehicle direction control method and related equipment - Google Patents
Steering wheel, vehicle direction control method and related equipment Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/22—Arrangements for reducing or eliminating reaction, e.g. vibration, from parts, e.g. wheels, of the steering system
- B62D7/224—Arrangements for reducing or eliminating reaction, e.g. vibration, from parts, e.g. wheels, of the steering system acting between the steering wheel and the steering gear, e.g. on the steering column
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Abstract
The application discloses a steering wheel, a vehicle direction control method and related equipment. The steering wheel includes: the steering assembly comprises a steering wheel rotating shaft and a wear-resistant shaft sleeve, and the wear-resistant shaft sleeve is sleeved on the steering wheel rotating shaft; the damping assembly comprises a variable damping mechanism and a damping part, the damping part is connected with the variable damping mechanism, a damping layer of the damping part is in surface contact with the wear-resistant shaft sleeve to provide damping force for the direction assembly, and the variable damping mechanism is used for changing the damping force according to vehicle running information. The steering wheel provided by the embodiment of the application can automatically adjust the damping force of the steering wheel according to the running information of a vehicle, so that the driving stability is improved, the oscillation is reduced, and the stability of the transverse control of the vehicle is improved.
Description
Technical Field
The present description relates to the field of automobiles, and more particularly, to a steering wheel, a vehicle direction control method, and related devices.
Background
The automatic driving technology is rapidly developing, and lateral control of a vehicle is one of key technologies of automatic driving. When the vehicle encounters a bumpy road, the shake of the steering wheel caused by road surface input, which can occur, can be transmitted to the steering wheel. In a manually driven vehicle, the steering wheel can be kept stable by increasing the torque of holding the steering wheel, but in an automatic driving mode, the shake of a square wheel caused by road input is difficult to inhibit by a software control algorithm alone, so that the stability of the transverse control of the vehicle is influenced, and the reason why the automatically driven vehicle cannot adapt to bumpy road conditions generally is also considered.
Disclosure of Invention
A series of concepts in a simplified form are introduced in the summary section, which is described in further detail in the detailed description section. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In a first aspect, the present application provides a steering wheel, the method including:
the steering assembly comprises a steering wheel rotating shaft and a wear-resistant shaft sleeve, and the wear-resistant shaft sleeve is sleeved on the steering wheel rotating shaft;
the damping assembly comprises a variable damping mechanism and a damping part, the damping part is connected with the variable damping mechanism, a damping layer of the damping part is contacted with the surface of the wear-resistant shaft sleeve to provide damping force for the steering assembly, and the variable damping mechanism is used for changing the magnitude of the damping force according to vehicle running information;
optionally, the variable damping mechanism includes: the device comprises a motor, a movable sliding block, a lead screw and a spring;
the output shaft of the motor is connected with the lead screw, the movable sliding block is sleeved on the lead screw, the spring is connected with the movable sliding block and the damping part, and the motor is used for controlling the rotation of the output shaft according to the vehicle running information so as to control the compression amount of the spring between the movable sliding block and the damping part.
In a second aspect, an embodiment of the present application provides a vehicle direction control method for a steering wheel as described in the first aspect, including:
acquiring vehicle running information;
and controlling the damping force of the steering wheel according to the vehicle running information so as to enable the vehicle direction to be switched smoothly.
Optionally, the damping component of the steering wheel includes a motor, a movable slider, a lead screw and a spring, and the vehicle driving information includes vehicle bump information;
the control of the steering wheel damping force based on the vehicle travel information includes:
the vehicle inertial navigation module obtains the bumping information,
the amount of compression of the spring between the moving slider and the damping portion is changed based on the jounce information to control the steering wheel damping force.
Optionally, the vehicle driving information further includes a steering angle deviation of a vehicle steering wheel;
the method further comprises the following steps:
acquiring a target turning angle and an actual turning angle of a vehicle steering wheel;
acquiring the steering angle deviation based on the target steering angle and the actual steering angle;
the control of the steering wheel damping force based on the vehicle travel information includes:
and a controller for controlling a steering wheel damping force by changing a compression amount of a spring between the movable slider and the damping portion based on the pitch information and the rotational angle deviation.
Optionally, the vehicle driving information further includes vehicle speed information of the vehicle;
the method further comprises the following steps:
the control of the steering wheel damping force based on the vehicle travel information includes:
and a controller for controlling a steering wheel damping force by changing a compression amount of a spring between the movable slider and the damping portion based on the pitch information, the rotational angle deviation, and the vehicle speed information.
Optionally, the compression amount λ of the spring is determined by the following formula:
in the formula: c 1 Is a proportional factor of two norms of damping force about Z-axis acceleration | a z ‖ 2 Is a two-norm of the vehicle Z-axis acceleration, A min For a predetermined Z-axisAcceleration two-norm minimum threshold, C 2 Is a negative correlation coefficient of steering wheel angle error and damping force, theta e Target steering wheel angle, theta actual steering wheel angle, and delta theta max Is a preset maximum steering wheel angle error threshold value, C 3 Is the negative correlation coefficient of the vehicle speed information and the damping force, v is the vehicle speed information, v is the damping force max The preset vehicle reference maximum speed is set.
In a third aspect, the present invention also provides a vehicle direction control apparatus comprising:
an acquisition unit configured to acquire vehicle travel information;
and a control unit for controlling the damping force of the steering wheel according to the vehicle running information so as to smoothly switch the vehicle direction.
In a third aspect, an electronic device comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor is configured to implement the steps of the vehicle direction control method according to any one of the second aspect when the computer program stored in the memory is executed.
In a fourth aspect, the present invention also provides a computer-readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, implementing the vehicle direction control method of any one of the above aspects of the second aspect.
In summary, the steering wheel provided in the embodiments of the present application includes: the steering assembly comprises a steering wheel rotating shaft and a wear-resistant shaft sleeve, and the wear-resistant shaft sleeve is sleeved on the steering wheel rotating shaft; the damping assembly comprises a variable damping mechanism and a damping part, the damping part is connected with the variable damping mechanism, a damping layer of the damping part is in surface contact with the wear-resistant shaft sleeve to provide damping force for the direction assembly, and the variable damping mechanism is used for changing the damping force according to vehicle running information. The embodiment of the application provides a steering wheel, including direction subassembly and damping subassembly, wear-resisting axle sleeve is established to the cover in the steering wheel pivot in the direction subassembly, surface pressure between damping portion and the wear-resisting axle sleeve is adjusted to the damping mechanism that becomes among the damping subassembly, thereby adjust the frictional force between damping layer and the wear-resisting axle sleeve in the damping portion, can be to the size of the information automatically regulated steering wheel damping force of traveling of vehicle, thereby promote the stability of driving, reduce the oscillation, thereby improve vehicle lateral control's stability.
Additional advantages, objects, and features of the vehicle direction control method of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
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Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the specification. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic view of a steering wheel structure according to an embodiment of the present disclosure;
fig. 2 is a schematic view of an operating principle of a steering wheel according to an embodiment of the present application;
FIG. 3 is a schematic flow chart of a vehicle direction control method according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of a vehicle direction control device according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an electronic device for a vehicle direction control method according to an embodiment of the present application;
the corresponding relationship between the component names and the reference numbers in fig. 1 is as follows:
10 direction components, 101 a steering wheel main body, 102 a steering wheel rotating shaft and 103 a wear-resistant shaft sleeve;
20 damping components, 201 variable damping mechanisms, 2011 motors, 2012 moving sliders, 2013 lead screws and 2014 springs;
202 damping portion, 2021 slider body, 2022 damping layer.
Detailed Description
The embodiment of the application provides a steering wheel, including direction subassembly and damping subassembly, wear-resisting axle sleeve is established to the cover in the steering wheel pivot in the direction subassembly, surface pressure between damping portion and the wear-resisting axle sleeve is adjusted to the damping mechanism that becomes among the damping subassembly, thereby adjust the frictional force between damping layer and the wear-resisting axle sleeve in the damping portion, can be to the size of the information automatically regulated steering wheel damping force of traveling of vehicle, thereby promote the stability of driving, reduce the oscillation, thereby improve vehicle lateral control's stability.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.
Referring to fig. 1, a schematic view of a steering wheel structure provided in an embodiment of the present application may specifically include:
a steering assembly 10, wherein the steering assembly 10 includes a steering wheel shaft 102 and a wear-resistant bushing 103, and the wear-resistant bushing 103 is sleeved on the steering wheel shaft 102;
the damping assembly 20 comprises a variable damping mechanism 201 and a damping part 202, the damping part 202 is connected with the variable damping mechanism 201, a damping layer 2022 of the damping part 202 is contacted with the surface of the wear-resistant bushing 103 to provide damping force for the direction assembly 10, and the variable damping mechanism 201 is used for changing the magnitude of the damping force according to vehicle running information.
Illustratively, the steering wheel main body 101 is fixedly connected with the steering wheel rotating shaft 102, and the steering wheel rotating shaft 102 is sleeved with a wear-resistant bushing 103, which does not rotate relative to the steering wheel rotating shaft 102. The outer surface of the wear-resistant bushing 103 is in contact with the damping layer 2022 of the damping portion 202, the damping portion 202 further comprises a mounting slider, the mounting slider in the damping portion 202 is connected with the variable damping mechanism 201, and the variable damping mechanism 201 changes the pressure between the damping portion 202 and the wear-resistant bushing 103 according to the vehicle running information, so that the magnitude of the damping force of the steering wheel is changed, and the influence of a bumpy road surface on the steering wheel is overcome. The vehicle driving confidence may include a vehicle bump condition, a vehicle speed condition of the vehicle, and a turning angle information of the vehicle. Under the condition that the vehicle was too jolt, through promoting the pressure between the damping layer 2022 of damping portion 202 and the wear-resisting axle sleeve 103 in order to promote the damping force, avoid the vehicle to jolt and make great disturbance to the direction of vehicle to promote the stability of driving, reduce the direction and revise the number of times and revise the degree of difficulty.
To sum up, the steering wheel that this application embodiment provided, including direction subassembly 10 and damping subassembly 20, through establish wear-resisting axle sleeve 103 on the steering wheel pivot 102 in direction subassembly 10 cover, through the surface pressure between damping portion 202 and the wear-resisting axle sleeve 103 of variable damping mechanism 201 adjustment in damping subassembly 20, thereby adjust the frictional force between damping layer 2022 and the wear-resisting axle sleeve 103 in the damping portion 202, can be directed against the size of the traveling information automatic adjustment steering wheel damping force of vehicle, thereby promote the stability of driving, reduce the oscillation, thereby improve vehicle lateral control's stability.
In some examples, the variable damping mechanism 201 includes: a motor 2011, a moving slider 2012, a lead screw 2013 and a spring 2014;
the output shaft of the motor 2011 is connected to the lead screw 2013, the movable slider 2012 is fitted over the lead screw 2013, the spring 2014 is connected to the movable slider 2012 and the damper 202, and the motor 2011 is configured to control rotation of the output shaft according to the vehicle travel information to control a compression amount of the spring 2014 between the movable slider 2012 and the damper 202.
Illustratively, the variable damping mechanism 201 takes a motor 2011 as power, and is provided with a lead screw 2013 and a moving slider 2012 mechanism to convert the rotary motion of the motor 2011 into linear motion, and the motor 2011 is used for controlling the stroke of the moving slider 2012, so as to control the compression amount of the spring 2014 between the moving slider 2012 and the damping part 202, so that the contact pressure can be adjusted, and further the damping force can be controlled. The steering wheel rotating shaft 102 is provided with the wear-resistant shaft sleeve 103, so that the friction loss of the slider damping layer 2022 to the steering wheel is reduced, and meanwhile, the wear-resistant shaft sleeve is easy to disassemble and assemble and can be independently replaced, and the maintenance cost of the system is reduced. As shown in fig. 2, the motor 2011 of the variable damping mechanism 201 can be controlled by data measured by the inertial navigation module, and the inertial navigation module can output acceleration data of the vehicle in three XYZ directions, so that the road pitching condition can be measured.
It should be noted that the principle of adjusting the magnitude of the damping force is as follows: the motor 2011 drives the screw 2013 to screw in, and the feed motion of the movable slider 2012 is controlled, so that the stroke of the spring 2014 is changed, the pressure of the slider and the steering shaft of the steering wheel is adjusted, and the damping force is quantitatively adjusted:
F damping ＝μ k ·c·λ
In the formula, F Damping The friction force between the damping layer 2022 and the wear-resistant shaft sleeve 103 of the steering wheel rotating shaft 102; mu.s k The dynamic friction factor of the damping layer 2022 and the wear-resistant shaft sleeve 103 of the steering wheel rotating shaft 102 is shown; c is the spring 2014 stiffness; lambda is the compression stroke of the spring 2014 and can be adjusted by screwing through the lead screw 2013.
To sum up, according to the steering wheel provided in the embodiment of the present application, the variable damping mechanism 201 can control the stroke of the movable slider 2012 through the combination of the motor 2011, the lead screw 2013, the movable slider 2012, the spring 2014 and the damping portion 202 and through the rotation of the motor 2011, so as to control the compression amount of the spring 2014 between the movable slider 2012 and the damping portion 202, and further control the friction force between the damping portion 202 and the wear-resistant bushing 103, thereby achieving the purpose of controlling the damping force of the steering wheel.
In a second aspect, an embodiment of the present application provides a vehicle direction control method for a steering wheel as described in the first aspect, including:
s210, obtaining vehicle running information;
for example, the driving information of the vehicle may include pitch information of the vehicle, speed information of the vehicle, and steering angle information of a steering wheel of the vehicle, and the pitch information of the vehicle may be obtained by a vehicle inertial navigation module or an acceleration sensor inside the vehicle, the speed information may be obtained by a speed sensor, and the steering angle information of the steering wheel of the vehicle may be obtained by a steering angle of the steering wheel of the vehicle.
And S220, controlling the damping force of the steering wheel according to the vehicle running information so as to enable the vehicle direction to be switched smoothly.
For example, the damping force of the steering wheel is controlled according to the driving confidence of the vehicle, so that the direction of the vehicle is controlled to be switched smoothly or the vehicle is controlled to keep running smoothly and straightly, for example, in the case of vehicle bump, the damping force of the steering wheel can be properly improved, the influence of road bump on the direction of the vehicle is avoided, and the more severe the bump condition is, the greater the damping force of the steering wheel is provided.
In summary, the vehicle direction control method provided by the embodiment of the application can ensure that the vehicle can adjust the proper steering wheel damping force under different driving conditions by acquiring the vehicle driving information of the target vehicle and adjusting the damping force of the steering wheel according to the vehicle driving information, thereby improving the driving stability, reducing the oscillation and improving the stability of the vehicle lateral control.
In some examples, the damping assembly of the steering wheel includes a motor, a moving slider, a lead screw, and a spring, and the vehicle travel information includes vehicle pitch information;
the control of the steering wheel damping force based on the vehicle travel information includes:
the bumping information is obtained through an inertial navigation module of the vehicle,
the amount of compression of the spring between the moving slider and the damping portion is changed based on the jounce information to control the steering wheel damping force.
Illustratively, the vehicle inertial navigation module is used as the bumping information acquisition module. Continuously acquiring inertial navigation when a vehicle is in an automatic driving modeModule data according to acceleration a in the Z-axis direction z Acquiring a Z acceleration data set { a) within a fixed time period delta t in the past z And calculating two norms thereof:
judging the bumping degree of the current road according to the two norms of the Z-axis acceleration:
if the Z-axis acceleration two-norm is smaller than the set threshold, the vehicle normally runs on a flat road with good road conditions, the damping component does not provide damping force, namely, the sliding block damping layer and the wear-resistant shaft sleeve on the steering wheel steering shaft keep a separation state, and at the moment:
‖a z ‖ 2 <A min
in the formula, A min Is a preset Z-axis acceleration two-norm minimum threshold.
If the Z-axis acceleration two-norm is larger than a preset threshold value, the vehicle is indicated to be driven on a bumpy road section. The contact pressure of the damping layer of the sliding block and the wear-resistant shaft sleeve of the steering wheel is controlled through the motor and the lead screw mechanism, so that damping force is provided, the shake transmitted to the steering wheel due to road surface input is reduced, and the steering wheel is kept stable.
The size of damping force can drive the lead screw precession through the motor, and the feed motion of control removal slider to change spring compression stroke, adjust the pressure size between damping portion and the steering wheel pivot, and then the size of quantitative regulation damping force:
F damping ＝μ k ·c·λ
In the formula, F Damping The friction force between the damping layer and the steering wheel rotating shaft wear-resistant shaft sleeve is obtained; mu.s k The dynamic friction factor of the damping layer and the steering wheel rotating shaft wear-resistant shaft sleeve is obtained; c is the spring rate; lambda is the compression stroke of the spring and can be adjusted by screwing through the lead screw.
The size of damping force changes according to the degree of jolting of road, according to the size of the two norms of Z axle acceleration, can judge the degree of jolting of road, according to the degree of jolting of road of difference, adjusts the size of damping force to the road surface of jolting of adaptation different grades, the concrete appearance becomes positive correlation for the size and the two norms of Z axle acceleration of damping force:
F damping ＝C 1 ·(‖a z ‖ 2 ―A min )
In the formula, C 1 Is a proportionality coefficient of damping force with respect to the Z-axis acceleration two norm.
In summary, the vehicle direction control method provided in the embodiment of the present application performs data processing through the Z-axis acceleration measured by the inertial navigation module of the vehicle to obtain the jounce information for identifying the degree of jounce of the vehicle, and adjusts the damping force of the steering wheel by adjusting the compression amount of the spring based on the jounce information, thereby ensuring that the vehicle runs stably.
In some examples, the vehicle travel information further includes a deviation of a rotation angle of a steering wheel of the vehicle;
the method further comprises the following steps:
acquiring a target corner and an actual corner of a vehicle steering wheel;
acquiring the steering angle deviation based on the target steering angle and the actual steering angle;
the control of the steering wheel damping force based on the vehicle travel information includes:
and a controller for controlling a steering wheel damping force by changing a compression amount of a spring between the movable slider and the damping portion based on the pitch information and the rotational angle deviation.
For example, the magnitude of the damping force may also be adjusted according to the magnitude of the steering wheel angle deviation, and when the difference between the actual steering angle fed back by the steering wheel and the input target steering angle is large, the damping force should be reduced at this time to preferentially ensure the tracking performance of the steering wheel angle, that is:
F damping ＝C 1 ·(‖a z ‖ 2 ―A min )·C 2 ·(Δθ max ―|θ―θ e |)
In the formula, C 2 Is a negative correlation coefficient of steering wheel angle error and damping force, theta e Is a target steering wheel angle, theta is an actual steering wheel angle, delta theta max Is presetWhen the maximum rotation angle error of the steering wheel exceeds the maximum rotation angle error threshold, the damping device does not provide damping torque, namely the damping layer of the sliding block and the wear-resistant shaft sleeve on the steering shaft of the steering wheel are kept in a separated state.
In summary, according to the vehicle direction control method provided by the embodiment of the application, the damping force is adjusted by considering the factor of the deviation of the corner while considering the bumping information, the obtained damping force can ensure the tracking performance of the corner beside the direction and the influence of bumping on the vehicle direction, and the obtained damping force can better accord with the current vehicle running condition.
In some examples, the vehicle travel information further includes vehicle speed information of the vehicle;
the method further comprises the following steps:
the control of the steering wheel damping force based on the vehicle travel information includes:
and a controller for controlling a steering wheel damping force by changing a compression amount of a spring between the movable slider and the damping portion based on the pitch information, the rotational angle deviation, and the vehicle speed information.
For example, the magnitude of the damping force can be adjusted according to the vehicle speed, when the vehicle speed is low, the return-to-positive torque provided by the electric power steering system is small, and the steering wheel is easy to shake, and at this time, a large damping force needs to be provided, that is, the magnitude of the damping force is negatively related to the vehicle speed:
F damping ＝C 1 ·(‖a z ‖ 2 ―A min )·C 2 ·(Δθ max ―|θ―θ e |)·C 3 ·(v max ―v)
In the formula, C 3 Is the negative correlation coefficient of the vehicle speed and the damping force, v is the current vehicle speed, v max When the vehicle speed exceeds the set value, the damping device does not provide damping torque so as to avoid influencing the high-speed running of the vehicle, and at the moment, the damping layer of the sliding block and the wear-resistant shaft sleeve on the steering shaft of the steering wheel are kept in a separated state.
In summary, the vehicle direction control method provided by the embodiment of the application considers the influence of the bumping information, the corner deviation and the vehicle speed information at the same time, and determines the appropriate damping force, so that the precession of the motor is controlled to control the resistance of the steering wheel, the vehicle is controlled to run stably, the shake of the steering wheel is weakened, and the stability of the transverse control is improved.
In some examples, the amount of compression λ of the spring is determined by:
in the formula: c 1 Is a proportional factor of two norms of damping force about Z-axis acceleration | a z ‖ 2 Is a two-norm of the vehicle Z-axis acceleration, A min Is a preset Z-axis acceleration two-norm minimum threshold value, C 2 Is a negative correlation coefficient of steering wheel angle error and damping force, theta e Target steering wheel angle, theta actual steering wheel angle, and delta theta max Is a preset maximum steering wheel angle error threshold value, C 3 Is the negative correlation coefficient of the vehicle speed information and the damping force, v is the vehicle speed information, v is the damping force max The preset vehicle reference maximum speed.
Illustratively, combining the above factors, the final determination of the compression stroke λ of the spring, i.e. the screw advance distance, is:
the precession distance of the screw rod mechanism is adjusted by controlling the motor, so that the damping force of the steering wheel is adjusted to adapt to the road surfaces with different bumping degrees, and the shaking condition of the steering wheel is reduced. When the vehicle runs away from a bumpy road surface, the damping layer of the sliding block is controlled to be separated from the wear-resistant shaft sleeve of the steering wheel through the motor and the lead screw mechanism, and the normal running state is recovered. When the automatic driving lateral control is carried out, the damping force output by the invention can be used as the feedforward quantity of the steering machine for compensation, so that the effect of quickly inhibiting errors can be achieved.
In summary, the vehicle direction control method provided by the embodiment of the application can ensure that the vehicle can adjust the proper steering wheel damping force under different driving conditions by acquiring the vehicle driving information such as the bumping information, the steering wheel corner deviation and the vehicle speed information of the target vehicle and adjusting the spring compression stroke according to the vehicle driving information to adjust the damping force of the steering wheel, so as to improve the driving stability, reduce the oscillation and improve the stability of the vehicle lateral control. The device generates the damping force of the steering wheel, is less coupled with the original transverse control system of the automatic driving vehicle, and does not increase the complexity of the control system. The device for generating the damping force of the steering wheel can be completely separated from the rotating shaft of the steering wheel, so that the stability of the original control system on other road working conditions is not influenced while the control performance of a bumpy road section is improved.
Referring to fig. 4, an embodiment of a vehicle direction control apparatus according to an embodiment of the present application may include:
an acquisition unit 31 for acquiring vehicle travel information;
and a control unit 32 for controlling the steering wheel damping force according to the vehicle running information to smoothly switch the vehicle direction.
As shown in fig. 5, an electronic device 300 is further provided in the embodiments of the present application, and includes a memory 310, a processor 320, and a computer program 311 stored in the memory 320 and operable on the processor, where when the processor 320 executes the computer program 311, the vehicle direction control method shown in fig. 3 is implemented.
Since the electronic device described in this embodiment is a device for implementing a vehicle direction control apparatus in this embodiment, based on the method described in this embodiment, a person skilled in the art can understand the specific implementation manner of the electronic device of this embodiment and various modifications thereof, so that how to implement the method in this embodiment by the electronic device is not described in detail herein, and as long as the person skilled in the art implements the device used in this embodiment, all belong to the scope of protection of this application.
In a specific implementation, the computer program 311 may implement any of the embodiments corresponding to fig. 3 when executed by a processor.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application 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.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
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.
Embodiments of the present application further provide a computer program product, which includes computer software instructions, when the computer software instructions are run on a processing device, cause the processing device to execute the flow of the vehicle direction control method in the corresponding embodiment of fig. 3.
The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the present application are all or partially generated when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). A computer-readable storage medium may be any available medium that a computer can store or a data storage device, such as a server, a data center, etc., that is integrated with one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A steering wheel, comprising:
the steering assembly comprises a steering wheel rotating shaft and a wear-resistant shaft sleeve, and the wear-resistant shaft sleeve is sleeved on the steering wheel rotating shaft;
the damping subassembly, the damping subassembly is including becoming damping mechanism and damping portion, the damping portion with it connects to become damping mechanism, the damping layer of damping portion with the surface contact of wear-resisting axle sleeve does the direction subassembly provides the damping force, it is used for changing according to vehicle information of traveling the size of damping force to become damping mechanism.
2. The steering wheel of claim 1, wherein the variable damping mechanism comprises: the device comprises a motor, a movable sliding block, a lead screw and a spring;
the output shaft of the motor is connected with the lead screw, the movable sliding block is sleeved on the lead screw, the spring is connected with the movable sliding block and the damping part, and the motor is used for controlling the rotation of the output shaft according to the vehicle running information so as to control the compression amount of the spring between the movable sliding block and the damping part.
3. A vehicle direction control method for the steering wheel of claim 1 or 2, characterized by comprising:
acquiring vehicle running information;
and controlling the damping force of the steering wheel according to the vehicle running information so as to enable the direction of the vehicle to be switched stably.
4. The method of claim 3, wherein the damping assembly of the steering wheel includes a motor, a moving slider, a lead screw, and a spring, and the vehicle travel information includes pitch information of the vehicle;
the controlling of the steering wheel damping force according to the vehicle travel information includes:
the pitch information is acquired by an inertial navigation module of the vehicle,
changing an amount of compression of a spring between the moving slider and the damping portion based on the jounce information to control a steering wheel damping force.
5. The method according to claim 4, wherein the vehicle travel information further includes a deviation in a turning angle of a steering wheel of the vehicle;
the method further comprises the following steps:
acquiring a target turning angle and an actual turning angle of a vehicle steering wheel;
acquiring the corner deviation based on the target corner and the actual corner;
the controlling of the steering wheel damping force according to the vehicle travel information includes:
the amount of compression of the spring between the moving slider and the damping portion is changed based on the jounce information and the rotational angle deviation to control the steering wheel damping force.
6. The method of claim 5, wherein the vehicle travel information further includes vehicle speed information of the vehicle;
the method further comprises the following steps:
the controlling of the steering wheel damping force according to the vehicle travel information includes:
changing a compression amount of a spring between the moving slider and the damping portion based on the jounce information, the rotational angle deviation, and the vehicle speed information to control a steering wheel damping force.
7. The method of claim 6, wherein the amount of compression λ of the spring is determined by:
in the formula: c 1 Is a proportional factor of two norms of damping force about Z-axis acceleration | a z ‖ 2 Is a two-norm of the vehicle Z-axis acceleration, A min Is a preset Z-axis acceleration two-norm minimum threshold value, C 2 Is a negative correlation coefficient of steering wheel angle error and damping force, theta e Target steering wheel angle, theta actual steering wheel angle, and delta theta max Is a preset maximum steering wheel angle error threshold value, C 3 Is the negative correlation coefficient of the vehicle speed information and the damping force, v is the vehicle speed information, v is the damping force max The preset vehicle reference maximum speed.
8. A vehicle direction control device characterized by comprising:
an acquisition unit configured to acquire vehicle travel information;
and the control unit controls the damping force of the steering wheel according to the vehicle running information so as to enable the direction of the vehicle to be switched smoothly.
9. An electronic device, comprising: memory, a processor and a computer program stored in the above memory and executable on the processor for implementing the steps of the vehicle direction control method according to any of the claims 3-7 when executing the computer program stored in the memory.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program, when executed by a processor, implements a vehicle direction control method as claimed in any one of claims 3-7.
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|---|---|---|---|
| CN202211117123.4A CN115285220B (en) | 2022-09-14 | 2022-09-14 | Steering wheel, vehicle direction control method and related equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211117123.4A CN115285220B (en) | 2022-09-14 | 2022-09-14 | Steering wheel, vehicle direction control method and related equipment |
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| CN115285220A true CN115285220A (en) | 2022-11-04 |
| CN115285220B CN115285220B (en) | 2024-06-11 |
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| CN202211117123.4A Active CN115285220B (en) | 2022-09-14 | 2022-09-14 | Steering wheel, vehicle direction control method and related equipment |
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| CN115285220B (en) | 2024-06-11 |
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