CN115503817A - Steering power-assisted mode switching control system and method through road surface conditions - Google Patents
Steering power-assisted mode switching control system and method through road surface conditions Download PDFInfo
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Abstract
The invention relates to a control system and a method for switching a steering power-assisted mode through road surface conditions, which relate to the technical field of switching an automobile steering mode through road surface information acquisition, and the invention designs a control system and a method aiming at poor working conditions of non-asphalt road surfaces in villages and towns and the like on the premise of ensuring safety, wherein the control system comprises: the system comprises a road surface information acquisition module, an information processing module, a vehicle speed acquisition module, a steering wheel corner acquisition module, an electronic control module, an early warning module and a steering power-assisted module; the method directly acquires the point cloud data of the front road surface based on the laser radar, does not depend on an acceleration sensor, an active suspension and other mechanisms attached to a vehicle, and is not limited by objective factors such as light, night and the like.
Description
Technical Field
The invention relates to the technical field of automobile steering mode switching through road surface information acquisition, in particular to a system and a method for controlling steering power-assisted mode switching through road surface conditions.
Background
With the development of electric automobile technology, the field of intelligent driving assistance gradually enters the visual field of people, the research on the driving experience of a driver and the driving safety is continuously and deeply focused, wherein in a human-vehicle-road closed loop system, the driver feels information feedback from the road surface through a steering wheel, jolts in driving can be caused on an uneven road surface, so that the vehicle generates vertical vibration, the factor is an important factor influencing the driving experience of the driver and the smoothness and the operating stability of the vehicle, therefore, in order to better operate the vehicle and improve the driving experience of the driver, the manual optimization of the uneven road surface in the driving direction of the vehicle is necessary, and the strong hand feeling vibration caused by the impact of the road surface on the steering wheel is reduced.
Most of the existing systems at home and abroad react to and adjust the pits and the bumps of the road surface based on tires, electrically controlled suspension actuating systems and the like, but the device has hysteresis and has no improvement on the steering operation force. The driver has therefore experienced vibration from road undulations and vibration of the feel from steering wheel impacts.
Therefore, the problem of the upper part is solved, the information of the unevenness of the front road surface needs to be obtained in advance, and the identification and steering power-assisted adjustment system which can work quickly, accurately and all weather is of great importance for improving the smoothness and operability of the vehicle and the driving experience of a driver.
Disclosure of Invention
The invention aims to provide a system and a method for controlling the switching of a steering power-assisted mode through the road surface condition, aiming at the poor working conditions of non-asphalt road surfaces in villages and towns and the like, under the premise of ensuring safety, the system and the method directly acquire point cloud data of the front road surface based on a laser radar, do not depend on an acceleration sensor, an active suspension and other mechanisms attached to a vehicle, and are not limited by objective factors such as light, night and the like, and actively switch the steering power-assisted mode, so that the impact of the uneven road surface on a steering wheel is reduced, and the comfortable experience of a driver is improved.
A steering assist mode switching control system based on road surface conditions, the control system comprising: the system comprises a road surface information acquisition module, an information processing module, a vehicle speed acquisition module, a steering wheel corner acquisition module, an electronic control module, an early warning module and a steering power-assisted module;
the road surface information acquisition module is used for acquiring the road condition in front;
the information processing module is used for receiving the front road surface information and then performing data processing to obtain a front road surface elevation value;
the vehicle speed acquisition module is used for acquiring vehicle speed information;
the steering wheel corner acquisition module is used for acquiring steering wheel corner signals;
the electronic control module is used for receiving the front road surface elevation value obtained by the information processing module, the vehicle speed information of the vehicle speed acquisition module and the steering wheel corner signal acquired by the steering wheel corner acquisition module; whether an early warning signal is sent to the early warning module and a steering mode switching signal is sent to the power steering module is judged;
the early warning module is used for receiving an early warning signal sent by the electronic control module;
and the steering power-assisted module is used for receiving a steering mode switching signal sent by the electronic control module.
Furthermore, the road surface information acquisition module is connected with the information processing module through a CAN bus, the information processing module, the vehicle speed acquisition module and the steering wheel corner acquisition module are connected with the electronic control module through the CAN, the electronic control module is connected with the early warning module through an electric wire, and the electronic control module is connected with the power steering module through the CAN bus.
The invention provides a steering power-assisted mode switching control method through road surface conditions, which is realized by the following steps:
s1, a road surface information acquisition module acquires front road surface information, a vehicle speed acquisition module acquires a current vehicle speed, and a steering wheel corner acquisition module acquires a current steering wheel corner signal;
s2, preprocessing coordinate conversion and zero point correction in coordinates of the front road surface information acquired in the S1, extracting available point cloud data, and analyzing to obtain a front road surface elevation value;
s3, analyzing and processing the power-assisted moment of the steering column at the next moment according to the front road surface elevation value obtained by analyzing in the S2, the current vehicle speed in the step S1R and the current steering wheel corner signal in the step S1;
s4, when the power-assisted torque of the steering column at the next moment is larger than the current steering wheel turning angle torque, the electronic control module sends an early warning signal to the early warning module and sends steering power-assisted mode switching to the steering power-assisted module, and the steering power-assisted module performs action after the vehicle gives an early warning;
further, the step S2 specifically includes the following steps:
s21, the elevation value calculation process comprises the following steps:
hi＝hset-xo×sinαp-di×sin(αp+αd+αo)
in the formula, hset is the installation height of the laser radar, xo is the horizontal distance from the center of the radar to the center of mass of the vehicle, α p is the pitch angle of the vehicle body when the vehicle runs, α d is the pitch angle deviation of the radar installation, α o is the angle of the radar light relative to itself, and di is the linear distance from the radar to the road surface scanning point.
S22, correcting the elevation value, wherein the corrected elevation value is as follows:
hi = kj × Hi (j =1,2,3); in the formula, kj is a correction coefficient.
Further, the step S3 specifically includes the following steps:
s31, according to a sampling period, obtaining an elevation value through an information processing module and obtaining a vehicle speed signal through a vehicle speed acquisition module;
s32, determining an input layer neuron vector O = { O1, O2} of the three-layer BP neural network, wherein O1 is an elevation value, and O2 is the current vehicle speed;
s33, mapping the vector of the input layer to a hidden layer, wherein n neurons of the hidden layer are provided;
wherein the number n of the hidden layer nodes satisfies:
wherein o is the number of nodes of an input layer, p is the number of nodes of an output layer, q is an adjusting constant, and the value range is 1-10;
s34, obtain an output layer vector P = { P1}.
S35, calculating the power-assisted moment of the steering column as follows:
e＝r*sinγ*cosp
in the formula, F 0 Is the lateral reaction force of the steering wheel, m is the total mass, a 0 Is the lateral acceleration, gamma is the caster angle of the kingpin, L is the wheelbase, L 1 The distance from the center of the front wheel to the center of mass, e the distance from the grounding point of the tire to the king pin, r the radius of the tire, mu 1 For positive steering system transmission efficiency, d is the steering wheel diameter, i w To the steering gear ratio, F r1 The steering force required for the steering wheel.
The invention has the beneficial effects that: the system and the method directly acquire the point cloud data of the front road surface based on the laser radar, do not depend on an acceleration sensor, an active suspension and other mechanisms attached to a vehicle, and are not limited by objective factors such as light, night and the like.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a steering assist mode switching control system according to a road condition according to the present invention;
FIG. 2 is a schematic diagram of a scanning mode of a laser radar on a vehicle according to the present invention;
FIG. 3 is a schematic diagram of the installation position of the laser radar provided by the present invention on a vehicle;
FIG. 4 is a schematic view of a geometrical relationship between a laser radar and a road surface according to the present invention;
fig. 5 is a schematic flow chart of the active steering obstacle avoidance method based on laser radar road surface information identification provided by the invention.
Detailed Description
The embodiment is described with reference to fig. 1, and a steering power mode switching control system based on road conditions includes a road information acquisition module, an information processing module, a vehicle speed acquisition module, a steering wheel angle acquisition module, an electronic control module, an early warning module and a steering power module; the road surface information acquisition module is connected with the information processing module through a CAN bus, the information processing module, the vehicle speed acquisition module and the steering wheel corner acquisition module are connected with the electronic control module through the CAN, the electronic control module is connected with the early warning module through an electric wire, and the electronic control module is connected with the power steering module through the CAN bus.
In this embodiment, the road surface information collecting module is configured to collect road surface information ahead and send the road surface information to the information processing module; the information processing module is used for receiving the point cloud information, carrying out preprocessing such as coordinate conversion and zero point correction, extracting available point cloud data, calculating a road surface elevation value and sending the road surface elevation value to the electronic control module; the vehicle speed acquisition module is used for acquiring a current vehicle speed signal and sending the current vehicle speed signal to the electronic control module; the steering wheel corner acquisition module is used for acquiring a current steering wheel corner signal and sending the current steering wheel corner signal to the electronic control module; the electronic control module is used for receiving a road surface elevation value in front, a current vehicle speed signal and a steering wheel corner signal, analyzing and processing the signals through a built-in logic control algorithm, further obtaining an application torque M of a steering wheel at the next moment, comparing the application torque M with a current actual torque N, if M is larger than N or M is smaller than N, sending an early warning signal to the early warning module, and sending a steering instruction signal to the steering assisting control module.
As shown in fig. 2, during the running process of the vehicle, the front road surface is longitudinally scanned in real time to obtain the information of the bumps or pits of the road surface. h is set And installing height for the laser radar.
As shown in fig. 3, the present invention uses a LUX4L type four-line lidar mounted between two headlights at the same height as the headlights to ensure clear scanning of the road information ahead.
As shown in fig. 4, x o Horizontal distance, α, from radar centre to vehicle centre of mass p Is the pitch angle of the vehicle body, alpha, when the vehicle is running d Deviation of pitch angle, alpha, for radar installations o Angle of radar ray relative to itself, d i The linear distance of the radar from the road surface scanning point is the inclination angle a of the laser beam emitted by the radar relative to the advancing direction i The horizontal distance x of each scanning point on the road surface can be calculated i Elevation h of road surface i Road height h corresponding to the first point where the road elevation starts to scan o For reference, the following formula is given:
α i ＝α p +α d +α o
x i ＝d i ×cosα i ＝d i ×cos(α p +α d +α o )
h i ＝h o -d i ×sinα i ＝h o -d i ×sin(α p +α d +α o )
in a second embodiment, the second embodiment is described with reference to fig. 2 to 5, in which an active steering assist mode switching method based on laser radar road surface information identification includes the following steps:
s1, a road surface information acquisition module acquires front road surface information, a vehicle speed acquisition module acquires a current vehicle speed, and a steering wheel corner acquisition module acquires a current steering wheel corner signal;
s2, preprocessing coordinate conversion and zero point correction in coordinates of the front road surface information acquired in the S1, extracting available point cloud data, and analyzing to obtain a front road surface elevation value;
s3, analyzing and processing the power-assisted moment of the steering column at the next moment according to the front road surface elevation value obtained by analyzing in the S2, the current vehicle speed obtained in the step S1 and the current steering wheel corner signal obtained in the step S1;
s4, when the power-assisted torque of the steering column at the next moment is larger than the current steering wheel turning angle torque, the electronic control module sends an early warning signal to the early warning module and sends steering power-assisted mode switching to the steering power-assisted module, and the steering power-assisted module performs action after early warning of the vehicle;
in this embodiment, the specific process of step S2 is:
s21, the elevation value calculation process comprises the following steps:
hi＝h set -xo×sinα p -di×sin(α p +α d +αo)
in the formula, h set For the laser radar mounting height, x o Horizontal distance, α, from radar center to vehicle center of mass p Is the pitch angle of the vehicle body, alpha, when the vehicle is running d Pitch angle deviation for radar installation, α o is the angle of the radar ray relative to itself, d i The linear distance of the radar from the road surface scanning point is obtained.
S22, correcting the elevation value, wherein the corrected elevation value is as follows:
hi = kj × Hi; where kj is a correction coefficient, and j =1,2,3.
In this embodiment, the specific process of step S3 is as follows:
s31, according to a sampling period, obtaining a vehicle speed signal through an elevation value obtained by the information processing module and the vehicle speed acquisition module;
s32, determining an input layer neuron vector O = { O1, O2} of the three-layer BP neural network, wherein O1 is an elevation value, and O2 is the current vehicle speed;
s33, mapping the vector of the input layer to a hidden layer, wherein n neurons of the hidden layer are provided;
wherein the number n of hidden layer nodes satisfies:
wherein o is the number of nodes of an input layer, p is the number of nodes of an output layer, q is an adjusting constant, and the value range is 1-10;
s34, obtain an output layer vector P = { P1}.
S35, calculating the power-assisted moment of the steering column as follows:
e＝r*sinγ*cos p
in the formula, F 0 Is the lateral reaction force of the steering wheel, m is the total mass, a 0 Is the lateral acceleration, gamma is the caster angle of the kingpin, L is the wheelbase, L 1 Is the distance from the center of the front wheel to the center of mass, e is the distance from the ground contact point of the tire to the kingpin, r is the tire radius, mu 1 For positive steering system transmission efficiency, d is the steering wheel diameter, i w To the steering gear ratio, F r1 The steering force required for the steering wheel.
In a third embodiment, the present embodiment is an example of the active steering assist mode switching method based on laser radar road surface information identification in the second embodiment: the method is as follows (taking a left turn as an example);
step 1: acquiring road surface information in front of a vehicle;
step 2: carrying out preprocessing such as coordinate conversion and zero point correction on the road surface information to extract available point cloud data, and analyzing to obtain a front road surface elevation value H;
and step 3: and acquiring a current vehicle speed signal v and a steering wheel angle signal alpha.
And 4, step 4: sending a front road surface elevation value H, a current vehicle speed signal v and a steering wheel corner signal alpha to a vehicle control unit, analyzing and processing the three signals through a built-in logic control algorithm to obtain a steering power value M of a steering wheel at the next moment, and comparing the steering power value M with a current steering power value N;
and 5: if M is more than N or M is less than N, executing the following steps;
step 6: sending an early warning signal to an early warning module, and sending a steering power switching instruction to a steering power control module;
and 7: and after the vehicle gives an early warning, the steering power-assisted module executes an instruction to complete power-assisted mode switching.
The control method for switching the power-assisted steering mode according to the road surface condition can effectively improve the driving safety, comfort and intelligence of the passenger vehicle.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (5)
1. A steering assist mode switching control system based on road surface conditions, the control system comprising: the system comprises a road surface information acquisition module, an information processing module, a vehicle speed acquisition module, a steering wheel corner acquisition module, an electronic control module, an early warning module and a steering power-assisted module; the method is characterized in that:
the road surface information acquisition module is used for acquiring the road condition in front;
the information processing module is used for receiving the front road surface information and then performing data processing to obtain a front road surface elevation value;
the vehicle speed acquisition module is used for acquiring vehicle speed information;
the steering wheel corner acquisition module is used for acquiring steering wheel corner signals;
the electronic control module is used for receiving the front road surface elevation value obtained by the information processing module, the vehicle speed information of the vehicle speed acquisition module and the steering wheel corner signal acquired by the steering wheel corner acquisition module; whether an early warning signal is sent to the early warning module and a steering mode switching signal is sent to the power steering module is judged;
the early warning module is used for receiving an early warning signal sent by the electronic control module;
and the steering power-assisted module is used for receiving a steering mode switching signal sent by the electronic control module.
2. The system according to claim 1, characterized in that: the road surface information acquisition module is connected with the information processing module through a CAN bus, the information processing module, the vehicle speed acquisition module and the steering wheel corner acquisition module are connected with the electronic control module through the CAN, the electronic control module is connected with the early warning module through an electric wire, and the electronic control module is connected with the steering power-assisted module through the CAN bus.
3. A steering power-assisted mode switching control method through road surface conditions is characterized in that: the method is realized by the system for controlling the switching of the steering power-assisted mode according to the road surface condition as claimed in claim 1 or 2, and the method comprises the following specific processes:
s1, a road surface information acquisition module acquires front road surface information, a vehicle speed acquisition module acquires a current vehicle speed, and a steering wheel corner acquisition module acquires a current steering wheel corner signal;
s2, preprocessing coordinate conversion and zero point correction in coordinates is carried out on the front road surface information collected in the S1, available point cloud data are extracted, and a front road surface elevation value is obtained through analysis;
s3, analyzing and processing the power-assisted moment of the steering column at the next moment according to the front road surface elevation value obtained by analyzing in the S2, the current vehicle speed obtained in the step S1 and the current steering wheel corner signal obtained in the step S1;
and S4, when the power-assisted torque of the steering column at the next moment is larger than the current steering wheel turning angle torque, the electronic control module sends an early warning signal to the early warning module, and sends steering power-assisted mode switching to the steering power-assisted module, and the steering power-assisted module performs action after the vehicle gives an early warning.
4. The steering assist mode switching control method according to claim 3, characterized in that: the specific process of the step S2 is as follows:
s21, the elevation value calculation process comprises the following steps:
hi＝h set -x o ×sinα p -di×sin(α p +α d +α o )
in the formula, h set For the laser radar mounting height, x o Horizontal distance, α, from radar centre to vehicle centre of mass p Is the pitch angle of the vehicle body, alpha, during running d Deviation of pitch angle, alpha, for radar installations o Angle of radar ray relative to itself, d i The linear distance of the radar from the road surface scanning point is obtained.
S22, correcting the elevation value, wherein the corrected elevation value is as follows:
hi = kj × Hi; where kj is a correction coefficient, and j =1,2,3.
5. The steering assist mode switching control method according to claim 3, characterized in that: the specific process of the step S3 is as follows:
s31, according to a sampling period, obtaining a vehicle speed signal through an elevation value obtained by the information processing module and the vehicle speed acquisition module;
s32, determining an input layer neuron vector O = { O1, O2} of the three-layer BP neural network, wherein O1 is an elevation value, and O2 is the current vehicle speed;
s33, mapping the vector of the input layer to a hidden layer, wherein n neurons of the hidden layer are provided;
wherein the number n of hidden layer nodes satisfies:
wherein o is the number of nodes of the input layer, and p isThe number of output layer nodes, q is an adjusting constant, and the value range is 1-10;
s34, obtaining an output layer vector P = { P1};
s35, calculating the power-assisted moment of the steering column as follows:
e＝r*sinγ*cosp
in the formula, F 0 Is the lateral reaction force of the steering wheel, m is the total mass, a 0 Is lateral acceleration, gamma is caster angle of the kingpin, L is wheelbase, L 1 Is the distance from the center of the front wheel to the center of mass, e is the distance from the ground contact point of the tire to the kingpin, r is the tire radius, mu 1 For positive steering system transmission efficiency, d is the steering wheel diameter, i w For steering gear ratio, F r1 The steering force required for the steering wheel.
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| CN110007316A (en) * | 2019-04-16 | 2019-07-12 | 吉林大学 | A kind of active steering obstacle avoidance system and method based on the identification of laser radar information of road surface |
| CN110749457A (en) * | 2019-10-31 | 2020-02-04 | 重庆长安汽车股份有限公司 | Early warning method and system for depression congestion of road surface by intelligent driving automobile and intelligent driving automobile |
| CN114763176A (en) * | 2021-01-11 | 2022-07-19 | 长城汽车股份有限公司 | Torque compensation method and system of steering wheel and automobile |
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- 2022-08-30 CN CN202211044918.7A patent/CN115503817A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104742830A (en) * | 2015-04-20 | 2015-07-01 | 吉林大学 | Laser grid based road surface monitoring system |
| CN106394673A (en) * | 2016-03-10 | 2017-02-15 | 吉林大学 | Driver attention monitoring and warning system suitable for uneven road surface |
| CN110007316A (en) * | 2019-04-16 | 2019-07-12 | 吉林大学 | A kind of active steering obstacle avoidance system and method based on the identification of laser radar information of road surface |
| CN110749457A (en) * | 2019-10-31 | 2020-02-04 | 重庆长安汽车股份有限公司 | Early warning method and system for depression congestion of road surface by intelligent driving automobile and intelligent driving automobile |
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