CN115503817A - Control system and method for switching power steering mode according to road conditions - Google Patents
Control system and method for switching power steering mode according to road conditions Download PDFInfo
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Abstract
通过路面状况进行转向助力模式切换的控制系统及方法,涉及路面信息采集对汽车转向模式切换技术领域,本发明针对乡镇非油柏路面等较差工况,在保证安全的前提下,设计一种控制系统及方法,该控制系统包括:路面信息采集模块,信息处理模块,车速采集模块,方向盘转角采集模块,电子控制模块,预警模块和转向助力模块;本发明基于激光雷达直接获取前方路面的点云数据,不依赖于车辆附带的加速度传感器及主动悬架等机构,同时不受限于光线、夜晚等客观因素,该方法实时采集车辆前方行驶路面的不平度信息,可提前掌握前方路况,为悬架等机构的调整提供充足时间,并主动进行转向助力模式切换,从而减小不平路面对方向盘的冲击,提升驾驶员舒适性体验。
The control system and method for switching steering assist modes through road conditions relate to the technical field of vehicle steering mode switching by road surface information collection. The present invention aims at poor working conditions such as non-oil asphalt roads in towns and towns, and on the premise of ensuring safety. Control system and method, the control system includes: a road surface information collection module, an information processing module, a vehicle speed collection module, a steering wheel angle collection module, an electronic control module, an early warning module and a power steering module; the present invention directly obtains points on the road ahead based on laser radar Cloud data does not rely on the acceleration sensor and active suspension attached to the vehicle, and is not limited by objective factors such as light and night. This method collects the roughness information of the road ahead of the vehicle in real time, and can grasp the road conditions ahead in advance. Sufficient time is provided for the adjustment of the suspension and other mechanisms, and the steering assist mode is actively switched, thereby reducing the impact of uneven roads on the steering wheel and improving the driver's comfort experience.
Description
技术领域technical field
本发明涉及路面信息采集对汽车转向模式切换技术领域,具体涉及一种通过路面状况进行转向助力模式切换控制系统及方法。The invention relates to the technical field of vehicle steering mode switching by road surface information collection, and in particular to a steering assist mode switching control system and method based on road surface conditions.
背景技术Background technique
随着电动汽车技术的发展,智能驾驶辅助领域逐渐进入大家的视野,着眼与驾驶员驾驶体验、驾驶安全的研究不断深入,其中在人-车-路闭环系统中,驾驶员通过方向盘感受来自路面信息反馈,其中在不平路面会造成行驶中的颠簸,导致车辆产生垂向振动,是影响驾驶员驾驶体验和车辆平顺性与操稳性的重要因素,因此为了更好的操纵车辆,提高驾驶员驾驶体验,有必要对车辆行驶方向不平路面进行手力优化,减低路面对方向盘的冲击导致强烈手感振动。With the development of electric vehicle technology, the field of intelligent driving assistance has gradually entered everyone's field of vision, focusing on the driver's driving experience and driving safety. Information feedback, which will cause bumps during driving on uneven roads, resulting in vertical vibration of the vehicle, is an important factor affecting the driver's driving experience and vehicle ride comfort and stability. Therefore, in order to better control the vehicle, improve the driver's For the driving experience, it is necessary to optimize the hand force on the uneven road in the direction of the vehicle, so as to reduce the impact of the road on the steering wheel and cause strong hand vibration.
国内外现有的系统大多基于轮胎、电控悬架执行系统等对路面的凹坑和凸起做出反应和调整,但是这种装置具有滞后性并且对于转向操作力没有改善。因此时驾驶员已感受到路面起伏带来的振动以及方向盘冲击导致的手感振动。Most of the existing systems at home and abroad are based on tires, electronically controlled suspension execution systems, etc. to respond and adjust to the pits and bumps on the road surface, but this device has hysteresis and does not improve the steering force. Therefore, the driver has already felt the vibration caused by the undulations of the road surface and the hand vibration caused by the impact of the steering wheel.
因此要解决上边的问题,需提前获取前方路面不平信息,又能快速、准确、全天候工作的识别与转向助力调整系统,对于提升车辆平顺性、操作性以及驾驶员驾驶体验至关重要。Therefore, to solve the above problems, it is necessary to obtain the uneven road ahead information in advance, and the recognition and steering assistance adjustment system that can work quickly, accurately, and around the clock is crucial to improving vehicle ride comfort, operability, and driver driving experience.
发明内容Contents of the invention
本发明的目的在于提供一种通过路面状况进行转向助力模式切换控制系统及方法,针对乡镇非油柏路面等较差工况,在保证安全的前提下,基于激光雷达直接获取前方路面的点云数据,不依赖于车辆附带的加速度传感器以及主动悬架等机构,同时不受限于光线、夜晚等客观因素,主动进行转向助力模式切换,从而减小不平路面对方向盘的冲击,提升驾驶员舒适性体验。The purpose of the present invention is to provide a steering assist mode switching control system and method based on road conditions, aiming at poor working conditions such as non-asphalt roads in towns and towns, under the premise of ensuring safety, the point cloud of the road ahead can be directly obtained based on laser radar The data does not rely on the acceleration sensor and active suspension mechanism attached to the vehicle, and is not limited by objective factors such as light and night, and actively switches the power steering mode, thereby reducing the impact of uneven roads on the steering wheel and improving the driver's performance. comfort experience.
通过路面状况进行转向助力模式切换控制系统,该控制系统包括:路面信息采集模块,信息处理模块,车速采集模块,方向盘转角采集模块,电子控制模块,预警模块和转向助力模块;Steering assist mode switching control system based on road conditions, the control system includes: road information acquisition module, information processing module, vehicle speed acquisition module, steering wheel angle acquisition module, electronic control module, early warning module and steering assist module;
路面信息采集模块,用于采集前方路况;The road surface information collection module is used to collect the road conditions ahead;
信息处理模块,用于接收前方路面信息后进行数据处理,获得前方路面高程值;The information processing module is used for data processing after receiving the road surface information ahead to obtain the elevation value of the road surface ahead;
车速采集模块,用于采集车辆车速信息;The vehicle speed collection module is used to collect vehicle speed information;
方向盘转角采集模块,用于采集方向盘转角信号;The steering wheel angle acquisition module is used to acquire the steering wheel angle signal;
电子控制模块,用于接收所述信息处理模块获得的前方路面高程值,车速采集模块的车速信息以及所述方向盘转角采集模块采集的方向盘转角信号;并判断是否向预警模块发送预警信号和向转向助力模块发送转向模式切换信号;The electronic control module is used to receive the front road elevation value obtained by the information processing module, the vehicle speed information of the vehicle speed acquisition module and the steering wheel angle signal collected by the steering wheel angle acquisition module; The power assist module sends a steering mode switching signal;
预警模块,用于接收电子控制模块发送的预警信号;The early warning module is used to receive the early warning signal sent by the electronic control module;
转向助力模块,用于接收所述电子控制模块发送的转向模式切换信号。The power steering module is used to receive the steering mode switching signal sent by the electronic control module.
进一步的,所述路面信息采集模块与信息处理模块通过CAN总线连接,信息处理模块、车速采集模块、方向盘转角采集模块与电子控制模块通过CAN连接,电子控制模块与预警模块通过电线连接,电子控制模块与转向助力模块采用CAN总线连接。Further, the road surface information acquisition module is connected to the information processing module through the CAN bus, the information processing module, the vehicle speed acquisition module, the steering wheel angle acquisition module and the electronic control module are connected through the CAN, the electronic control module and the early warning module are connected through wires, and the electronic control The module and the power steering module are connected by CAN bus.
本发明提供一种通过路面状况进行转向助力模式切换控制方法,该方法由以下步骤实现:The present invention provides a control method for switching power steering mode through road conditions, the method is realized by the following steps:
S1、路面信息采集模块采集前方路面信息,车速采集模块采集当前车速,方向盘转角采集模块采集当前方向盘转角信号;S1. The road surface information collection module collects the road surface information ahead, the vehicle speed collection module collects the current vehicle speed, and the steering wheel angle collection module collects the current steering wheel angle signal;
S2、对S1采集的前方路面信息进行坐标转换和坐标中零点修正的预处理,提取出可用点云数据,通过分析得到前方路面高程值;S2. Carry out preprocessing of coordinate transformation and zero-point correction in the coordinates on the road surface information in front collected by S1, extract available point cloud data, and obtain the elevation value of the road surface ahead through analysis;
S3、根据S2分析获得的前方路面高程值、步骤S1R当前车速和S1的当前方向盘转角信号进行分析处理的到下一时刻转向管柱助力力矩;S3, according to the elevation value of the road ahead obtained by the analysis in S2, the current vehicle speed in step S1R, and the current steering wheel angle signal in S1, the steering column assist torque is analyzed and processed until the next moment;
S4、当下一时刻转向管柱助力力矩大于当前方向盘转角力矩时,电子控制模块向预警模块发出预警信号,并且向转向助力模块发送转向助力模式切换,车辆预警后转向助力模块执行动作;S4. When the power steering torque of the steering column is greater than the current steering wheel torque at the next moment, the electronic control module sends an early warning signal to the early warning module, and sends a power steering mode switch to the power steering module, and the power steering module performs an action after the vehicle warning;
进一步的,所述步骤S2具体包括如下步骤:Further, the step S2 specifically includes the following steps:
S21、所述高程值计算过程为:S21, the calculation process of the elevation value is:
hi=hset-xo×sinαp-di×sin(αp+αd+αo)hi=hset-xo×sinαp-di×sin(αp+αd+αo)
式中,hset为所述激光雷达安装高度,xo为雷达中心至车辆质心的水平距离,αp为汽车行驶时车身的俯仰角,αd为雷达安装的俯仰角偏差,αo为雷达光线相对于其自身的角度,di为雷达距路面扫描点的直线距离。In the formula, hset is the installation height of the lidar, xo is the horizontal distance from the center of the radar to the center of mass of the vehicle, αp is the pitch angle of the vehicle body when the car is running, αd is the pitch angle deviation of the radar installation, and αo is the radar light relative to itself The angle of , di is the straight-line distance from the radar to the road scanning point.
S22、对所述高程值进行修正,修正后的高程值为:S22. Correct the elevation value, and the corrected elevation value is:
Hi=kj×hi(j=1,2,3);式中,kj为修正系数。Hi=kj×hi(j=1,2,3); where, kj is the correction coefficient.
进一步的,所述步骤S3具体包括如下步骤:Further, the step S3 specifically includes the following steps:
S31、按照采样周期,通过信息处理模块得到的高程值和车速采集模块得到的车速信号;S31. According to the sampling period, the elevation value obtained by the information processing module and the vehicle speed signal obtained by the vehicle speed acquisition module;
S32、确定三层BP神经网络的输入层神经元向量O={O1,O2},其中,O1为高程值,O2为当前车速;S32. Determine the input layer neuron vector O={O1, O2} of the three-layer BP neural network, wherein O1 is the elevation value, and O2 is the current vehicle speed;
S33、所述输入层向量映射到隐藏层,隐藏层的神经元为n个;S33. The input layer vector is mapped to a hidden layer, and the number of neurons in the hidden layer is n;
其中,所述隐藏层节点个数n满足:其中,o为输入层节点个数,p为输出层节点个数,q为调节常数,取值范围为1~10;Wherein, the number n of the hidden layer nodes satisfies: Among them, o is the number of nodes in the input layer, p is the number of nodes in the output layer, q is an adjustment constant, and the value range is 1 to 10;
S34、得到输出层向量P={P1}。S34. Obtain the output layer vector P={P1}.
S35、计算所述转向管柱助力力矩为:S35. Calculate the assist torque of the steering column as:
e=r*sinγ*cospe=r*sinγ*cosp
式中,F0为转向轮的侧向反作用力,m为总质量,a0为侧向加速度,γ为主销后倾角,L为轴距,l1为前轮轮心到质心的距离,e为轮胎接地点到主销的距离,r轮胎半径,μ1为转向系正传动效率,d为方向盘直径,iw为转向系传动比,Fr1为转向盘需要的转向力。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, γ is the caster angle, 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 tire contact point to the kingpin, r the tire radius, μ 1 is the positive transmission efficiency of the steering system, d is the diameter of the steering wheel, i w is the transmission ratio of the steering system, and F r1 is the steering force required by the steering wheel.
本发明的有益效果:本发明基于激光雷达直接获取前方路面的点云数据,不依赖于车辆附带的加速度传感器及主动悬架等机构,同时不受限于光线、夜晚等客观因素,该系统和方法实时采集车辆前方行驶路面的不平度信息,可提前掌握前方路况,为悬架等机构的调整提供充足时间,并主动进行转向助力模式切换,从而减小不平路面对方向盘的冲击,提升驾驶员舒适性体验。Beneficial effects of the present invention: the present invention directly acquires the point cloud data of the road ahead based on laser radar, does not rely on the acceleration sensor and active suspension mechanism attached to the vehicle, and is not limited by objective factors such as light and night, the system and The method collects the roughness information of the road in front of the vehicle in real time, which can grasp the road conditions ahead, provide sufficient time for the adjustment of the suspension and other mechanisms, and actively switch the power steering mode, thereby reducing the impact of the uneven road on the steering wheel and improving driving. occupant comfort experience.
附图说明Description of drawings
为了更清楚地说明本发明实施例中的技术方案,下面将对实施例描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.
图1为本发明提供的通过路面状况进行转向助力模式切换控制系统的结构示意图;FIG. 1 is a schematic structural diagram of a steering assist mode switching control system provided by the present invention through road conditions;
图2为本发明提供的激光雷达在车辆上的扫描方式示意图;Fig. 2 is a schematic diagram of the scanning mode of the laser radar provided by the present invention on the vehicle;
图3为本发明提供的激光雷达在车辆上的安装位置示意图;3 is a schematic diagram of the installation position of the laser radar provided by the present invention on the vehicle;
图4为本发明提供的激光雷达与路面的几何关系示意图;4 is a schematic diagram of the geometric relationship between the laser radar and the road surface provided by the present invention;
图5为本发明提供的基于激光雷达路面信息识别的主动转向避障方法的流程示意图。FIG. 5 is a schematic flowchart of an active steering and obstacle avoidance method based on lidar road surface information recognition provided by the present invention.
具体实施方式detailed description
结合图1说明本实施方式,通过路面状况进行转向助力模式切换控制系统,该系统包括路面信息采集模块,信息处理模块,车速采集模块,方向盘转角采集模块,电子控制模块,预警模块和转向助力模块;所述路面信息采集模块与信息处理模块通过CAN总线连接,信息处理模块、车速采集模块、方向盘转角采集模块与电子控制模块通过CAN连接,电子控制模块与预警模块通过电线连接,电子控制模块与转向助力模块采用CAN总线连接。This embodiment is described in conjunction with Fig. 1. The power steering mode switching control system is performed according to the road surface conditions. The system includes a road surface information collection module, an information processing module, a vehicle speed collection module, a steering wheel angle collection module, an electronic control module, an early warning module and a power steering module. The road surface information acquisition module is connected with the information processing module by the CAN bus, the information processing module, the vehicle speed acquisition module, the steering wheel angle acquisition module and the electronic control module are connected by the CAN, the electronic control module and the early warning module are connected by wires, and the electronic control module and the The power steering module is connected by CAN bus.
本实施方式中,所述路面信息采集模块,用于采集前方路面信息,并将其发送给信息处理模块;信息处理模块用于接收点云信息并进行坐标转换、零点修正等预处理,提取出可用点云数据,计算出路面高程值,并将其发送给电子控制模块;车速采集模块用于采集当前车速信号并将其发送给电子控制模块;方向盘转角采集模块用于采集当前方向盘转角信号并将其发送给电子控制模块;电子控制模块用于接收前方道路路面高程值、当前车速信号、方向盘转角信号,并通过内置的逻辑控制算法对以上信号进行分析处理,进而得出下一时刻方向盘的应用扭矩M,将其与当前实际扭矩N比较,若M>N或M<N,则将预警信号发送给预警模块,将转向指令信号发送给转向助力控制模块。In this embodiment, the road surface information collection module is used to collect road surface information ahead and send it to the information processing module; the information processing module is used to receive point cloud information and perform preprocessing such as coordinate conversion and zero point correction to extract The point cloud data can be used to calculate the road elevation value and send it to the electronic control module; the vehicle speed acquisition module is used to collect the current vehicle speed signal and send it to the electronic control module; the steering wheel angle acquisition module is used to collect the current steering wheel angle signal and send it to the electronic control module. Send it to the electronic control module; the electronic control module is used to receive the elevation value of the road ahead, the current vehicle speed signal, and the steering wheel angle signal, and analyze and process the above signals through the built-in logic control algorithm, and then obtain the steering wheel at the next moment. The applied torque M is compared with the current actual torque N. If M>N or M<N, an early warning signal is sent to the early warning module, and a steering command signal is sent to the steering assist control module.
如图2所示,在车辆行驶过程中,实时对前方路面进行纵向扫描,获取路面的凸起或凹坑信息。hset为所述激光雷达安装高度。As shown in Figure 2, during the driving process of the vehicle, longitudinal scanning is performed on the road ahead in real time to obtain information about bumps or pits on the road. h set is the installation height of the lidar.
如图3所示,本发明中使用LUX4L型四线激光雷达,安装于两大灯中间,与大灯同高,保证能清晰扫描前方的路面信息。As shown in Figure 3, the LUX4L four-line laser radar is used in the present invention, which is installed in the middle of the two headlights, at the same height as the headlights, to ensure that the road information ahead can be clearly scanned.
如图4所示,xo为雷达中心至车辆质心的水平距离,αp为汽车行驶时车身的俯仰角,αd为雷达安装的俯仰角偏差,αo为雷达光线相对于其自身的角度, di为雷达距路面扫描点的直线距离,则雷达发射的激光光束相对于前进方向的倾角ai,可以计算出路面各个扫描点的水平距离xi和路面高程值hi,其中路面高程以开始扫描的第一个点对应的路面高度ho为基准,则有如下公式:As shown in Figure 4, x o is the horizontal distance from the radar center to the center of mass of the vehicle, α p is the pitch angle of the vehicle body when the car is running, α d is the pitch angle deviation of the radar installation, and α o is the angle of the radar light relative to itself , d i is the straight-line distance between the radar and the road scanning point, then the inclination angle a i of the laser beam emitted by the radar relative to the forward direction can calculate the horizontal distance x i and the road elevation value h i of each scanning point on the road surface, where the road elevation Based on the road surface height h o corresponding to the first point of scanning, the following formula is given:
αi=αp+αd+αo α i =α p +α d +α o
xi=di×cosαi=di×cos(αp+αd+αo)x i =d i ×cosα i =d i ×cos(α p +α d +α o )
hi=ho-di×sinαi=ho-di×sin(αp+αd+αo)h i =h o -d i ×sinα i =h o -d i ×sin(α p +α d +α o )
具体实施方式二、结合图2-5说明本实施方式,基于激光雷达路面信息识别的主动切换转向助力模式方法,该方法的步骤如下:Specific Embodiment 2. This embodiment is described in conjunction with FIGS. 2-5 , and the method for actively switching the steering assist mode based on lidar road surface information recognition, the steps of the method are as follows:
S1、路面信息采集模块采集前方路面信息,车速采集模块采集当前车速,方向盘转角采集模块采集当前方向盘转角信号;S1. The road surface information collection module collects the road surface information ahead, the vehicle speed collection module collects the current vehicle speed, and the steering wheel angle collection module collects the current steering wheel angle signal;
S2、对S1采集的前方路面信息进行坐标转换和坐标中零点修正的预处理,提取出可用点云数据,通过分析得到前方路面高程值;S2. Carry out preprocessing of coordinate transformation and zero-point correction in the coordinates on the road surface information in front collected by S1, extract available point cloud data, and obtain the elevation value of the road surface ahead through analysis;
S3、根据S2分析获得的前方路面高程值、步骤S1获得的当前车速和步骤 S1获得的当前方向盘转角信号进行分析处理的到下一时刻转向管柱助力力矩;S3, according to the elevation value of the front road surface obtained by S2 analysis, the current vehicle speed obtained by step S1 and the current steering wheel angle signal obtained by step S1, the steering column assist torque is analyzed and processed until the next moment;
S4、当下一时刻转向管柱助力力矩大于当前方向盘转角力矩时,电子控制模块向预警模块发出预警信号,并且向转向助力模块发送转向助力模式切换,车辆预警后转向助力模块执行动作;S4. When the power steering torque of the steering column is greater than the current steering wheel torque at the next moment, the electronic control module sends an early warning signal to the early warning module, and sends a power steering mode switch to the power steering module, and the power steering module performs an action after the vehicle warning;
本实施方式中,所述步骤S2的具体过程为:In this embodiment, the specific process of the step S2 is:
S21、所述高程值计算过程为:S21, the calculation process of the elevation value is:
hi=hset-xo×sinαp-di×sin(αp+αd+αo)hi=h set -xo×sinα p -di×sin(α p +α d +αo)
式中,hset为所述激光雷达安装高度,xo为雷达中心至车辆质心的水平距离,αp为汽车行驶时车身的俯仰角,αd为雷达安装的俯仰角偏差,αo为雷达光线相对于其自身的角度,di为雷达距路面扫描点的直线距离。In the formula, h set is the installation height of the lidar, x o 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 car is running, α d is the pitch angle deviation of the radar installation, and αo is the radar light Relative to its own angle, d i is the linear distance from the radar to the road surface scanning point.
S22、对所述高程值进行修正,修正后的高程值为:S22. Correct the elevation value, and the corrected elevation value is:
Hi=kj×hi;式中,kj为修正系数,j=1,2,3。Hi=kj×hi; where, kj is the correction coefficient, j=1,2,3.
本实施方式中,所述步骤S3具体过程为:In this embodiment, the specific process of step S3 is:
S31、按照采样周期,通过信息处理模块获得的高程值和车速采集模块得到车速信号;S31. According to the sampling period, obtain the vehicle speed signal through the elevation value obtained by the information processing module and the vehicle speed acquisition module;
S32、确定三层BP神经网络的输入层神经元向量O={O1,O2},其中,O1为高程值,O2为当前车速;S32. Determine the input layer neuron vector O={O1, O2} of the three-layer BP neural network, wherein O1 is the elevation value, and O2 is the current vehicle speed;
S33、所述输入层向量映射到隐藏层,隐藏层的神经元为n个;S33. The input layer vector is mapped to a hidden layer, and the number of neurons in the hidden layer is n;
其中,所述隐藏层节点个数n满足:其中,o为输入层节点个数,p为输出层节点个数,q为调节常数,取值范围为1~10;Wherein, the number n of the hidden layer nodes satisfies: Among them, o is the number of nodes in the input layer, p is the number of nodes in the output layer, q is an adjustment constant, and the value range is 1 to 10;
S34、获得输出层向量P={P1}。S34. Obtain an output layer vector P={P1}.
S35、计算所述转向管柱助力力矩为:S35. Calculate the assist torque of the steering column as:
e=r*sinγ*cos pe=r*sinγ*cos p
式中,F0为转向轮的侧向反作用力,m为总质量,a0为侧向加速度,γ为主销后倾角,L为轴距,l1为前轮轮心到质心的距离,e为轮胎接地点到主销的距离,r轮胎半径,μ1为转向系正传动效率,d为方向盘直径,iw为转向系传动比,Fr1为转向盘需要的转向力。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, γ is the caster angle, 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 tire contact point to the kingpin, r the tire radius, μ 1 is the positive transmission efficiency of the steering system, d is the diameter of the steering wheel, i w is the transmission ratio of the steering system, and F r1 is the steering force required by the steering wheel.
具体实施方式三、本实施方式为具体实施方式二所述的基于激光雷达路面信息识别的主动切换转向助力模式方法的实施例:其方法如下所述(以左转为例);Specific Embodiment 3. This embodiment is an embodiment of the method for actively switching the steering assist mode based on lidar road surface information recognition described in Embodiment 2: the method is as follows (taking left turn as an example);
步骤1:获取车辆前方路面信息;Step 1: Obtain the road surface information in front of the vehicle;
步骤2:对路面信息进行坐标转换、零点修正等预处理提取出可用点云数据,通过分析得出前方路面高程值H;Step 2: Carry out preprocessing such as coordinate conversion and zero point correction on the road surface information to extract the available point cloud data, and obtain the elevation value H of the road ahead through analysis;
步骤3:采集当前车速信号v和方向盘转角信号α。Step 3: Collect the current vehicle speed signal v and the steering wheel angle signal α.
步骤4:将前方路面高程值H、当前车速信号v、方向盘转角信号α发送给整车控制器,通过内置的逻辑控制算法对以上三个信号进行分析处理,进而得出下一时刻方向盘的转向助力值M,并将其与当前转向助力值N比较;Step 4: Send the front road elevation value H, the current vehicle speed signal v, and the steering wheel angle signal α to the vehicle controller, analyze and process the above three signals through the built-in logic control algorithm, and then obtain the steering wheel steering at the next moment assist value M, and compare it with the current steering assist value N;
步骤5:若M>N或M<N,则执行下述步骤;Step 5: If M>N or M<N, perform the following steps;
步骤6:向预警模块发送预警信号,向转向助力控制模块发送转向助力切换指令;Step 6: Send an early warning signal to the early warning module, and send a power steering switching command to the power steering control module;
步骤7:车辆预警后转向助力模块执行指令,完成助力模式切换。Step 7: After the vehicle is alerted, the steering assist module executes the command to complete the assist mode switching.
本实施方式所述的通过路面状况进行转向助力模式切换的控制方法,可有效提高乘用车驾驶的安全性、舒适性和智能化。The control method for switching the steering assist mode according to the road surface conditions described in this embodiment can effectively improve the safety, comfort and intelligence of driving a passenger car.
以上所述实施例的各技术特征可以进行任意的组合,为使描述简洁,未对上述实施例中的各个技术特征所有可能的组合都进行描述,然而,只要这些技术特征的组合不存在矛盾,都应当认为是本说明书记载的范围。The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.
以上所述实施例仅表达了本发明的几种实施方式,其描述较为具体和详细,但并不能因此而理解为对发明专利范围的限制。应当指出的是,对于本领域的普通技术人员来说,在不脱离本发明构思的前提下,还可以做出若干变形和改进,这些都属于本发明的保护范围。因此,本发明专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only express several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the patent scope of the invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.
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