CN115636012B - Control method and device for vehicle steering system and storage medium - Google Patents

Control method and device for vehicle steering system and storage medium Download PDF

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Publication number
CN115636012B
CN115636012B CN202211429133.1A CN202211429133A CN115636012B CN 115636012 B CN115636012 B CN 115636012B CN 202211429133 A CN202211429133 A CN 202211429133A CN 115636012 B CN115636012 B CN 115636012B
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steering system
vehicle
steering wheel
user
steering
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CN115636012A (en
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杨欣雨
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Avatr Technology Chongqing Co Ltd
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Avatr Technology Chongqing Co Ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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Abstract

The embodiment of the invention relates to the technical field of automobiles and discloses a control method, a device and a storage medium of a vehicle steering system, wherein the control method, the device and the storage medium are used for acquiring steering system parameters input by a user; then, judging whether the steering system parameter meets the stability verification condition or not based on the steering system parameter and the stability verification condition; finally, if the steering system parameter meets the stability verification condition, updating the steering system parameter of the vehicle, and after the steering system parameter input by the user meets the stability verification condition, the control equipment of the steering system of the vehicle can adjust the steering system parameter to the corresponding steering system parameter according to the steering system parameter input by the user, so that the user can personally set the steering system, and the user can adjust the steering system to an operation state suitable for personal handfeel.

Description

Control method and device for vehicle steering system and storage medium
Technical Field
The embodiment of the invention relates to the technical field of vehicles, in particular to a control method and device of a vehicle steering system and a storage medium.
Background
An electric power steering (Electric Power Steering, abbreviated as EPS) is a power steering system that directly relies on a motor to provide an assist torque, and the feel of the steering system (the abbreviation for performance of EPS, generally refers to the feel of the hand of a driver when turning the steering wheel, including the magnitude of the force, the sense of fineness or openness, etc.), affects the handling and comfort of the vehicle to a great extent.
In order to enrich the choices of users and the personalized demands for performance, more and more manufacturers provide various power assisting modes of EPS, which are generally divided into: ① The two modes are comfort and sport, the comfort mode is lighter and the sport mode is heavier; ② Three modes, "comfort", "standard", "sport". However, the styles are based on the adjustment choice of the host factory in two or three modes, and cannot meet the demands of users on individuation and custom vehicles.
Disclosure of Invention
In view of the above problems, the embodiments of the present invention provide a method, an apparatus, and a storage medium for controlling a steering system of a vehicle, which are used for solving the problem in the prior art that a steering system of a vehicle cannot achieve personalized setting.
According to an aspect of an embodiment of the present invention, there is provided a control method of a vehicle steering system including:
acquiring steering system parameters input by a user;
Judging whether the steering system parameters meet the stability verification conditions or not based on the steering system parameters and the stability verification conditions input by the user;
And if the steering system parameters input by the user meet the stability verification conditions, updating the steering system parameters of the vehicle based on the steering system parameters input by the user.
In one implementation, the steering system parameter includes at least one of a boost value at different vehicle speeds, a return-to-normal parameter at different vehicle speeds, and a damping coefficient at different vehicle speeds.
In one implementation, the stability validation condition includes a first validation condition;
The first verification condition is: detecting whether abnormal high-frequency fluctuation, rapid mutation or current loss exists in the output rotating speed of the motor or not under a first vehicle mode by using the steering system parameters input by the user;
the user-entered steering system parameter satisfies the stability verification condition as: the output rotation speed of the motor does not have any one of high-frequency fluctuation, rapid abrupt change or current loss.
In one implementation, the stability validation condition includes a second validation condition;
The second verification condition is: the steering system parameters input by the user detect overshoot and oscillation times of the steering wheel at a preset corner position in a second vehicle mode;
The user-entered steering system parameter satisfies the stability verification condition as: the overshoot is smaller than a preset angle, and the oscillation frequency is smaller than a preset frequency.
In one implementation, after the step of updating the steering system parameters of the vehicle based on the user-entered steering system parameters, the method further comprises:
Acquiring the running state and the corresponding driver expression state of the vehicle, and generating an adjustment value of the steering system parameter of the vehicle based on the running state and the corresponding driver expression state of the vehicle, wherein the running state of the vehicle comprises: the speed of the vehicle, the hand torque of the steering wheel, the rotating speed of the steering wheel, the rotating angle of the steering wheel, the automatic aligning speed of the steering wheel, the hand torque T3 of the steering wheel and aligning parameters.
In one implementation manner, the step of obtaining the running state of the vehicle and the corresponding driver expression state, and generating the adjustment value of the steering system parameter of the vehicle based on the running state of the vehicle and the corresponding driver expression state may be:
Under the condition that the rotating speed of the steering wheel and the rotating angle of the steering wheel are unchanged, acquiring a steering wheel hand moment T1 and a steering wheel hand moment T2 of two adjacent vehicle speeds and corresponding driver expression states, wherein the driver expression states comprise a first expression state and a second expression state;
and generating an adjustment value of the power-assisted value of the steering system based on the steering wheel hand moment T1, the steering wheel hand moment T2, the preset dynamic performance coefficient gamma and the driver expression.
In one implementation manner, the step of obtaining the running state of the vehicle and the corresponding driver expression state, and generating the adjustment value of the steering system parameter of the vehicle based on the running state of the vehicle and the corresponding driver expression state may further be:
Acquiring the speed and steering wheel angle of a vehicle, and determining the automatic alignment speed, the steering wheel hand torque T3 and alignment parameters of the set steering wheel according to the speed and the steering wheel angle;
Detecting the actual automatic steering wheel aligning speed, the steering wheel hand moment T4 and the expression state of a driver under the vehicle speed and the steering wheel turning angle;
and generating a correction parameter correction value of the steering system based on the set speed of automatic steering wheel correction, the steering wheel hand torque T3 and the correction parameter, and the actual speed of automatic steering wheel correction, the steering wheel hand torque T4 and the expression state of the driver.
In one implementation manner, the step of obtaining the running state of the vehicle and the corresponding driver expression state, and generating the adjustment value of the steering system parameter of the vehicle based on the running state of the vehicle and the corresponding driver expression state may further be:
and acquiring the speed, the steering wheel rotating angle, the steering wheel hand moment and the driver expression state of the vehicle, and generating the adjustment value of the damping coefficient based on the speed, the steering wheel rotating angle, the steering wheel hand moment and the driver expression state of the vehicle.
According to another aspect of the embodiment of the present invention, there is provided a control device of a vehicle steering system including: the system comprises an acquisition module, a verification module, a parameter updating module and an intelligent adjusting module.
The acquisition module is used for acquiring the steering system parameters input by the user.
And the verification module is used for judging whether the steering system parameter meets the stability verification condition or not based on the steering system parameter and the stability verification condition input by the user.
And the parameter updating module is used for updating the steering system parameters of the vehicle based on the steering system parameters input by the user if the steering system parameters input by the user meet the stability verification conditions.
In an alternative manner, the steering system parameter includes at least one of a boost value at different vehicle speeds, a return parameter at different vehicle speeds, and a damping coefficient at different vehicle speeds.
In one implementation, the stability validation condition includes a first validation condition;
The first verification condition is: detecting whether abnormal high-frequency fluctuation, rapid mutation or current loss exists in the output rotating speed of the motor or not under a first vehicle mode by using the steering system parameters input by the user;
the user-entered steering system parameter satisfies the stability verification condition as: the output rotation speed of the motor does not have any one of high-frequency fluctuation, rapid abrupt change or current loss.
In one implementation, the stability validation condition includes a second validation condition;
The second verification condition is: the steering system parameters input by the user detect overshoot and oscillation times of the steering wheel at a preset corner position in a second vehicle mode;
The user-entered steering system parameter satisfies the stability verification condition as: the overshoot is smaller than a preset angle, and the oscillation frequency is smaller than a preset frequency.
In an optional manner, the intelligent adjustment module is configured to obtain a running state of the vehicle and a corresponding driver expression state, and generate an adjustment value of a steering system parameter of the vehicle based on the running state of the vehicle and the corresponding driver expression state, where the running state of the vehicle includes: the speed of the vehicle, the hand torque of the steering wheel, the rotating speed of the steering wheel, the rotating angle of the steering wheel, the automatic aligning speed of the steering wheel, the hand torque T3 of the steering wheel and aligning parameters.
In an optional manner, the intelligent adjustment module is configured to obtain, under a condition that a steering wheel rotation speed and a steering wheel rotation angle are unchanged, a steering wheel hand torque T1 and a steering wheel hand torque T2 of two adjacent vehicle speeds, and a corresponding driver expression state, where the driver expression state includes a first expression state and a second expression state;
and generating an adjustment value of the power-assisted value of the steering system based on the steering wheel hand moment T1, the steering wheel hand moment T2, the preset dynamic performance coefficient gamma and the driver expression.
In an optional manner, the intelligent adjustment module is configured to obtain a vehicle speed and a steering wheel angle of a vehicle, and determine a set speed of automatic steering wheel alignment, a steering wheel hand torque T3 and alignment parameters according to the vehicle speed and the steering wheel angle;
Detecting the actual automatic steering wheel aligning speed, the steering wheel hand moment T4 and the expression state of a driver under the vehicle speed and the steering wheel turning angle;
and generating a correction parameter correction value of the steering system based on the set speed of automatic steering wheel correction, the steering wheel hand torque T3 and the correction parameter, and the actual speed of automatic steering wheel correction, the steering wheel hand torque T4 and the expression state of the driver.
In an optional manner, the intelligent adjustment module is configured to obtain a vehicle speed, a steering wheel rotation angle, a steering wheel hand torque, and a driver expression state of the vehicle, and generate the adjustment value of the damping coefficient based on the vehicle speed, the steering wheel rotation angle, the steering wheel hand torque, and the driver expression state of the vehicle.
According to another aspect of the embodiment of the present invention, there is provided a control apparatus of a vehicle steering system including: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete communication with each other through the communication bus;
the memory is configured to hold at least one executable instruction that causes the processor to:
acquiring steering system parameters input by a user;
Judging whether the steering system parameters meet the stability verification conditions or not based on the steering system parameters and the stability verification conditions input by the user;
And if the steering system parameters input by the user meet the stability verification conditions, updating the steering system parameters of the vehicle based on the steering system parameters input by the user.
In one implementation, the steering system parameter includes at least one of a boost value at different vehicle speeds, a return-to-normal parameter at different vehicle speeds, and a damping coefficient at different vehicle speeds.
In one implementation, the stability validation condition includes a first validation condition;
The first verification condition is: detecting whether abnormal high-frequency fluctuation, rapid mutation or current loss exists in the output rotating speed of the motor or not under a first vehicle mode by using the steering system parameters input by the user;
the user-entered steering system parameter satisfies the stability verification condition as: the output rotation speed of the motor does not have any one of high-frequency fluctuation, rapid abrupt change or current loss.
In one implementation, the stability validation condition includes a second validation condition;
The second verification condition is: the steering system parameters input by the user detect overshoot and oscillation times of the steering wheel at a preset corner position in a second vehicle mode;
The user-entered steering system parameter satisfies the stability verification condition as: the overshoot is smaller than a preset angle, and the oscillation frequency is smaller than a preset frequency.
In one implementation, after the step of updating the steering system parameters of the vehicle based on the user-entered steering system parameters, the method further comprises:
Acquiring the running state and the corresponding driver expression state of the vehicle, and generating an adjustment value of the steering system parameter of the vehicle based on the running state and the corresponding driver expression state of the vehicle, wherein the running state of the vehicle comprises: the speed of the vehicle, the hand torque of the steering wheel, the rotating speed of the steering wheel, the rotating angle of the steering wheel, the automatic aligning speed of the steering wheel, the hand torque T3 of the steering wheel and aligning parameters.
In one implementation manner, the step of obtaining the running state of the vehicle and the corresponding driver expression state, and generating the adjustment value of the steering system parameter of the vehicle based on the running state of the vehicle and the corresponding driver expression state may be:
Under the condition that the rotating speed of the steering wheel and the rotating angle of the steering wheel are unchanged, acquiring a steering wheel hand moment T1 and a steering wheel hand moment T2 of two adjacent vehicle speeds and corresponding driver expression states, wherein the driver expression states comprise a first expression state and a second expression state;
and generating an adjustment value of the power-assisted value of the steering system based on the steering wheel hand moment T1, the steering wheel hand moment T2, the preset dynamic performance coefficient gamma and the driver expression.
In one implementation manner, the step of obtaining the running state of the vehicle and the corresponding driver expression state, and generating the adjustment value of the steering system parameter of the vehicle based on the running state of the vehicle and the corresponding driver expression state may further be:
Acquiring the speed and steering wheel angle of a vehicle, and determining the automatic alignment speed, the steering wheel hand torque T3 and alignment parameters of the set steering wheel according to the speed and the steering wheel angle;
Detecting the actual automatic steering wheel aligning speed, the steering wheel hand moment T4 and the expression state of a driver under the vehicle speed and the steering wheel turning angle;
and generating a correction parameter correction value of the steering system based on the set speed of automatic steering wheel correction, the steering wheel hand torque T3 and the correction parameter, and the actual speed of automatic steering wheel correction, the steering wheel hand torque T4 and the expression state of the driver.
In one implementation manner, the step of obtaining the running state of the vehicle and the corresponding driver expression state, and generating the adjustment value of the steering system parameter of the vehicle based on the running state of the vehicle and the corresponding driver expression state may further be:
and acquiring the speed, the steering wheel rotating angle, the steering wheel hand moment and the driver expression state of the vehicle, and generating the adjustment value of the damping coefficient based on the speed, the steering wheel rotating angle, the steering wheel hand moment and the driver expression state of the vehicle.
According to yet another aspect of an embodiment of the present invention, there is provided a computer-readable storage medium having stored therein at least one executable instruction for causing a control apparatus/device of a vehicle steering system to:
acquiring steering system parameters input by a user;
Judging whether the steering system parameters meet the stability verification conditions or not based on the steering system parameters and the stability verification conditions input by the user;
And if the steering system parameters input by the user meet the stability verification conditions, updating the steering system parameters of the vehicle based on the steering system parameters input by the user.
In one implementation, the steering system parameter includes at least one of a boost value at different vehicle speeds, a return-to-normal parameter at different vehicle speeds, and a damping coefficient at different vehicle speeds.
In one implementation, the stability validation condition includes a first validation condition;
The first verification condition is: detecting whether abnormal high-frequency fluctuation, rapid mutation or current loss exists in the output rotating speed of the motor or not under a first vehicle mode by using the steering system parameters input by the user;
the user-entered steering system parameter satisfies the stability verification condition as: the output rotation speed of the motor does not have any one of high-frequency fluctuation, rapid abrupt change or current loss.
In one implementation, the stability validation condition includes a second validation condition;
The second verification condition is: the steering system parameters input by the user detect overshoot and oscillation times of the steering wheel at a preset corner position in a second vehicle mode;
The user-entered steering system parameter satisfies the stability verification condition as: the overshoot is smaller than a preset angle, and the oscillation frequency is smaller than a preset frequency.
In one implementation, after the step of updating the steering system parameters of the vehicle based on the user-entered steering system parameters, the method further comprises:
Acquiring the running state and the corresponding driver expression state of the vehicle, and generating an adjustment value of the steering system parameter of the vehicle based on the running state and the corresponding driver expression state of the vehicle, wherein the running state of the vehicle comprises: the speed of the vehicle, the hand torque of the steering wheel, the rotating speed of the steering wheel, the rotating angle of the steering wheel, the automatic aligning speed of the steering wheel, the hand torque T3 of the steering wheel and aligning parameters.
In one implementation manner, the step of obtaining the running state of the vehicle and the corresponding driver expression state, and generating the adjustment value of the steering system parameter of the vehicle based on the running state of the vehicle and the corresponding driver expression state may be:
Under the condition that the rotating speed of the steering wheel and the rotating angle of the steering wheel are unchanged, acquiring a steering wheel hand moment T1 and a steering wheel hand moment T2 of two adjacent vehicle speeds and corresponding driver expression states, wherein the driver expression states comprise a first expression state and a second expression state;
and generating an adjustment value of the power-assisted value of the steering system based on the steering wheel hand moment T1, the steering wheel hand moment T2, the preset dynamic performance coefficient gamma and the driver expression.
In one implementation manner, the step of obtaining the running state of the vehicle and the corresponding driver expression state, and generating the adjustment value of the steering system parameter of the vehicle based on the running state of the vehicle and the corresponding driver expression state may further be:
Acquiring the speed and steering wheel angle of a vehicle, and determining the automatic alignment speed, the steering wheel hand torque T3 and alignment parameters of the set steering wheel according to the speed and the steering wheel angle;
Detecting the actual automatic steering wheel aligning speed, the steering wheel hand moment T4 and the expression state of a driver under the vehicle speed and the steering wheel turning angle;
and generating a correction parameter correction value of the steering system based on the set speed of automatic steering wheel correction, the steering wheel hand torque T3 and the correction parameter, and the actual speed of automatic steering wheel correction, the steering wheel hand torque T4 and the expression state of the driver.
In one implementation manner, the step of obtaining the running state of the vehicle and the corresponding driver expression state, and generating the adjustment value of the steering system parameter of the vehicle based on the running state of the vehicle and the corresponding driver expression state may further be:
and acquiring the speed, the steering wheel rotating angle, the steering wheel hand moment and the driver expression state of the vehicle, and generating the adjustment value of the damping coefficient based on the speed, the steering wheel rotating angle, the steering wheel hand moment and the driver expression state of the vehicle.
The invention provides a control method, a device and a storage medium of a vehicle steering system, wherein the control method, the device and the storage medium are used for acquiring steering system parameters input by a user; then, judging whether the steering system parameter meets the stability verification condition or not based on the steering system parameter and the stability verification condition; and finally, if the steering system parameters meet the stability verification conditions, respectively updating the steering system parameters of the vehicle based on the steering system parameters.
In this way, after the steering system parameter input by the user meets the stability verification condition, the control device of the vehicle steering system adjusts the corresponding steering system parameter according to the steering system parameter input by the user, so that the user sets the steering system in a personalized way, and the user adjusts the steering system to an operation state suitable for personal handfeel.
The foregoing description is only an overview of the technical solutions of the embodiments of the present invention, and may be implemented according to the content of the specification, so that the technical means of the embodiments of the present invention can be more clearly understood, and the following specific embodiments of the present invention are given for clarity and understanding.
Drawings
The drawings are only for purposes of illustrating embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
fig. 1 is a schematic flow chart of a first embodiment of a control method of a vehicle steering system according to the present invention;
FIG. 2 is a schematic diagram of a multi-level menu of a parameter setting module of a vehicle provided by the present invention;
FIG. 3 is a flow chart illustrating another embodiment of a method for controlling a vehicle steering system according to the present invention;
FIG. 4 is a flow chart illustrating yet another embodiment of a method for controlling a vehicle steering system according to the present invention;
fig. 5 is a schematic structural view showing a control device of a steering system of a vehicle according to the present invention;
Fig. 6 shows a schematic structural view of an embodiment of a control apparatus of a vehicle steering system provided by the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein.
Fig. 1 shows a flowchart of a first embodiment of a control method of a vehicle steering system, which is provided by the invention, the method being performed by a control device of the vehicle steering system. As shown in fig. 1, the control method of the vehicle steering system includes the steps of:
step 110: and acquiring the steering system parameters input by the user.
The steering system parameter includes at least one of a power assisting value at different vehicle speeds, a correcting parameter at different vehicle speeds and a damping coefficient at different vehicle speeds, wherein the power assisting value is a value of steering assisting force, and the steering assisting force is used for assisting a user in adjusting a steering wheel and reducing the force intensity of rotating the steering wheel for the user.
In the practical application process, the numerical value of the steering system parameter directly affects the hand feeling of a user when the user controls the steering wheel, but the numerical value of the steering system parameter belongs to a relatively professional parameter, and the user lacks visual feeling on the numerical value.
In the actual application process, the steering system parameters input by the user can be input through a central control screen of the vehicle, as shown in fig. 2, a parameter setting interface is displayed in a form of a multi-level menu by a parameter setting module of the vehicle, for example, when the user selects "enter personalized parameter setting", an option "select set performance module" is popped up, at this time, three options are provided for the user to select, respectively, the power-assisting values of different vehicle speeds are adjusted, the centering parameters of different vehicle speeds are adjusted, the damping coefficients are adjusted, wherein basic power-assisting users of different vehicle speeds set the power-assisting values, the centering control users of different vehicle speeds set the centering parameters, and the damping adjustment is used for setting the damping coefficients.
When entering a basic power-assisted interface, eight items of 0 kph-120 kph are popped up; when the control interface is controlled to return, three options of 0 kph-50 kph are popped up, and each option also corresponds to two options of the next stage, namely a large angle and a small angle; when the damping control interface is entered, two options of 'steering wheel high rotation speed' and 'steering wheel high rotation speed' are popped up. The user can drag the sliding block for setting the parameters according to the setting button of each level of the minimum menu, and change the percentage of the parameters to adjust the item.
For example: the user is ready to reduce the basic assistance by 25% at the speed of 20kph, and simultaneously quicken the correction by 16% and the damping of the high rotating speed of the steering wheel by 5%, so that the setting lines of the basic assistance by 20kph, the correction by 30kph and the damping of the high rotating speed of the steering wheel can be respectively adjusted by-25%, 16% and +5%.
Step 120: and judging whether the steering system parameters meet the stability verification conditions or not based on the steering system parameters and the stability verification conditions input by the user.
It should be noted that, the setting of the steering system parameters not only affects the hand feeling of the user in the process of driving the vehicle, but also has certain potential safety hazards under the condition that the setting of the steering system parameters is unreasonable.
Wherein the stability verification conditions include at least: a first authentication condition and a second authentication condition. The first verification condition is: in a first vehicle mode, the steering system parameter is whether the output rotation speed of the motor has abnormal high-frequency fluctuation, rapid abrupt change or current loss. For example, the first vehicle mode is: the speed of the vehicle is 0kph, the rotating speed of the steering wheel is 700 degrees/s, the rotating angle of the steering wheel is +/-360 degrees, and the EPS required power assisting is 90% of the maximum power assisting.
Under the first verification condition, the steering system parameter satisfies the stability verification condition as follows: the output rotation speed of the motor does not have any one of high-frequency fluctuation, rapid abrupt change or current loss. I.e. the presence of any one of high frequency fluctuations, rapid sudden changes or current loss of the output rotational speed of the motor, the steering system parameter does not meet the stability verification condition.
Wherein the second verification condition is: and under a preset second vehicle mode, the steering system parameter is overshoot and oscillation times of the steering wheel at a preset corner position. For example, the second vehicle mode is: the vehicle speed is 30kph, the initial angle of the steering wheel is 360 degrees, and the preset turning angle position is that the steering wheel turns back to 0 degrees.
Under the second verification condition, the steering system parameter satisfies the stability verification condition as follows: the overshoot is smaller than a preset angle, and the oscillation frequency is smaller than a preset frequency. For example, the preset small angle is set to 10 degrees, and the preset times are set to 5 times, where it is to be noted that the preset angle and the preset times are related to the design performance of the vehicle, and generally, a design manufacturer sets the preset angle and the preset times according to the actual performance of the vehicle.
Step 130: and if the steering system parameters input by the user meet the stability verification conditions, updating the steering system parameters of the vehicle based on the steering system parameters input by the user.
After the steering system parameters input by the user meet the stability verification conditions, the control equipment of the vehicle steering system adjusts the corresponding steering system parameters according to the steering system parameters input by the user, so that the user can set the steering system in a personalized way, and the user adjusts the steering system to an operation state suitable for personal handfeel.
Specifically, after the steering system parameter satisfies the stability verification condition, the control device of the vehicle steering system extracts the corresponding original parameter in the steering system, and calculates the updated steering system parameter by using the following model.
Wherein, alpha is a change coefficient set by a user, K value is obtained by automatically looking up a table by the system, beta is a preset safety coefficient corresponding to the output of the steering system under the speed and the rotation angle set by the user, and the recommended range is generally 0.008 to 0.011.
For example, the preset safety coefficient is 0.009, the assistance values of 30kph and 60kph input by the user are respectively changed into-12%, +5%, the original basic assistance of 30kph is 50n.m, the basic assistance of 60kph is 40n.m through the automatic table lookup of the control equipment of the vehicle steering system, and finally, the assistance values of two vehicle speeds are updated to 44.455 n.m and 42.36 n.m through calculation, and the correction parameter and the damping coefficient can be updated in the same way.
According to the control method for the vehicle steering system, provided by the embodiment of the invention, a user obtains the steering system parameters input by the user according to the operation habit of the user, and after the steering system parameters input by the user are verified by the stability verification condition, the control equipment of the vehicle steering system correspondingly adjusts the steering system parameters of the vehicle according to the steering system parameters input by the user, so that the user can realize personalized setting of the steering system of the vehicle, and the comfort level of steering hand feeling of the user driving the vehicle is improved.
It should be noted that, after the above embodiment is adopted to update the steering system parameters of the vehicle, the running state of the vehicle and the corresponding expression state of the driver may also be collected, and based on the running state of the vehicle and the corresponding expression state of the driver, an adjustment value of the steering system parameters of the vehicle is generated, and intelligent optimization is achieved for the driving hand feel of the vehicle by automatically correcting the steering system parameters of the vehicle, where the running state of the vehicle includes: the speed of the vehicle, the hand torque of the steering wheel, the rotating speed of the steering wheel, the rotating angle of the steering wheel, the automatic aligning speed of the steering wheel, the hand torque T3 of the steering wheel and aligning parameters.
In the intelligent optimization scheme, at least one of a boosting value, a correction parameter and a damping coefficient under different vehicle speeds can be optimized.
For example, fig. 3 shows a flowchart of another embodiment of a control method of a vehicle steering system provided by the present invention, which is performed by a control apparatus of a vehicle steering system. As shown in fig. 3, the control method of the vehicle steering system includes the steps of:
step 310: and acquiring the steering system parameters input by the user.
Step 320: and judging whether the steering system parameters meet the stability verification conditions or not based on the steering system parameters and the stability verification conditions input by the user.
Step 330: and if the steering system parameters input by the user meet the stability verification conditions, updating the steering system parameters of the vehicle based on the steering system parameters input by the user.
Step 340: under the condition that the rotating speed of the steering wheel and the rotating angle of the steering wheel are unchanged, the steering wheel hand moment T1 and the steering wheel hand moment T2 of two adjacent vehicle speeds and corresponding driver expression states are obtained, wherein the driver expression states comprise a first expression state and a second expression state.
Step 350: and generating an adjustment value of the power assisting value of the steering system based on the steering wheel hand moment T1, the steering wheel hand moment T2, the preset dynamic performance coefficient and the driver expression.
After the user completes the personalized parameter setting, the control device of the vehicle steering system can also detect the running state of the vehicle and the expression state of the driver, and adjust the power assisting value set by the user based on the vehicle state and the expression state of the driver.
For example, the speed-dependent basic boost function: the speed, steering wheel angle, steering wheel rotational speed, steering wheel hand torque and driver expression state are monitored in real time, and the following model is utilized to adjust the power assisting value.
Wherein, gamma is a dynamic performance coefficient, which is generally 0.1 to 0.3 according to the actual performance setting of the vehicle, T2 is a steering wheel hand moment at high speed, and T1 is a steering wheel hand moment at low speed; 8 speeds (0-120 kph) are arranged along with the speed basic assistance adjustable speed, and the control equipment of the vehicle steering system compares the adjacent two vehicle speeds; that is, under the condition of two adjacent vehicle speeds, the driver calculates and compares the hand torques of the steering wheel under the two speeds at the same steering wheel rotating speed and steering wheel rotating angle, and revisions are made according to different conditions and calculation logic.
For example: the dynamic performance coefficient gamma is 0.15, when the steering wheel angle is detected to be 10 degrees and the steering wheel rotating speed is detected to be 180 degrees/s, the control equipment of the steering system of the vehicle automatically grabs the steering wheel hand moment at two speeds of 20kph and 40kph, namely T1=2.5N.m and T2=3.0N.m, and at the moment, the steering wheel hand moment is calculated according to a formulaThen, based on the model, the value of T1 is updated to 2.52n·m and the value of T2 is updated to 2.98n·m.
For another example, the dynamic coefficient of performance γ is 0.15, and when it is detected that the steering wheel angle is 10 °, the steering wheel rotational speed is 180 °/s, the control device of the vehicle steering system automatically grips the hand torque of the steering wheel at two speeds of 20kph, 40kph, t1=2.8n·m, and t2=2.5n·m, respectively, at which time it is calculated thatThen, according to the model, the value of T1 is updated to 2.78n·m and the value of T2 is updated to 2.52n·m.
For another example, when the dynamic coefficient of performance γ is 0.3 and the detected steering angle is 30 °, the steering wheel rotational speed is 90 °/s, the control device of the vehicle steering system automatically grips the steering wheel hand torques at two speeds of 40kph and 60kph, respectively, t1=3.0n·m, and t2=3.5n·m, at which time it is calculated thatAnd the expression state of the driver is recognized as the first expression state (the expression is very uncomfortable), the control device of the steering system of the vehicle can automatically lighten T1 to 2.995 N.m.
For another example, when the dynamic coefficient of performance γ is 0.3 and the detected steering angle is 30 °, and the steering wheel rotational speed is 90 °/s, the control device of the vehicle steering system automatically grips the steering wheel hand force at two speeds of 40kph and 60kph, respectively, t1=3.0n·m, and t2=3.5n·m, at which time, based on the resultAnd the driver's expression state is recognized as the second expression state (there is no expression very uncomfortable), the control device of the vehicle steering system does not update the assist value.
For another example, fig. 4 shows a flowchart of still another embodiment of a control method of a vehicle steering system provided by the present invention, which is performed by a control apparatus of a vehicle steering system. As shown in fig. 4, the control method of the vehicle steering system includes the steps of:
step 410: and acquiring the steering system parameters input by the user.
Step 420: and judging whether the steering system parameters meet the stability verification conditions or not based on the steering system parameters and the stability verification conditions input by the user.
Step 430: and if the steering system parameters input by the user meet the stability verification conditions, updating the steering system parameters of the vehicle based on the steering system parameters input by the user.
Step 440: and acquiring the speed and the steering wheel angle of the vehicle, and determining the automatic alignment speed, the steering wheel hand torque T3 and the alignment parameters of the set steering wheel according to the speed and the steering wheel angle.
Step 450: and detecting the actual automatic steering wheel aligning speed, the steering wheel hand moment T4 and the expression state of the driver under the vehicle speed and the steering wheel angle.
Step 460: and generating a correction parameter correction value of the steering system based on the set speed of automatic steering wheel correction, the steering wheel hand torque T3 and the correction parameter, and the actual speed of automatic steering wheel correction, the steering wheel hand torque T4 and the expression state of the driver.
In some embodiments of the present invention, after the user completes the setting of the personalized parameter, the control device of the vehicle steering system may further detect the running state of the vehicle and the expression state of the driver, and adjust the alignment parameter set by the user based on the vehicle state and the expression state of the driver.
For example, the return function: the control device of the vehicle steering system monitors the vehicle speed, steering wheel rotation angle, steering wheel rotation speed, steering wheel hand torque T4 and expression state of a driver in real time, and adjusts the alignment parameters by using the following model:
Wherein R is a return parameter of the steering system, deltaV f is a steering wheel rotating speed change value, deltaF s is a steering wheel hand torque change value, D1 and D2 are preset thresholds which are respectively 52.7% and-41.3%, and it is to be noted that the sizes of D1 and D2 are set according to the vehicle energy, and a designer can set corresponding values based on the vehicle performance.
When the user is in normal driving, if the alignment performance of the vehicle is not ideal, the user must intervene in the action of the steering wheel by hand, at this time, the actual rotation speed of the steering wheel and the steering wheel hand moment T4 suddenly change, and the control device of the steering system of the vehicle adjusts the alignment parameters according to the model.
For example, when the vehicle speed is 30kph and the steering wheel angle is 180 °, the set steering wheel automatic centering speed is 150 °/s, the steering wheel hand torque T3 is 0.5n·m, and the centering parameter R is 10; the actually detected steering wheel rotation speed is changed to 300 degrees/s, the steering wheel hand torque T4 is 2.8 N.m, and the control device of the vehicle steering system changes the large-angle correction parameter R to 11 if the expression state of the driver is very uncomfortable, the corresponding correction parameter correction value +1, and changes the large-angle correction parameter R to 10.2 if the expression state of the driver is normal, and the corresponding correction parameter correction value +0.2 in combination with the expression state analysis of the driver.
For another example, when the vehicle speed is 50kph and the steering wheel angle is 60 °, the automatic steering wheel aligning speed is 90 °/s, the steering wheel hand torque T3 is 3.5n·m, and the aligning parameter R is 1; the actually detected steering wheel rotation speed is changed to 30 degrees/s, the steering wheel hand torque T4 is 1.5 N.m, and the control of the vehicle steering system changes the small-angle correction parameter R to 0.9 and the corresponding correction parameter correction value-1 if the expression state of the driver is very uncomfortable, and changes the small-angle correction parameter R to 0.98 and the corresponding correction parameter correction value-0.02 if the expression state of the driver is normal.
When necessary, the above adjustment for the assistance value and the correction parameter is not only one time, but the adjustment is continued by the corresponding method until the assistance value and the correction parameter tend to be stable. When the intelligent optimization scheme is adopted to optimize the damping coefficient, the damping coefficient can be independently optimized on the basis that the assistance value or the correction parameter is intelligently optimized, but because the damping coefficient mainly influences the high-grade feel of a driver on steering hand feel, in the embodiment of the application, the damping coefficient is preferably adjusted independently after the assistance value and the correction parameter are adjusted.
Specifically, the damping coefficient adjusting function: the control equipment of the vehicle steering system can monitor the vehicle speed, the steering wheel rotating angle, the steering wheel hand moment and the expression state of a driver in real time, and adopts the following models to judge:
Wherein Z is the damping coefficient of the current state, SWA 1、SWA2 is the steering wheel angle, T a、Tb is the steering wheel hand moment under two steering wheel angles, and meanwhile, the control equipment of the vehicle steering system acquires the current driver expression state and the steering wheel rotating speed, so that the damping coefficient is adjusted.
For example: when the vehicle speed is 60kph, the steering wheel rotating speed is 180 degrees/s, and the damping coefficient is 0.5, if the expression state of the driver is happy, the corresponding damping coefficient is not adjusted. If the driver expression state is normal or very uncomfortable, the damping is preferentially increased, then the driver expression state is monitored again, if the driver expression state is changed to be happy, the adjustment of the damping coefficient is stopped, if the driver expression state is still very uncomfortable, the damping coefficient revised before is removed, the driver is propelled from the direction of reducing the damping coefficient until the driver expression state is changed to be happy, or after a plurality of times of circulation, if the driver expression state is still very uncomfortable, the adjustment of the damping coefficient is stopped.
It should be noted that, since the damping coefficient mainly affects the driver's feel of the steering feel, the adjustment range is slightly adjusted, but the adjustment of the damping coefficient based on the expression is easily affected by the emotional state of the driver, so after several cycles, the emotional state of the driver is still very uncomfortable, and the adjustment of the damping coefficient is stopped, so as to avoid ineffective adjustment of the damping coefficient.
By the method, after the user adjusts the steering system parameters, the driving hand feeling of the driver can be intelligently adjusted according to the actual performance of the vehicle and the acceptance degree of the driver to the set parameters, so that the driving hand feeling of the vehicle is further optimized on the basis of the user personalized setting of the steering system parameters.
The application is to judge the expression state of the driver by training the expression recognition model, and particularly, before training the expression recognition model, a certain number of image samples containing the expression state of the driver are collected and the corresponding expression states are marked, wherein the image samples are uniformly distributed according to the age of the driver, the male and female proportion is 1:1, the image size corresponding to the image samples is matched with the size of the actually shot picture of the driver, for example, a camera is arranged on a steering wheel of the vehicle, and the face image of the driver positioned on a main driver seat is shot. After model training is completed, an actual driver facial image may be acquired and input into an expression recognition model, where the expression recognition model determines a driver expression state based on comparison of the acquired driver facial image and a sample database, or the expression recognition model is a trained neural network model, and the neural network model is trained to recognize the driver expression state through machine learning of the neural network model, for example, the expression state is a first expression state (very uncomfortable), a second expression state (not very uncomfortable), general, happy or normal, and the like.
The invention provides a control method of a vehicle steering system, which comprises the steps of obtaining a steering system parameter input by a user; then, judging whether the steering system parameter meets the stability verification condition or not based on the steering system parameter and the stability verification condition; and finally, if the steering system parameters meet the stability verification conditions, respectively updating the steering system parameters of the vehicle based on the steering system parameters.
In this way, after the steering system parameter input by the user meets the stability verification condition, the control device of the vehicle steering system adjusts the corresponding steering system parameter according to the steering system parameter input by the user, so that the user sets the steering system in a personalized way, and the user adjusts the steering system to an operation state suitable for personal handfeel.
Fig. 5 is a schematic structural view showing an embodiment of a control device of a vehicle steering system according to the present invention. As shown in fig. 5, the control device 500 of the vehicle steering system includes: an acquisition module 510, a verification module 520, a parameter update module 530, and an intelligent adjustment module 550.
The obtaining module 510 is configured to obtain a steering system parameter input by a user.
The verification module 520 is configured to determine whether the steering system parameter meets the stability verification condition based on the steering system parameter and the stability verification condition input by the user.
The parameter updating module 530 is configured to update the steering system parameter of the vehicle based on the steering system parameter input by the user if the steering system parameter input by the user meets the stability verification condition.
In an alternative manner, the steering system parameter includes at least one of a boost value at different vehicle speeds, a return parameter at different vehicle speeds, and a damping coefficient at different vehicle speeds.
In one implementation, the stability verification condition includes a first verification condition.
The first verification condition is: and detecting whether the abnormal high-frequency fluctuation, rapid abrupt change or current loss exists in the output rotating speed of the motor or not according to the steering system parameters input by the user in the first vehicle mode.
The user-entered steering system parameter satisfies the stability verification condition as: the output rotation speed of the motor does not have any one of high-frequency fluctuation, rapid abrupt change or current loss.
In one implementation, the stability verification condition includes a second verification condition.
The second verification condition is: and detecting overshoot and oscillation times of the steering wheel at a preset corner position under a second vehicle mode by the steering system parameters input by the user.
The user-entered steering system parameter satisfies the stability verification condition as: the overshoot is smaller than a preset angle, and the oscillation frequency is smaller than a preset frequency.
In an optional manner, the intelligent adjustment module 540 is configured to obtain an operation state of the vehicle and a corresponding driver expression state, and generate an adjustment value of a steering system parameter of the vehicle based on the operation state of the vehicle and the corresponding driver expression state, where the operation state of the vehicle includes: the speed of the vehicle, the hand torque of the steering wheel, the rotating speed of the steering wheel, the rotating angle of the steering wheel, the automatic aligning speed of the steering wheel, the hand torque T3 of the steering wheel and aligning parameters.
In an optional manner, the intelligent adjustment module 540 is configured to obtain the steering wheel hand torque T1 and the steering wheel hand torque T2 of two adjacent vehicle speeds and the corresponding driver expression states under the condition that the steering wheel rotation speed and the steering wheel angle are unchanged, where the driver expression states include a first expression state and a second expression state.
And generating an adjustment value of the power-assisted value of the steering system based on the steering wheel hand moment T1, the steering wheel hand moment T2, the preset dynamic performance coefficient gamma and the driver expression.
In an optional manner, the intelligent adjustment module 540 is configured to obtain a vehicle speed and a steering wheel angle of the vehicle, and determine a speed of automatic steering wheel alignment, a steering wheel hand torque T3, and alignment parameters according to the vehicle speed and the steering wheel angle.
And detecting the actual automatic steering wheel aligning speed, the steering wheel hand moment T4 and the expression state of the driver under the vehicle speed and the steering wheel angle.
And generating a correction parameter correction value of the steering system based on the set speed of automatic steering wheel correction, the steering wheel hand torque T3 and the correction parameter, and the actual speed of automatic steering wheel correction, the steering wheel hand torque T4 and the expression state of the driver.
In an optional manner, the intelligent adjustment module is configured to obtain a vehicle speed, a steering wheel rotation angle, a steering wheel hand torque, and a driver expression state of the vehicle, and generate the adjustment value of the damping coefficient based on the vehicle speed, the steering wheel rotation angle, the steering wheel hand torque, and the driver expression state of the vehicle.
According to the control device of the vehicle steering system, provided by the embodiment of the invention, the steering system parameters input by a user are acquired through the acquisition module 510; then, the verification module 520 determines whether the steering system parameter satisfies the stability verification condition based on the steering system parameter and the stability verification condition; finally, the parameter updating module 530 updates the steering system parameters of the vehicle based on the steering system parameters when the steering system parameters satisfy the stability verification condition, respectively.
In this way, after the steering system parameter input by the user meets the stability verification condition, the control device of the vehicle steering system adjusts the corresponding steering system parameter according to the steering system parameter input by the user, so that the user sets the steering system in a personalized way, and the user adjusts the steering system to an operation state suitable for personal handfeel.
Fig. 6 is a schematic structural diagram of an embodiment of a control device for a vehicle steering system according to the present invention, and the embodiment of the present invention is not limited to the specific implementation of the control device for a vehicle steering system.
As shown in fig. 4, the control apparatus of the vehicle steering system may include: a processor 602, a communication interface Communications Interface, a memory 606, and a communication bus 608.
Wherein: processor 602, communication interface 604, and memory 606 perform communication with each other via communication bus 608. Communication interface 604 is used to communicate with network elements of other devices, such as clients or other servers. The processor 602 is configured to execute the program 610, and may specifically perform relevant steps in the control method embodiment for a vehicle steering system.
In particular, program 610 may include program code comprising computer-executable instructions.
The processor 602 may be a central processing unit CPU, or an Application-specific integrated Circuit ASIC (Application SPECIFIC INTEGRATED Circuit), or one or more integrated circuits configured to implement embodiments of the present invention. The one or more processors included in the control apparatus of the vehicle steering system may be the same type of processor, such as one or more CPUs; but may also be different types of processors such as one or more CPUs and one or more ASICs.
A memory 606 for storing a program 610. The memory 606 may comprise high-speed RAM memory or may further comprise non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 610 may be specifically invoked by the processor 602 to cause a control device of a vehicle steering system to:
And acquiring the steering system parameters input by the user.
And judging whether the steering system parameters meet the stability verification conditions or not based on the steering system parameters and the stability verification conditions input by the user.
And if the steering system parameters input by the user meet the stability verification conditions, updating the steering system parameters of the vehicle based on the steering system parameters input by the user.
In one implementation, the steering system parameter includes at least one of a boost value at different vehicle speeds, a return-to-normal parameter at different vehicle speeds, and a damping coefficient at different vehicle speeds.
In one implementation, the stability verification condition includes a first verification condition.
The first verification condition is: and detecting whether the abnormal high-frequency fluctuation, rapid abrupt change or current loss exists in the output rotating speed of the motor or not according to the steering system parameters input by the user in the first vehicle mode.
The user-entered steering system parameter satisfies the stability verification condition as: the output rotation speed of the motor does not have any one of high-frequency fluctuation, rapid abrupt change or current loss.
In one implementation, the stability verification condition includes a second verification condition.
The second verification condition is: and detecting overshoot and oscillation times of the steering wheel at a preset corner position under a second vehicle mode by the steering system parameters input by the user.
The user-entered steering system parameter satisfies the stability verification condition as: the overshoot is smaller than a preset angle, and the oscillation frequency is smaller than a preset frequency.
In one implementation, after the step of updating the steering system parameters of the vehicle based on the user-entered steering system parameters, the method further comprises:
Acquiring the running state and the corresponding driver expression state of the vehicle, and generating an adjustment value of the steering system parameter of the vehicle based on the running state and the corresponding driver expression state of the vehicle, wherein the running state of the vehicle comprises: the speed of the vehicle, the hand torque of the steering wheel, the rotating speed of the steering wheel, the rotating angle of the steering wheel, the automatic aligning speed of the steering wheel, the hand torque T3 of the steering wheel and aligning parameters.
In one implementation manner, the step of obtaining the running state of the vehicle and the corresponding driver expression state, and generating the adjustment value of the steering system parameter of the vehicle based on the running state of the vehicle and the corresponding driver expression state may be:
Under the condition that the rotating speed of the steering wheel and the rotating angle of the steering wheel are unchanged, the steering wheel hand moment T1 and the steering wheel hand moment T2 of two adjacent vehicle speeds and corresponding driver expression states are obtained, wherein the driver expression states comprise a first expression state and a second expression state.
And generating an adjustment value of the power-assisted value of the steering system based on the steering wheel hand moment T1, the steering wheel hand moment T2, the preset dynamic performance coefficient gamma and the driver expression.
In one implementation manner, the step of obtaining the running state of the vehicle and the corresponding driver expression state, and generating the adjustment value of the steering system parameter of the vehicle based on the running state of the vehicle and the corresponding driver expression state may further be:
And acquiring the speed and the steering wheel angle of the vehicle, and determining the automatic alignment speed, the steering wheel hand torque T3 and the alignment parameters of the set steering wheel according to the speed and the steering wheel angle.
And detecting the actual automatic steering wheel aligning speed, the steering wheel hand moment T4 and the expression state of the driver under the vehicle speed and the steering wheel angle.
And generating a correction parameter correction value of the steering system based on the set speed of automatic steering wheel correction, the steering wheel hand torque T3 and the correction parameter, and the actual speed of automatic steering wheel correction, the steering wheel hand torque T4 and the expression state of the driver.
In one implementation manner, the step of obtaining the running state of the vehicle and the corresponding driver expression state, and generating the adjustment value of the steering system parameter of the vehicle based on the running state of the vehicle and the corresponding driver expression state may further be:
and acquiring the speed, the steering wheel rotating angle, the steering wheel hand moment and the driver expression state of the vehicle, and generating the adjustment value of the damping coefficient based on the speed, the steering wheel rotating angle, the steering wheel hand moment and the driver expression state of the vehicle.
The memory 606 of the control device of the vehicle steering system is used for storing a program 610, and the program 610 can be specifically called by the processor 602 to enable the control device of the vehicle steering system to acquire the steering system parameters input by a user; then, based on the steering system parameters and the stability verification conditions, judging whether the steering system parameters meet the stability verification conditions; and finally, respectively updating the steering system parameters of the vehicle based on the steering system parameters when the steering system parameters meet the stability verification conditions.
In this way, after the steering system parameter input by the user meets the stability verification condition, the control device of the vehicle steering system adjusts the corresponding steering system parameter according to the steering system parameter input by the user, so that the user sets the steering system in a personalized way, and the user adjusts the steering system to an operation state suitable for personal handfeel.
An embodiment of the present invention provides a computer-readable storage medium storing at least one executable instruction that, when run on a control apparatus/device of a vehicle steering system, causes the control apparatus/device of the vehicle steering system to execute the control method of the vehicle steering system in any of the above-described method embodiments.
The executable instructions may be used in particular to cause a control device/arrangement of a vehicle steering system to:
And acquiring the steering system parameters input by the user.
And judging whether the steering system parameters meet the stability verification conditions or not based on the steering system parameters and the stability verification conditions input by the user.
And if the steering system parameters input by the user meet the stability verification conditions, updating the steering system parameters of the vehicle based on the steering system parameters input by the user.
In one implementation, the steering system parameter includes at least one of a boost value at different vehicle speeds, a return-to-normal parameter at different vehicle speeds, and a damping coefficient at different vehicle speeds.
In one implementation, the stability verification condition includes a first verification condition.
The first verification condition is: and detecting whether the abnormal high-frequency fluctuation, rapid abrupt change or current loss exists in the output rotating speed of the motor or not according to the steering system parameters input by the user in the first vehicle mode.
The user-entered steering system parameter satisfies the stability verification condition as: the output rotation speed of the motor does not have any one of high-frequency fluctuation, rapid abrupt change or current loss.
In one implementation, the stability verification condition includes a second verification condition.
The second verification condition is: and detecting overshoot and oscillation times of the steering wheel at a preset corner position under a second vehicle mode by the steering system parameters input by the user.
The user-entered steering system parameter satisfies the stability verification condition as: the overshoot is smaller than a preset angle, and the oscillation frequency is smaller than a preset frequency.
In one implementation, after the step of updating the steering system parameters of the vehicle based on the user-entered steering system parameters, the method further comprises:
Acquiring the running state and the corresponding driver expression state of the vehicle, and generating an adjustment value of the steering system parameter of the vehicle based on the running state and the corresponding driver expression state of the vehicle, wherein the running state of the vehicle comprises: the speed of the vehicle, the hand torque of the steering wheel, the rotating speed of the steering wheel, the rotating angle of the steering wheel, the automatic aligning speed of the steering wheel, the hand torque T3 of the steering wheel and aligning parameters.
In one implementation manner, the step of obtaining the running state of the vehicle and the corresponding driver expression state, and generating the adjustment value of the steering system parameter of the vehicle based on the running state of the vehicle and the corresponding driver expression state may be:
Under the condition that the rotating speed of the steering wheel and the rotating angle of the steering wheel are unchanged, the steering wheel hand moment T1 and the steering wheel hand moment T2 of two adjacent vehicle speeds and corresponding driver expression states are obtained, wherein the driver expression states comprise a first expression state and a second expression state.
And generating an adjustment value of the power-assisted value of the steering system based on the steering wheel hand moment T1, the steering wheel hand moment T2, the preset dynamic performance coefficient gamma and the driver expression.
In one implementation manner, the step of obtaining the running state of the vehicle and the corresponding driver expression state, and generating the adjustment value of the steering system parameter of the vehicle based on the running state of the vehicle and the corresponding driver expression state may further be:
And acquiring the speed and the steering wheel angle of the vehicle, and determining the automatic alignment speed, the steering wheel hand torque T3 and the alignment parameters of the set steering wheel according to the speed and the steering wheel angle.
And detecting the actual automatic steering wheel aligning speed, the steering wheel hand moment T4 and the expression state of the driver under the vehicle speed and the steering wheel angle.
And generating a correction parameter correction value of the steering system based on the set speed of automatic steering wheel correction, the steering wheel hand torque T3 and the correction parameter, and the actual speed of automatic steering wheel correction, the steering wheel hand torque T4 and the expression state of the driver.
In one implementation manner, the step of obtaining the running state of the vehicle and the corresponding driver expression state, and generating the adjustment value of the steering system parameter of the vehicle based on the running state of the vehicle and the corresponding driver expression state may further be:
and acquiring the speed, the steering wheel rotating angle, the steering wheel hand moment and the driver expression state of the vehicle, and generating the adjustment value of the damping coefficient based on the speed, the steering wheel rotating angle, the steering wheel hand moment and the driver expression state of the vehicle.
The embodiment of the invention provides a computer readable storage medium, which is used for acquiring steering system parameters input by a user when executable instructions stored in the computer readable storage medium are executed; then, based on the steering system parameters and the stability verification conditions, judging whether the steering system parameters meet the stability verification conditions; and finally, respectively updating the steering system parameters of the vehicle based on the steering system parameters when the steering system parameters meet the stability verification conditions.
In this way, after the steering system parameter input by the user meets the stability verification condition, the control device of the vehicle steering system adjusts the corresponding steering system parameter according to the steering system parameter input by the user, so that the user sets the steering system in a personalized way, and the user adjusts the steering system to an operation state suitable for personal handfeel.
The algorithms or displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. In addition, embodiments of the present invention are not directed to any particular programming language.
In the description provided herein, numerous specific details are set forth. It will be appreciated, however, that embodiments of the invention may be practiced without such specific details. Similarly, in the above description of exemplary embodiments of the invention, various features of embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. Wherein the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Except that at least some of such features and/or processes or elements are mutually exclusive.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names. The steps in the above embodiments should not be construed as limiting the order of execution unless specifically stated.

Claims (9)

1. A control method of a vehicle steering system, characterized by comprising:
acquiring steering system parameters input by a user;
Judging whether the steering system parameters meet the stability verification conditions or not based on the steering system parameters and the stability verification conditions input by the user;
If the steering system parameters input by the user meet the stability verification conditions, updating the steering system parameters of the vehicle based on the steering system parameters input by the user;
The stability verification conditions include a second verification condition;
The second verification condition is: the steering system parameters input by the user detect overshoot and oscillation times of the steering wheel at a preset corner position in a second vehicle mode;
The user-entered steering system parameter satisfies the stability verification condition as: the overshoot is smaller than a preset angle, and the oscillation frequency is smaller than a preset frequency.
2. The control method of a vehicle steering system according to claim 1, wherein the steering system parameter includes at least one of a power assist value at different vehicle speeds, a return parameter at different vehicle speeds, and a damping coefficient at different vehicle speeds.
3. The control method of a vehicle steering system according to claim 1, characterized in that the stability verification condition further includes a first verification condition;
The first verification condition is: detecting whether abnormal high-frequency fluctuation, rapid mutation or current loss exists in the output rotating speed of the motor or not under a first vehicle mode by using the steering system parameters input by the user;
the user-entered steering system parameter satisfies the stability verification condition as: the output rotation speed of the motor does not have any one of high-frequency fluctuation, rapid abrupt change or current loss.
4. The control method of a vehicle steering system according to claim 1, characterized by further comprising, after the step of updating the steering system parameter of the vehicle based on the steering system parameter input by the user:
Acquiring the running state and the corresponding driver expression state of the vehicle, and generating an adjustment value of the steering system parameter of the vehicle based on the running state and the corresponding driver expression state of the vehicle, wherein the running state of the vehicle comprises: the speed of the vehicle, the hand torque of the steering wheel, the rotating speed of the steering wheel, the rotating angle of the steering wheel, the automatic aligning speed of the steering wheel, the hand torque T3 of the steering wheel and aligning parameters.
5. The method according to claim 4, wherein the step of obtaining the running state of the vehicle and the corresponding driver expression state, and generating the adjustment value of the steering system parameter of the vehicle based on the running state of the vehicle and the corresponding driver expression state may be:
Under the condition that the rotating speed of the steering wheel and the rotating angle of the steering wheel are unchanged, acquiring a steering wheel hand moment T1 and a steering wheel hand moment T2 of two adjacent vehicle speeds and corresponding driver expression states, wherein the driver expression states comprise a first expression state and a second expression state;
Based on the steering wheel hand torque T1, the steering wheel hand torque T2 and preset dynamic performance coefficients And the driver expression, generating an adjustment value of the power-assisted value of the steering system.
6. The method according to claim 4, wherein the step of acquiring the running state of the vehicle and the corresponding driver expression state, and generating the adjustment value of the steering system parameter of the vehicle based on the running state of the vehicle and the corresponding driver expression state, further comprises:
Acquiring the speed and steering wheel angle of a vehicle, and determining the automatic alignment speed, the steering wheel hand torque T3 and alignment parameters of the set steering wheel according to the speed and the steering wheel angle;
Detecting the actual automatic steering wheel aligning speed, the steering wheel hand moment T4 and the expression state of a driver under the vehicle speed and the steering wheel turning angle;
and generating a correction parameter correction value of the steering system based on the set speed of automatic steering wheel correction, the steering wheel hand torque T3 and the correction parameter, and the actual speed of automatic steering wheel correction, the steering wheel hand torque T4 and the expression state of the driver.
7. The method according to claim 6, wherein the step of acquiring the running state of the vehicle and the corresponding driver expression state, and generating the adjustment value of the steering system parameter of the vehicle based on the running state of the vehicle and the corresponding driver expression state, further comprises:
The method comprises the steps of obtaining the speed, the rotating angle, the hand torque and the expression state of a driver of a vehicle, and generating an adjusting value of a damping coefficient based on the speed, the rotating angle, the hand torque and the expression state of the driver.
8. A control device of a vehicle steering system, characterized by comprising:
The acquisition module is used for acquiring the steering system parameters input by the user;
The verification module is used for judging whether the steering system parameter meets the stability verification condition or not based on the steering system parameter and the stability verification condition;
The parameter updating module is configured to update the steering system parameter of the vehicle based on the steering system parameter input by the user if the steering system parameter input by the user meets the stability verification condition, where the stability verification condition includes a second verification condition, and the second verification condition is: the steering system parameters input by the user detect overshoot and oscillation times of the steering wheel at a preset corner position in a second vehicle mode; the user-entered steering system parameter satisfies the stability verification condition as: the overshoot is smaller than a preset angle, and the oscillation frequency is smaller than a preset frequency.
9. A computer readable storage medium, characterized in that at least one executable instruction is stored in the storage medium, which executable instruction, when run on a control device/arrangement of a vehicle steering system, causes the control device/arrangement of the vehicle steering system to perform the operations of the control method of the vehicle steering system according to any one of claims 1-7.
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