CN115871782A - Vehicle deviation compensation method, device, terminal and storage medium - Google Patents
Vehicle deviation compensation method, device, terminal and storage medium Download PDFInfo
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Abstract
The invention discloses a vehicle deviation compensation method, a vehicle deviation compensation device, a terminal and a storage medium, which belong to the technical field of automobile control, and comprise a terminal, a steering power-assisted control module and an EPS power-assisted motor which are electrically connected in sequence, wherein: the terminal is used for acquiring current corner data and current steering wheel torque data and judging whether a current vehicle is in a process; if so, respectively acquiring the wheel speed, the tire pressure and the current vehicle speed of the current four wheels, executing a corresponding deviation compensation strategy according to the wheel speed, the tire pressure and the current vehicle speed to obtain EPS deviation compensation torque, and sending the EPS deviation compensation torque to a steering power assisting control module; the steering power control module is used for acquiring corresponding compensation torque sent by the terminal and sending a corresponding execution instruction to the EPS power motor; and the EPS power-assisted motor is used for acquiring a corresponding execution instruction sent by the steering power-assisted control module and executing a corresponding operation. The invention solves the problem of deviation of a vehicle carrying a front wheel linear control steering system scheme and a vehicle carrying a traditional steering system.
Description
Technical Field
The invention discloses a vehicle deviation compensation method, a vehicle deviation compensation device, a terminal and a storage medium, and belongs to the technical field of automobile control.
Background
The existing automobiles all adopt a steering system with a steering column and a steering device mechanically connected, when the automobile needs to use a non-full-size spare tire temporarily because of the over-poor positioning parameters of four wheels, the air pressure of a single side of a front wheel is low, the single side wheel of the front wheel needs to be blown out, the road inclination is large or the influence of wind is detected for a long time, the wheel deviates to one side, a driver needs to hold a steering wheel constantly and provide a correcting force, and the fatigue of the driver is easily caused. With the release of the requirement of the GB 17675 regulation, the line control steering of the front wheel is vigorously researched by various current main engine plants and steering gear suppliers of the automobiles, and the whole automobile product carrying the line control steering of the front wheel is expected to be sold in the market in 2025 at the earliest.
In the scheme of front wheel linear control steering, the mechanical connection between a steering column and a steering gear is cancelled, the motion of the steering gear is completely controlled by signals, and because the steering column is not mechanically connected with the steering gear, when the vehicle deviates suddenly in the driving process due to the fact that four-wheel positioning parameters, left and right wheel air pressure are different (such as single-wheel tire burst) and the like, the vehicle can not be corrected by adjusting the angle of a steering wheel, straight driving is kept, and potential safety hazards are brought to a driver and peripheral vehicles.
The existing deviation compensation strategy of the EPS mainly comprehensively judges whether the current vehicle is in a deviation or straight-going state or not based on the vehicle speed, the steering force applied by a driver in a specified time, a steering angle, a steering angular velocity, a yaw rate and other parameters, and then compensates steering assistance according to the set rules according to the vehicle speed, the deviation direction, the hand force applied by the driver and other signals to keep the vehicle straight-going. The EPS deviation compensation strategy judges whether the vehicle deviates or not by judging whether the driver corrects the vehicle in a forward direction within a specified time, belongs to indirect judgment, and can enable the driver to feel the deviation problem, so that the driving experience is poor. In addition, the torque compensation method is not accurate and rapid in compensation precision and speed, so that the EPS compensation function of the vehicle is frequently realized in time in the actual application process, but the vehicle deviation problem still occurs.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a vehicle deviation compensation method, a device, a terminal and a storage medium, so as to solve the deviation problem of a vehicle carrying a front wheel linear control steering system scheme and a vehicle carrying a traditional steering system with a mechanical connection.
The technical scheme of the invention is as follows:
according to a first aspect of the embodiment of the invention, a vehicle deviation compensation system is provided, which comprises a terminal, a steering power control module and an EPS power motor, which are electrically connected in sequence, wherein:
the terminal is used for acquiring current corner data and current steering wheel torque data and judging whether a current vehicle is in a vehicle deviation state process;
if so, respectively acquiring the wheel speed, the tire pressure and the current vehicle speed of the current four wheels, executing a corresponding deviation compensation strategy according to the wheel speed, the tire pressure and the current vehicle speed to obtain EPS deviation compensation torque, and sending the EPS deviation compensation torque to a steering power assisting control module;
the steering power control module is used for acquiring a corresponding compensation torque sent by the terminal and sending a corresponding execution command to the EPS power motor;
and the EPS power-assisted motor is used for acquiring a corresponding execution instruction sent by the steering power-assisted control module and executing a corresponding operation.
According to a second aspect of the embodiments of the present invention, there is provided a vehicle deviation compensation method applied to the vehicle deviation compensation system of the first aspect, including:
acquiring current corner data and current steering wheel torque data and judging whether a current vehicle is in a vehicle deviation state process;
if so, respectively acquiring the wheel speed, the tire pressure and the vehicle speed of the current four wheels, and executing a corresponding deviation compensation strategy according to the wheel speed, the tire pressure and the vehicle speed;
and obtaining the wheel speeds and the tire pressures of the four compensated wheels again, judging whether the wheel speeds and the tire pressures are in the vehicle deviation value range, and if so, continuing to execute the deviation compensation strategy until the wheel speeds and the tire pressures are not in the vehicle deviation value range.
Preferably, the acquiring the current steering angle data and the current steering wheel torque data and judging whether the current vehicle is in the vehicle deviation state includes:
acquiring the current corner data and the current steering wheel torque data;
judging whether the absolute value of the current steering angle data is larger than 5 degrees or the steering wheel torque data is smaller than 0.5N-m:
if the current vehicle is not in the process, executing the next step;
and if not, the current vehicle is in the process, and repeatedly acquiring and judging.
Preferably, the executing the corresponding deviation compensation strategy according to the deviation compensation strategy comprises:
and respectively determining the wheel speed difference value of the current front wheel and the wheel speed difference value of the current rear wheel by the wheel speeds of the current four wheels:
determining a current wheel speed difference value according to the current front wheel speed difference value and the current rear wheel speed difference value;
and respectively determining the current front wheel pressure difference value and the current rear wheel pressure difference value by the tire pressures of the current four wheels:
determining a current wheel differential pressure value according to the current front wheel differential pressure value and the current rear wheel differential pressure value;
judging whether a vehicle deviation condition exists according to the current front wheel speed difference value, the current rear wheel speed difference value, the current front wheel pressure difference value, the current rear wheel pressure difference value and the current wheel pressure difference value and corresponding threshold values respectively;
and if so, determining the EPS deviation compensation torque according to the current vehicle speed, the current wheel speed difference value and the current wheel pressure difference value.
Preferably, the determining whether there is a vehicle deviation condition according to the current front wheel speed difference value, the current rear wheel speed difference value, the current front wheel pressure difference value, the current rear wheel pressure difference value and the current wheel pressure difference value respectively corresponding to the threshold value includes:
when the current front wheel speed difference value is greater than 0U and the current rear wheel speed difference value is greater than 0U and the current front wheel pressure difference value is greater than 0U and the current rear wheel pressure difference value is greater than 0:
when any one condition of the current wheel pressure difference value > the wheel pressure difference threshold value or the current wheel speed difference value > the wheel speed difference threshold value is met, the vehicle deviates to the right;
the current wheel pressure difference value < the wheel pressure difference threshold value < the current wheel speed difference value < the wheel speed difference threshold value, and the vehicle does not deviate;
the difference between the wheel speeds of the current front wheel and the current rear wheel is <0 $ and 0 $ U current front wheel differential pressure value < 0U current rear wheel differential pressure value < 0:
when any one condition of the current wheel pressure difference value > the wheel pressure difference threshold value or the current wheel speed difference value > the wheel speed difference threshold value is met, the vehicle deviates to the left;
when the current wheel pressure difference value < the wheel pressure difference threshold value < the current wheel speed difference value < the wheel speed difference threshold value, the vehicle does not deviate;
when the current front wheel speed difference value >0 u, the current rear wheel speed difference value >0 u, the current front wheel pressure difference value <0 u, the current rear wheel pressure difference value < 0:
the current wheel pressure difference value is greater than the wheel pressure difference threshold value, or the current wheel pressure difference value is less than the wheel pressure difference threshold value, or the current wheel speed difference value is less than the wheel speed difference threshold value, and the vehicle does not deviate;
when the current wheel pressure difference value < wheel pressure difference threshold ≧ U current wheel speed difference value > wheel speed difference threshold, the vehicle is deflected to the right;
when the current wheel pressure difference value > the wheel pressure difference threshold ≦ the current wheel speed difference value < the wheel speed difference threshold, the vehicle is deviated to the left.
Preferably, the determining whether there is a vehicle deviation condition according to the current front wheel speed difference value, the current rear wheel speed difference value, the current front wheel pressure difference value, the current rear wheel pressure difference value and the current wheel pressure difference value respectively corresponding to the threshold value further includes:
when the current front wheel speed difference value <0 ℃ > current rear wheel speed difference value <0 ℃ > current front wheel differential pressure value >0 ℃ > current rear wheel differential pressure value > 0:
the current wheel pressure difference value, the wheel pressure difference threshold value, the current wheel speed difference value, the wheel speed difference threshold value or the current wheel pressure difference value, the wheel pressure difference threshold value, the current wheel speed difference value and the wheel speed difference threshold value are determined, and the vehicle does not deviate;
when the current wheel pressure difference value < wheel pressure difference threshold value ≧ current wheel speed difference value > wheel speed difference threshold value, the vehicle deviates to the left;
when the current wheel pressure difference value > the wheel pressure difference threshold $ and the current wheel speed difference value < the wheel speed difference threshold, the vehicle is deviated to the right.
Preferably, the determining the EPS deviation compensation torque according to the current vehicle speed, the current wheel speed difference value and the current wheel pressure difference value includes:
determining EPS deviation compensation torque according to the current vehicle speed, the current wheel speed difference value and the current wheel pressure difference value, and determining the EPS deviation compensation torque through a formula (1):
M＝(γ×M V ×V C +θ×M p ×P C )×V (1)
wherein: m is EPS deviation compensation torque, gamma is wheel speed gain coefficient, theta is tire pressure gain coefficient, M V For wheel speed-dependent power-assisted torque, V C For the current wheel speed difference, M p For tire pressure-dependent power-assisted torque, P C And V is the current wheel differential pressure value and the current vehicle speed.
According to a third aspect of the embodiments of the present invention, there is provided a vehicle deviation compensation device including:
the judging module is used for acquiring current corner data and current steering wheel torque data and judging whether a current vehicle is in a process;
the execution module is used for respectively acquiring the wheel speeds, the tire pressures and the vehicle speeds of the current four wheels if the vehicle speed is within the preset range, and executing a corresponding deviation compensation strategy according to the wheel speeds, the tire pressures and the vehicle speeds;
and the re-judgment module is used for acquiring the wheel speeds and the tire pressures of the four compensated wheels again and judging whether the wheel speeds and the tire pressures are in the vehicle deviation value range, and if so, continuing to execute the deviation compensation strategy until the wheel speeds and the tire pressures are not in the vehicle deviation value range.
According to a fourth aspect of the embodiments of the present invention, there is provided a terminal, including:
one or more processors;
a memory for storing the one or more processor-executable instructions;
wherein the one or more processors are configured to:
the method of the first aspect of the embodiments of the present invention is performed.
According to a fifth aspect of embodiments of the present invention, there is provided a non-transitory computer-readable storage medium, wherein instructions, when executed by a processor of a terminal, enable the terminal to perform the method according to the first aspect of embodiments of the present invention.
According to a sixth aspect of embodiments of the present invention, there is provided an application program product, which, when running on a terminal, causes the terminal to perform the method according to the first aspect of embodiments of the present invention.
The invention has the beneficial effects that:
the patent provides a vehicle deviation compensation method, a device, a terminal and a storage medium, which confirm the vehicle deviation state by calling signals such as vehicle speed, tire pressure, wheel speed and the like, and then perform deviation compensation by an angle control method. Through comprehensive judgment of various signals, the problem of inaccurate judgment of the deviation state can be solved, and meanwhile, a judgment method for intervention of the deviation compensation function is set, so that sudden hand feeling change of a driver caused by unexpected intervention of the deviation compensation function is avoided. In addition, the original torque control is changed into angle control, the deviation is not directly compensated by torque so as to control the steering angle, the compensation effect is judged through the angle of the input shaft, and the deviation compensation effect is ensured to be more accurate through the target control of the steering angle.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
FIG. 1 is a block diagram illustrating a vehicle tracking compensation system in accordance with an exemplary embodiment;
FIG. 2 is a flow chart illustrating a method of vehicle deviation compensation in accordance with an exemplary embodiment;
FIG. 3 is a block diagram schematically illustrating a structure of a vehicle deviation compensating device according to an exemplary embodiment;
fig. 4 is a schematic block diagram of a terminal structure shown in accordance with an exemplary embodiment.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
Fig. 1 is a vehicle deviation compensation system according to an exemplary embodiment, which includes a terminal 101, a steering assist control module 102, and an EPS assist motor 103, which are electrically connected in sequence, wherein:
the terminal 101 is used for acquiring current corner data and current steering wheel torque data and judging whether a current vehicle is in a vehicle deviation process; if so, respectively acquiring the wheel speed, the tire pressure and the current vehicle speed of the current four wheels, executing a corresponding deviation compensation strategy according to the wheel speed, the tire pressure and the current vehicle speed to obtain EPS deviation compensation torque, and sending the EPS deviation compensation torque to the steering power control module.
The steering assist control module 102 is configured to obtain a corresponding compensation torque sent by the terminal and send a corresponding execution instruction to the EPS assist motor. The EPS power-assisted motor 103 is used for acquiring a corresponding execution instruction sent by the steering power-assisted control module and executing a corresponding operation.
Example two
Fig. 2 is a vehicle deviation compensation method according to an exemplary embodiment, which is applied to a terminal 101 in a vehicle deviation compensation system according to the first embodiment, and includes:
executing a vehicle deviation compensation program, and firstly acquiring current rotation angle data alpha and current steering wheel torque data;
judging whether the absolute value of the current rotation angle data alpha is larger than 5 degrees or the steering wheel torque data is smaller than 0.5N-m:
if the vehicle is not in the process, the deviation compensation function is started, and the next step is executed;
and if not, taking and judging that the current vehicle is in the process and the deviation compensation is not involved.
Step 202, respectively obtaining the wheel speeds, tire pressures and vehicle speeds of the current four wheels, and executing a corresponding deviation compensation strategy according to the wheel speeds, wherein the specific contents are as follows:
determining the current wheel speed difference value of the front wheels and the current wheel speed difference value of the rear wheels by formulas (1) and (2) respectively:
V F ＝(V 1 -V 2 ) (1)
V R ＝(V 3 -V 4 ) (2)
wherein: v F For the current front wheel speed difference, V 1 For the current left front wheel speed, V 2 For the current right front wheel speed, V 3 For the current left and rear wheel speed, V 4 For the current speed of the right rear wheel, V R Is the current rear wheel speed difference.
Determining the current wheel speed difference value of the front wheel and the current wheel speed difference value of the rear wheel through a formula (3):
V C ＝|V F +V R | (3)
wherein, V C Is the current wheel speed difference.
The tire pressures of the current four wheels are respectively determined by the pressure difference value of the current front wheel and the pressure difference value of the current rear wheel through formulas (4) and (5):
P F ＝(P 1 -P 2 ) (4)
P R ＝(P 3 -P 4 ) (5)
wherein: p F Is the current front wheel differential pressure value, V 1 For the current left front tire pressure, V 2 For the current right front tire pressure, V 3 For the current left and rear tire pressure, V 4 Is the current right rear wheel tire pressure, V R Is the current rear wheel differential pressure value.
Determining a current wheel pressure differential value from the current front wheel pressure differential value and the current rear wheel pressure differential value by equation (6):
P C ＝|P F +P R | (6)
wherein, P C Is the current wheel differential pressure value.
According to the current wheel speed difference value V of the front wheels F The wheel speed difference V of the current rear wheel R Current wheel speed difference value V C Current front wheel differential pressure value P F Current rear wheel differential pressure value P R And the current wheel differential pressure value P C Respectively judging whether a vehicle deviates or not according to the corresponding threshold values, wherein the judgment is as follows:
current front wheel speed difference V F >0U difference value V of wheel speed of current rear wheel R >0U current front wheel differential pressure value P F >0U is the current rear wheel differential pressure value P R >At time 0:
current wheel differential pressure value P C >Threshold value P of differential wheel pressure limit Or the current wheel speed difference V C >Wheel speed difference threshold V limit When any condition is met, the vehicle deviates to the right; wherein the wheel differential pressure threshold value P limit And a wheel speed difference threshold value V limit And calibrating through real vehicle calibration, and performing interpolation corresponding to the vehicle speed.
Current wheel differential pressure value P C <Wheel differential pressure threshold P limit Difference value V of wheel speed of current wheel C <Wheel speed difference threshold V limit The vehicle does not deviate;
current front wheel speed difference V F <0U current rear wheel speed difference value V R <0U pressure difference value P of current front wheel F <0U is the current rear wheel differential pressure value P R <At time 0:
current wheel differential pressure value P C >Wheel differential pressure threshold P limit Or the current wheel speed difference V C >Wheel speed difference threshold V limit When any condition is met, the vehicle deviates to the left;
current wheel differential pressure value P C <Threshold value P of differential wheel pressure limit Difference value V of wheel speed of current wheel C <Wheel speed difference threshold V limit When the vehicle runs, the vehicle does not deviate;
current front wheel speed difference V F >0U difference value V of wheel speed of current rear wheel R >Wheel pressure difference value P of 0U current front wheel F <0U is the current rear wheel differential pressure value P R <At time 0:
current wheel differential pressure value P C >Wheel differential pressure threshold P limit Difference value V of wheel speed of current wheel C >Wheel speed difference threshold V limit Or current wheel differential pressure value P C <Wheel differential pressure threshold P limit Difference value V of wheel speed of current wheel C <Wheel speed difference threshold V limit The vehicle does not deviate;
current wheel differential pressure value P C <Threshold value P of differential wheel pressure limit U current wheel speed difference V C >Wheel speed difference threshold V limit When the vehicle deviates to the right;
current wheel differential pressure value P C >Threshold value P of differential wheel pressure limit Difference value V of wheel speed of current wheel C <Wheel speed difference threshold V limit When the vehicle is running to the left, the vehicle is running to the left.
Current front wheel speed difference V F <0U difference value V of wheel speed of current rear wheel R <0U pressure difference value P of current front wheel F >0U pressure difference value P of current rear wheel R >At time 0:
current wheel differential pressure value P C >Wheel differential pressure threshold P limit Difference value V of wheel speed of current wheel C >Wheel speed difference threshold V limit Or current wheel differential pressure value P C <Threshold value P of differential wheel pressure limit Difference value V of wheel speed of current wheel C <Wheel speed difference threshold V limit The vehicle does not deviate;
current wheel differential pressure value P C <Threshold value P of differential wheel pressure limit U current wheel speed difference V C >Wheel speed difference threshold V limit The vehicle deviates to the left;
current wheel differential pressure value P C >Wheel differential pressure threshold P limit U-shaped current wheelVelocity difference value V C <Wheel speed difference threshold V limit When the vehicle is running right.
Determining EPS deviation compensation torque according to the current vehicle speed, the current wheel speed difference value and the current wheel pressure difference value, and determining the EPS deviation compensation torque according to a formula (7):
M＝(γ×M V ×V C +θ×M p ×P C )×V (7)
wherein: m is EPS deviation compensation torque, gamma is wheel speed gain coefficient, theta is tire pressure gain coefficient, M V For wheel speed-dependent power-assisted torque, V C For the current wheel speed difference, M p For tire pressure-dependent power-assisted torque, P C And V is the current wheel differential pressure value and the current vehicle speed.
And 203, acquiring the wheel speeds and the tire pressures of the four compensated wheels again, judging whether the wheel speeds and the tire pressures are in the vehicle deviation value range, and if so, continuing to execute the deviation compensation strategy until the wheel speeds and the tire pressures are not in the vehicle deviation value range.
The vehicle deviation state is confirmed by calling signals such as vehicle speed, tire pressure, wheel speed and the like, and deviation compensation is carried out through an angle control method. Through comprehensive judgment of various signals, the problem of inaccurate judgment of the deviation state can be solved, and meanwhile, a judgment method for intervention of the deviation compensation function is set, so that sudden hand feeling change of a driver caused by unexpected intervention of the deviation compensation function is avoided. In addition, the original torque control is changed into angle control, the deviation is not directly compensated by torque so as to control the steering angle, the compensation effect is judged by the angle of the input shaft, and the deviation compensation effect is ensured to be more accurate by the target control of the steering angle.
In the process that the tire pressure of a vehicle is reduced due to the fact that the tire is punctured, when the air pressure of the tire is low, the rolling radius of the tire is reduced, when a driver does not operate a steering wheel actively, the rolling radius of a certain wheel is low, when the driving shaft drives the wheels to rotate for the same number of turns, the distance between the wheels with low tire pressure and the ground is short, and the vehicle tends to deviate towards one side of the tire with low tire pressure. With rear wheels in failureFor example, at this time P R >0, and satisfies P at the current vehicle speed C >P limit In time, the rotation angle signal alpha is monitored to be minus 5 DEG<α<When the angle is 5 degrees, the deviation compensation torque M =0, and when the rotation angle alpha is>When the angle is 5 degrees and the hand torque of the driver is less than 0.5 N.m, the EPS is in accordance with M = (gamma multiplied by M) according to the current vehicle speed and wheel speed signal value V ×V C +θ×M p ×P C ) X V equation, calling gamma, theta, M V 、M P And performing torque compensation corresponding to the set value of the current vehicle speed. And the corner signal is monitored in real time for closed-loop control.
EXAMPLE III
Fig. 3 is a diagram illustrating a vehicle deviation compensating device according to an exemplary embodiment, including:
the judging module 301 is configured to obtain current steering angle data and current steering wheel torque data, and judge whether a current vehicle is in a vehicle deviation process;
an execution module 302, configured to, if yes, respectively obtain wheel speeds, tire pressures, and vehicle speeds of the current four wheels, and execute a corresponding deviation compensation strategy according to the wheel speeds, the tire pressures, and the vehicle speeds;
and the re-judging module 303 is configured to obtain the wheel speeds and tire pressures of the four compensated wheels again, judge whether the wheel speeds and tire pressures are within the vehicle deviation value range, and if the wheel speeds and tire pressures are within the vehicle deviation value range, continue to execute the deviation compensation strategy until the wheel speeds and tire pressures are not within the vehicle deviation value range.
Example four
Fig. 4 is a block diagram of a terminal according to an embodiment of the present application, where the terminal may be the terminal in the foregoing embodiment. The terminal 400 may be a vehicle control unit or other name.
Generally, the terminal 400 includes: a processor 401 and a memory 402.
In some embodiments, the terminal 400 may further optionally include: a peripheral interface 403, the peripheral interface 403 may be used to connect at least one peripheral associated with I/O (Input/Output) to the processor 401 and the memory 402. In some embodiments, processor 401, memory 402, and peripheral interface 403 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 401, the memory 402 and the peripheral interface 403 may be implemented on a separate chip or circuit board, which is not limited by this embodiment.
The Radio Frequency circuit 404 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 404 communicates with a communication network and other communication devices via electromagnetic signals. The rf circuit 404 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 404 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 404 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 404 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.
EXAMPLE five
In exemplary embodiments, there is also provided a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements a vehicle deviation compensation method as provided by all inventive embodiments of the present application.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
Example six
In an exemplary embodiment, an application program product is also provided, which includes one or more instructions executable by the processor 301 of the apparatus to perform a vehicle deviation compensation method as described above.
While embodiments of the invention have been disclosed above, it is not intended that they be limited to the applications set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a vehicle off tracking compensating system which characterized in that, includes electric connection's terminal, steering assistance control module and EPS helping hand motor in proper order, wherein:
the terminal is used for acquiring current corner data and current steering wheel torque data and judging whether a current vehicle is in a vehicle deviation process;
if so, respectively acquiring the wheel speed, the tire pressure and the current vehicle speed of the current four wheels, executing a corresponding deviation compensation strategy according to the wheel speed, the tire pressure and the current vehicle speed to obtain EPS deviation compensation torque, and sending the EPS deviation compensation torque to a steering power assisting control module;
the steering power control module is used for acquiring corresponding compensation torque sent by the terminal and sending a corresponding execution instruction to the EPS power motor;
and the EPS power-assisted motor is used for acquiring a corresponding execution instruction sent by the steering power-assisted control module and executing a corresponding operation.
2. A vehicle running deviation compensation method applied to the vehicle running deviation compensation system of claim 1, comprising:
acquiring current corner data and current steering wheel torque data and judging whether a current vehicle is in a vehicle deviation process;
if so, respectively acquiring the wheel speed, the tire pressure and the vehicle speed of the current four wheels, and executing a corresponding deviation compensation strategy according to the wheel speed, the tire pressure and the vehicle speed;
and obtaining the wheel speeds and tire pressures of the four compensated wheels again, judging whether the wheel speeds and the tire pressures are in the vehicle deviation value range, and if so, continuing to execute the deviation compensation strategy until the wheel speeds and the tire pressures are not in the vehicle deviation value range.
3. The vehicle deviation compensation method according to claim 2, wherein the obtaining of the current rotation angle data and the current steering wheel torque data and the judging of whether the current vehicle is in the vehicle deviation state comprises:
acquiring the current corner data and the current steering wheel torque data;
judging whether the absolute value of the current steering angle data is more than 5 degrees or the steering wheel torque data is less than 0.5 N.m:
if the current vehicle is not in the process, executing the next step;
and if not, the current vehicle is in the process, and repeatedly acquiring and judging.
4. The vehicle deviation compensation method according to claim 3, wherein the executing of the corresponding deviation compensation strategy according to the deviation compensation strategy comprises:
and respectively determining the wheel speed difference value of the current front wheel and the wheel speed difference value of the current rear wheel by the wheel speeds of the current four wheels:
determining a current wheel speed difference value according to the current front wheel speed difference value and the current rear wheel speed difference value;
and respectively determining the current front wheel pressure difference value and the current rear wheel pressure difference value by the tire pressures of the current four wheels:
determining a current wheel differential pressure value according to the current front wheel differential pressure value and the current rear wheel differential pressure value;
judging whether a vehicle deviation condition exists according to the current front wheel speed difference value, the current rear wheel speed difference value, the current front wheel pressure difference value, the current rear wheel pressure difference value and the current wheel pressure difference value and corresponding threshold values respectively;
and if so, determining the EPS deviation compensation torque according to the current vehicle speed, the current wheel speed difference value and the current wheel pressure difference value.
5. The method as claimed in claim 4, wherein the step of determining whether there is a deviation condition according to the current front wheel speed difference value, the current rear wheel speed difference value, the current front wheel pressure difference value, the current rear wheel pressure difference value and the current wheel pressure difference value and corresponding threshold values respectively comprises:
when the current front wheel speed difference value is greater than 0U and the current rear wheel speed difference value is greater than 0U and the current front wheel pressure difference value is greater than 0U and the current rear wheel pressure difference value is greater than 0:
when any one condition of the current wheel pressure difference value > the wheel pressure difference threshold value or the current wheel speed difference value > the wheel speed difference threshold value is met, the vehicle deviates to the right;
the current wheel pressure difference value < the wheel pressure difference threshold value < the current wheel speed difference value < the wheel speed difference threshold value, and the vehicle does not deviate;
the difference between the wheel speeds of the current front wheel and the current rear wheel is <0 $ and 0 $ U current front wheel differential pressure value < 0U current rear wheel differential pressure value < 0:
when any one condition of the current wheel pressure difference value > the wheel pressure difference threshold value or the current wheel speed difference value > the wheel speed difference threshold value is met, the vehicle deviates to the left;
when the current wheel pressure difference value < the wheel pressure difference threshold value < the current wheel speed difference value < the wheel speed difference threshold value, the vehicle does not deviate;
when the difference value of the wheel speeds of the current front wheel is greater than 0U and the difference value of the wheel speeds of the current rear wheel is greater than 0U and the difference value of the wheel speeds of the current front wheel is less than 0U and the difference value of the wheel speeds of the current rear wheel is less than 0U:
the current wheel pressure difference value, the wheel pressure difference threshold value, the current wheel speed difference value, the wheel speed difference threshold value or the current wheel pressure difference value, the wheel pressure difference threshold value, the current wheel speed difference value and the wheel speed difference threshold value are determined, and the vehicle does not deviate;
when the current wheel pressure difference value < wheel pressure difference threshold value ≧ current wheel speed difference value > wheel speed difference threshold value, the vehicle is deflected to the right;
when the current wheel pressure difference value > the wheel pressure difference threshold ≦ the current wheel speed difference value < the wheel speed difference threshold, the vehicle is deviated to the left.
6. The method of claim 5, wherein the determining whether there is a deviation condition according to the current front wheel speed difference value, the current rear wheel speed difference value, the current front wheel pressure difference value, the current rear wheel pressure difference value and the current wheel pressure difference value and corresponding threshold values respectively further comprises:
when the current front wheel speed difference value <0 ℃ > as the current rear wheel speed difference value <0 ℃ > as the current front wheel pressure difference value >0 ℃ > as the current rear wheel pressure difference value > 0:
the current wheel pressure difference value is greater than the wheel pressure difference threshold value, or the current wheel pressure difference value is less than the wheel pressure difference threshold value, or the current wheel speed difference value is less than the wheel speed difference threshold value, and the vehicle does not deviate;
the current wheel pressure difference value < wheel pressure difference threshold value ≧ current wheel speed difference value > wheel speed difference threshold value, the vehicle is left to deviate;
when the current wheel pressure difference value > the wheel pressure difference threshold $ and the current wheel speed difference value < the wheel speed difference threshold, the vehicle is deviated to the right.
7. The vehicle deviation compensation method according to claim 6, wherein the determining the EPS deviation compensation torque according to the current vehicle speed, the current wheel speed difference value and the current wheel pressure difference value comprises:
determining EPS deviation compensation torque according to the current vehicle speed, the current wheel speed difference value and the current wheel pressure difference value, and determining the EPS deviation compensation torque through a formula (1):
M＝(γ×M v ×V C +θ×M p ×P C )×V (1)
wherein: m is EPS deviation compensation torque, gamma is wheel speed gain coefficient, theta is tire pressure gain coefficient, M v For wheel speed-dependent power-assisted torque, V C For the current wheel speed difference, M p For tire pressure-dependent power-assisted torque, P C And V is the current wheel differential pressure value and the current vehicle speed.
8. A vehicle deviation compensation device is characterized by comprising:
the judging module is used for acquiring current corner data and current steering wheel torque data and judging whether the current vehicle is in a vehicle deviation state process;
the execution module is used for respectively acquiring the wheel speeds, the tire pressures and the vehicle speeds of the current four wheels if the vehicle speed is within the preset range, and executing a corresponding deviation compensation strategy according to the wheel speeds, the tire pressures and the vehicle speeds;
and the re-judgment module is used for acquiring the wheel speeds and the tire pressures of the four compensated wheels again and judging whether the wheel speeds and the tire pressures are in the vehicle deviation value range, and if so, continuing to execute the deviation compensation strategy until the wheel speeds and the tire pressures are not in the vehicle deviation value range.
9. A terminal, comprising:
one or more processors;
a memory for storing the one or more processor-executable instructions;
wherein the one or more processors are configured to:
the vehicle deviation compensation method according to any one of claims 2 to 7 is performed.
10. A non-transitory computer-readable storage medium, wherein instructions in the storage medium, when executed by a processor of a terminal, enable the terminal to perform the vehicle deviation compensation method of any one of claims 2 to 7.
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| CN202211600605.5A CN115871782A (en) | 2022-12-12 | 2022-12-12 | Vehicle deviation compensation method, device, terminal and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117068195A (en) * | 2023-08-22 | 2023-11-17 | 宁波市海曙雪利曼电子仪表有限公司 | Communication terminal automobile driving track display processing system |
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