CN116062033A - Vehicle auxiliary steering power assisting method, system, related device and vehicle - Google Patents
Vehicle auxiliary steering power assisting method, system, related device and vehicle Download PDFInfo
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- CN116062033A CN116062033A CN202310102132.4A CN202310102132A CN116062033A CN 116062033 A CN116062033 A CN 116062033A CN 202310102132 A CN202310102132 A CN 202310102132A CN 116062033 A CN116062033 A CN 116062033A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/40—Steering conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/914—Height Control System
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention provides a vehicle auxiliary steering assisting method, a system, a related device and a vehicle, wherein the method comprises the following steps: judging whether the current vehicle is in a steering state or not, if so, executing the next step; judging whether a failure condition exists in the vehicle steering power assisting system, if so, executing the next step; collecting the current speed and steering wheel torque of the vehicle; calculating a target steering power-assisted torque required by the vehicle according to the current speed of the vehicle and the steering wheel torque; and obtaining a suspension adjusting signal according to the target steering power-assisted torque, and adjusting the suspension height of the wheels of the vehicle according to the suspension adjusting signal so as to realize steering power assistance.
Description
Technical Field
The invention relates to the technical field of vehicle steering assistance, in particular to a vehicle auxiliary steering assistance method, a vehicle auxiliary steering assistance system, a related device and a vehicle.
Background
In current steering systems for motor vehicles, in particular in electric vehicles, an electronic steering system (EPS, electric Power Steering) is generally used for steering assistance. The electronic control unit in the EPS sends instructions to the motor controller according to torque voltage signals, rotation directions, vehicle speed signals and the like detected by the torque sensor, so that the motor outputs steering power-assisted torque with corresponding magnitude and direction, and auxiliary power is generated.
However, if the motor in the electronic steering assist system fails, it will not provide steering assist torque, which will make steering by the driver, especially in the case of low-speed running, difficult and may even cause traffic accidents.
Disclosure of Invention
The technical problem underlying one aspect of the present invention is how to provide a steering assist torque in the event of a failure of the steering assist system.
In addition, other aspects of the present invention are directed to solving or alleviating other technical problems of the prior art.
The invention provides a vehicle auxiliary steering assisting method, a system, a related device and a vehicle, and particularly provides, according to one aspect of the invention:
a vehicle assisted steering assist method, comprising the steps of:
judging whether the current vehicle is in a steering state or not, if so, executing the next step;
judging whether a failure condition exists in the vehicle steering power assisting system, if so, executing the next step;
collecting the current speed and steering wheel torque of the vehicle;
calculating a target steering power-assisted torque required by the vehicle according to the current speed of the vehicle and the steering wheel torque;
and obtaining a suspension adjusting signal according to the target steering power-assisted torque, and adjusting the suspension height of the wheels of the vehicle according to the suspension adjusting signal so as to realize steering power assistance.
Optionally, according to an embodiment of the present invention, before calculating the target steering assist torque required by the vehicle according to the current speed of the vehicle and the steering wheel torque, the method further comprises the steps of:
and judging whether the current vehicle speed is higher than a preset vehicle speed threshold value and whether the steering wheel torque is lower than a preset torque threshold value, if so, not executing the following steps.
Optionally, according to an embodiment of the present invention, before the suspension adjustment signal is obtained according to the target steering assist torque, the method further includes the steps of:
and judging the steering direction of the vehicle according to the direction of the steering wheel torque, wherein if the vehicle steers leftwards, the suspension adjusting signal comprises a vehicle left wheel suspension rising signal and/or a vehicle right wheel suspension lowering signal, and if the vehicle steers rightwards, the suspension adjusting signal comprises a vehicle right wheel suspension rising signal and/or a vehicle left wheel suspension lowering signal.
Optionally, according to an embodiment of the present invention, before calculating the target steering assist torque required by the vehicle according to the current speed of the vehicle and the steering wheel torque, the method further comprises the steps of:
collecting failure percentage of a vehicle steering power assisting system and calculating system steering power assisting torque which can be provided by the steering power assisting system currently according to the failure percentage;
the suspension adjustment signal is determined from both the target steering assist torque and a system steering assist torque.
Alternatively, according to one embodiment of the present invention, in the case where the vehicle turns left, if the failure percentage of the vehicle steering assist system is 50% or less, the suspension adjustment signal includes a suspension increase signal of one of the left front wheel and the left rear wheel of the vehicle and/or a suspension decrease signal of one of the right front wheel and the right rear wheel of the vehicle, and if more than 50%, the suspension adjustment signal includes a suspension increase signal of all left wheels of the vehicle and/or a suspension decrease signal of all right wheels of the vehicle;
in the case where the vehicle turns right, if the failure percentage of the vehicle steering assist system is 50% or less, the suspension adjustment signal includes a suspension increase signal of one of the right front wheel and the right rear wheel of the vehicle and/or a suspension decrease signal of one of the left front wheel and the left rear wheel of the vehicle, and if greater than 50%, the suspension adjustment signal includes a suspension increase signal of all right wheels of the vehicle and/or a suspension decrease signal of all left wheels of the vehicle.
According to another aspect of the present invention, there is provided a vehicle auxiliary steering assist system, including a steering determination module that determines whether a current vehicle is in a steering state; if the judgment result is negative, the auxiliary steering assistance is not executed;
the failure judgment module is used for judging whether a failure condition exists in the vehicle steering assistance system, and if the failure condition exists in the vehicle steering assistance system, the auxiliary steering assistance is not executed;
the acquisition module acquires the current speed and steering wheel torque of the vehicle;
a calculation module that calculates a target steering assist torque required for the vehicle based on a current vehicle speed and a steering wheel torque of the vehicle;
a suspension control module that obtains a suspension adjustment signal from the target steering assist torque;
and the execution module acquires a suspension adjustment signal from the suspension control module and adjusts the suspension height of the wheels according to the suspension adjustment signal so as to realize steering assistance.
Optionally, according to an embodiment of another aspect of the present invention, the method further includes a pre-judging module: and judging whether the current vehicle speed is higher than a preset vehicle speed threshold value and whether the steering wheel torque is lower than a preset torque threshold value, if so, not executing auxiliary steering assistance.
Alternatively, according to an embodiment of another aspect of the present invention, the suspension control module determines a steering direction of the vehicle according to a direction of the steering wheel torque, and if the vehicle steers left, the suspension adjustment signal obtained therefrom includes a vehicle left wheel suspension up signal and/or a vehicle right wheel suspension down signal, and if the vehicle steers right, the suspension adjustment signal obtained therefrom includes a vehicle right wheel suspension up signal and/or a vehicle left wheel suspension down signal.
Alternatively, according to one embodiment of another aspect of the present invention, the acquisition module acquires a failure percentage of the vehicle steering assist system and calculates therefrom a system steering assist torque that the steering assist system is currently capable of providing; the suspension control module obtains the suspension adjustment signal according to the target steering power-assisted torque and the system steering power-assisted torque at the same time.
Alternatively, according to an embodiment of another aspect of the present invention, in a case where the vehicle turns left, if the failure percentage of the vehicle steering assist system acquired by the acquisition module is 50% or less, the suspension adjustment signal obtained by the suspension control module includes a suspension increase signal of one of the front left wheel and the rear left wheel of the vehicle and/or a suspension decrease signal of one of the front right wheel and the rear right wheel of the vehicle, and if more than 50%, the suspension adjustment signal includes a suspension increase signal of all left wheels of the vehicle and/or a suspension decrease signal of all right wheels of the vehicle;
in the case of steering the vehicle to the right, if the failure percentage of the vehicle steering power assisting system acquired by the acquisition module is less than or equal to 50%, the suspension adjustment signal obtained by the suspension control module comprises a suspension raising signal of one of a right front wheel and a right rear wheel of the vehicle and/or a suspension lowering signal of one of a left front wheel and a left rear wheel of the vehicle, and if the failure percentage is greater than 50%, the suspension adjustment signal comprises a suspension raising signal of all right wheels of the vehicle and/or a suspension lowering signal of all left wheels of the vehicle.
According to a further aspect of the present invention, there is provided a computer readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the above-described vehicle assisted steering assist method.
According to a further aspect of the present invention there is provided a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the above-described vehicle assisted steering assist method when executing the computer program.
The invention has the advantages that:
1. the yaw moment for steering assistance is provided by controlling the height of the active suspension corresponding to the wheels, so that the problem of steering difficulty of a driver under the condition of failure of EPS can be prevented, only the height of the active suspension is adjusted, other additional auxiliary steering assistance mechanisms are not needed, the structure is simple, the implementation is easy, and the manufacturing cost is low;
2. the auxiliary steering assist torque can be matched according to the failure proportion of the EPS, that is, in the case where the EPS is only partially failed, the auxiliary steering assist torque can also be provided by adjusting the height of the active suspension, so that the steering operation of the driver is easier to achieve.
Drawings
The above and other features of the present invention will become apparent with reference to the accompanying drawings, in which,
FIG. 1 illustrates a flow chart diagram of a vehicle assisted steering assist method according to one embodiment of the present invention;
fig. 2 shows a schematic block diagram of a vehicle assisted steering assistance system according to an embodiment of a further aspect of the invention.
Detailed Description
It is to be understood that, according to the technical solution of the present invention, those skilled in the art may propose various structural manners and implementation manners that may be replaced with each other without changing the true spirit of the present invention. Accordingly, the following detailed description and drawings are merely illustrative of the invention and are not intended to be exhaustive or to limit the invention to the precise form disclosed.
Terms of orientation such as up, down, left, right, front, rear, front, back, top, bottom, etc. mentioned or possible to be mentioned in the present specification are defined with respect to the configurations shown in the drawings, which are relative concepts, and thus may be changed according to different positions and different use states thereof. These and other directional terms should not be construed as limiting terms. Furthermore, the terms "first," "second," "third," and the like are used for descriptive and distinguishing purposes only and are not to be construed as indicating or implying a relative importance of the corresponding components.
Referring to fig. 1, a schematic flow chart of a vehicle assisted steering assist method according to an embodiment of the present invention is shown. The assisted steering assist method is used for assisted steering assist in the event of failure of the vehicle EPS and is generally applicable to vehicles with adjustable suspension height, for example with active suspension. It should be noted here that the expression "EPS failure" described above includes the case where the EPS is completely failed and the EPS is partially failed. The auxiliary steering assisting method comprises the following steps:
judging whether the current vehicle is in a steering state or not, if so, executing the next step;
judging whether a failure condition exists in the vehicle steering power assisting system, if so, executing the next step;
collecting the current speed and steering wheel torque of the vehicle;
calculating a target steering power-assisted torque required by the vehicle according to the current speed of the vehicle and the steering wheel torque;
and obtaining a suspension adjusting signal according to the target steering power-assisted torque, and adjusting the suspension height of the wheels of the vehicle according to the suspension adjusting signal so as to realize steering power assistance.
It will be appreciated that this method is only used for the steering conditions of the vehicle and therefore it is necessary to first determine whether the vehicle is in a steering condition, which may be achieved by determining the steering wheel angle, steering wheel torque, yaw moment, yaw rate of the vehicle, which are obtained by means of vehicle sensors.
The step of judging whether the vehicle steering assist system has a failure condition is to judge whether the vehicle steering assist system is in a normal working state or a failure working state, wherein the normal working state is that the vehicle steering assist system can normally provide steering assist torque required by the vehicle under various steering working conditions, and the failure working state comprises that the vehicle steering assist system cannot provide any steering assist torque at all or only can provide partial steering assist torque due to the existence of the failure, but the partial steering assist torque cannot fully meet the steering assist requirement of the vehicle, and additional auxiliary steering assist torque is still required to be provided so that the steering operation of a driver can be normally carried out.
The target steering assist torque calculated from the current vehicle speed and the steering wheel torque is all the steering assist torque required to enable the current driver's steering operation to be performed normally. The suspension adjustment signal is derived from the target steering assist torque, i.e. the auxiliary steering assist torque generated by adjusting the height of the respective wheel suspension by the suspension adjustment signal can directly provide the target steering assist torque or at least provide a part of the target steering assist torque.
In one embodiment of the present invention, before calculating the target steering assist torque required for the vehicle based on the current speed of the vehicle and the steering wheel torque, the method further comprises the steps of:
and judging whether the current vehicle speed is higher than a preset vehicle speed threshold value and whether the steering wheel torque is lower than a preset torque threshold value, if so, not executing the following steps.
Steering assist torque is particularly useful in situations where the driver applied steering wheel torque is insufficient to steer the steering wheel through a target steering angle. Under the condition of higher vehicle speed or smaller target steering angle of the steering wheel, the steering wheel torque applied by the driver possibly meets the steering requirement, and the steering power-assisted torque is not needed to be provided at the moment, so that the energy consumption of the vehicle is saved. Therefore, when the current vehicle speed is higher than the preset vehicle speed threshold and the steering wheel torque is lower than the preset torque threshold, it is unnecessary to provide additional assist steering assist torque even if the EPS system is completely disabled. In one embodiment of the invention, the preset vehicle speed threshold is, for example, 20-40km/h and the preset torque threshold is, for example, 5-10Nm.
In one embodiment of the present invention, before the suspension adjustment signal is obtained from the target steering assist torque, the method further comprises the steps of:
and judging the steering direction of the vehicle according to the direction of the steering wheel torque, wherein if the vehicle steers leftwards, the suspension adjusting signal comprises a vehicle left wheel suspension rising signal and/or a vehicle right wheel suspension lowering signal, and if the vehicle steers rightwards, the suspension adjusting signal comprises a vehicle right wheel suspension rising signal and/or a vehicle left wheel suspension lowering signal.
The suspension adjustment signal is determined according to the steering direction of the vehicle, the steering direction of the vehicle is determined according to the direction of the collected steering wheel torque, the collected steering wheel torque is positive, the vehicle steers right, and the vehicle steers left if the collected steering wheel torque is negative. In the case of a left steering of the vehicle, the auxiliary steering assistance should provide a counter-clockwise yaw moment, in which case the vertical force of the steering inner wheel, i.e. the left wheel, should be increased and/or the vertical force of the steering outer wheel, i.e. the right wheel, should be decreased, so that it is necessary to raise the left wheel suspension of the vehicle and/or lower the right wheel suspension of the vehicle. In the case of a right-hand steering of the vehicle, the auxiliary steering assistance should provide a clockwise yaw moment, in which case the vertical force of the steering inner wheel, i.e. the right-hand wheel, should be increased and/or the vertical force of the steering outer wheel, i.e. the left-hand wheel, should be decreased, so that it is necessary to raise the right-hand wheel suspension of the vehicle and/or lower the left-hand wheel suspension of the vehicle. In this case, when the operation of raising or lowering the suspensions is performed, it is possible to select the operation of raising or lowering both of the wheel suspensions on one side, or to select the operation of raising or lowering one of the wheel suspensions on one side, the magnitude of the raising or lowering depending on the magnitude of the required target steering assist torque.
The vehicle obtains a suspension control signal through its suspension controller and sends the suspension control signal to the motor of the suspension corresponding to each wheel, and changes the height of the corresponding suspension by controlling the rotation of the motor.
In one embodiment of the present invention, before calculating the target steering assist torque required for the vehicle based on the current speed of the vehicle and the steering wheel torque, the method further comprises the steps of:
collecting failure percentage of a vehicle steering power assisting system and calculating system steering power assisting torque which can be provided by the steering power assisting system currently according to the failure percentage;
the suspension adjustment signal is determined from both the target steering assist torque and a system steering assist torque.
The above steps are used to determine the failure percentage of the EPS. When the EPS is not completely disabled but is partially disabled, that is, the percentage of the failure is between 0 and 100%, the EPS may also provide a partial steering assist torque, where the torque that the EPS is still able to provide at this time is referred to as a system steering assist torque, then the assist steering assist torque that needs to be provided by the assist steering assist method should be the target steering assist torque minus the system steering assist torque. The suspension adjustment signal should be determined from the target steering assist torque and the system steering assist torque, in particular from the difference between the target steering assist torque and the system steering assist torque.
In one embodiment of the present invention, in the case where the vehicle turns left, if the failure percentage of the vehicle steering assist system is 50% or less, the suspension adjustment signal includes a suspension increase signal of one of the front left wheel and the rear left wheel of the vehicle and/or a suspension decrease signal of one of the front right wheel and the rear right wheel of the vehicle, and if more than 50%, the suspension adjustment signal includes a suspension increase signal of all left wheels of the vehicle and/or a suspension decrease signal of all right wheels of the vehicle;
in the case where the vehicle turns right, if the failure percentage of the vehicle steering assist system is 50% or less, the suspension adjustment signal includes a suspension increase signal of one of the right front wheel and the right rear wheel of the vehicle and/or a suspension decrease signal of one of the left front wheel and the left rear wheel of the vehicle, and if greater than 50%, the suspension adjustment signal includes a suspension increase signal of all right wheels of the vehicle and/or a suspension decrease signal of all left wheels of the vehicle.
That is, in the case where the failure percentage of the EPS is known, if the failure percentage is lower than 50%, that is, the EPS can also provide a larger system steering assist torque, only one of the two wheels on one side can be subjected to a height adjustment of the suspension, that is, only a smaller assist steering assist torque is provided by the suspension adjustment, for example, in the case of a left turn, only the left front wheel suspension is raised or the right front wheel suspension is lowered while the left front wheel suspension is raised. If the failure percentage is greater than 50%, that is, the EPS is only able to provide little or no system steering assist torque, then the suspension height adjustment is performed simultaneously for both wheels on one side to provide a higher assist steering assist torque, such as raising the suspension of both wheels on the left and/or lowering the suspension of both wheels on the right during a left turn.
Referring to fig. 2, a schematic block diagram of a vehicle assisted steering assist system according to an embodiment of another aspect of the present invention is shown. In which all of the components are schematically represented in the form of structural modules for the sake of clarity and conciseness, since the specific shape and internal structure of the individual components are not the subject of the present invention, a person skilled in the art can choose appropriate module shapes and structural forms, etc. by himself in the light of the constructional sketches. Furthermore, the given block diagram is an example of an embodiment of the present invention, and various modifications can be made by those skilled in the art without departing from the spirit of the present invention, and these modifications are also within the scope of the present invention. The vehicle auxiliary steering assist system 100 includes:
a steering judgment module 1 that judges whether or not the current vehicle is in a steering state; if the judgment result is negative, the auxiliary steering assistance is not executed;
a failure judgment module 2 for judging whether the vehicle steering assistance system has a failure condition, if not, the auxiliary steering assistance is not executed;
an acquisition module 3 that acquires a current vehicle speed and a steering wheel torque of the vehicle;
a calculation module 4 that calculates a target steering assist torque required for the vehicle based on a current vehicle speed and a steering wheel torque of the vehicle;
a suspension control module 5 that obtains a suspension adjustment signal from the target steering assist torque;
an execution module 6 that acquires a suspension adjustment signal from the suspension control module 5 and adjusts the suspension height of the wheels according thereto to achieve steering assist.
In one embodiment of another aspect of the present invention, the vehicle auxiliary steering assist system 100 further includes a pre-determination module: and judging whether the current vehicle speed is higher than a preset vehicle speed threshold value and whether the steering wheel torque is lower than a preset torque threshold value, if so, not executing auxiliary steering assistance.
In one embodiment of another aspect of the present invention, the suspension control module 5 determines the steering direction of the vehicle according to the direction of the steering wheel torque, and if the vehicle steers left, the suspension adjustment signal obtained therefrom includes a vehicle left wheel suspension up signal and/or a vehicle right wheel suspension down signal, and if the vehicle steers right, the suspension adjustment signal obtained therefrom includes a vehicle right wheel suspension up signal and/or a vehicle left wheel suspension down signal.
In one embodiment of another aspect of the invention, the acquisition module 3 acquires a failure percentage of the vehicle steering assist system and calculates therefrom a system steering assist torque that the steering assist system is currently capable of providing; the suspension control module 5 obtains the suspension adjustment signal from the target steering assist torque and the system steering assist torque simultaneously.
In one embodiment of another aspect of the present invention, in a case where the vehicle turns left, if the failure percentage of the vehicle steering assist system acquired by the acquisition module 3 is 50% or less, the suspension adjustment signal obtained by the suspension control module 5 includes a suspension increase signal of the front left wheel of the vehicle and/or a suspension decrease signal of the front right wheel of the vehicle, or includes a suspension increase signal of the rear left wheel of the vehicle and/or a suspension decrease signal of the rear right wheel of the vehicle, and if more than 50%, the suspension adjustment signal includes a suspension increase signal of all left wheels of the vehicle and/or a suspension decrease signal of all right wheels of the vehicle;
in the case of steering the vehicle to the right, if the failure percentage of the steering assist system of the vehicle acquired by the acquisition module 3 is 50% or less, the suspension adjustment signal obtained by the suspension control module 5 includes a suspension increase signal of the front right wheel of the vehicle and/or a suspension decrease signal of the front left wheel of the vehicle, or includes a suspension increase signal of the rear right wheel of the vehicle and/or a suspension decrease signal of the rear left wheel of the vehicle, and if it is greater than 50%, the suspension adjustment signal includes a suspension increase signal of all right wheels of the vehicle and/or a suspension decrease signal of all left wheels of the vehicle.
In the description of the present invention, modules such as "acquisition module", "calculation module", etc. may comprise hardware, software, or a combination of both. A module may comprise hardware circuitry, various suitable sensors, communication ports, memory, or software components, such as program code, or a combination of software and hardware. The processor may be a central processor, a microprocessor, an image processor, a digital signal processor, or any other suitable processor. The processor has data and/or signal processing functions. The processor may be implemented in software, hardware, or a combination of both. Non-transitory computer readable storage media include any suitable medium that can store program code, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random access memory, and the like.
Further, it should be understood that since the control module is set only for illustrating the functional unit in the vehicle auxiliary steering assist system according to the present invention, the physical device corresponding to the control module may be the processor itself, or a part of software, a part of hardware, or a part of a combination of software and hardware in the processor. Thus, the number of control modules is merely illustrative. Those skilled in the art will appreciate that the control module may be adaptively split according to the actual situation. The specific splitting form of the control module does not cause the technical scheme to deviate from the principle of the invention, so that the technical scheme after splitting falls into the protection scope of the invention.
A third aspect of the invention provides a computer-readable storage medium on which a computer program is stored, wherein the computer program, when executed by a processor, implements the vehicle assisted steering assist method described above.
It is understood that the computer readable storage medium has all the technical effects of the aforementioned vehicle assisted steering assistance method, and will not be described herein.
A fourth aspect of the invention provides a computer device comprising a memory and a processor, the memory being adapted to store a plurality of program codes adapted to be loaded and executed by the processor to perform the aforementioned vehicle assisted steering assist method.
It will be appreciated that the computer device has all the technical effects of the aforementioned vehicle assisted steering assistance method, and will not be described in detail herein. The computer device may include a control device formed by various electronic devices.
It will be appreciated by those skilled in the art that the present invention, as well as all or part of its flow in a vehicle assisted steering assist method, may be implemented by means of a computer program, which may be stored in a computer readable storage medium, and which when executed by a processor, implements the steps of the various method embodiments described above. Wherein the computer program comprises computer program code, it being understood that the program code includes, but is not limited to, program code for performing the vehicle assisted steering assist method described above. For convenience of explanation, only parts relevant to the present invention are shown. The computer program code may be in the form of source code, object code, executable files, or in some intermediate form. The computer readable storage medium may include: any entity or device, medium, usb disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electrical carrier wave signals, telecommunications signals, software distribution media, and the like capable of carrying the computer program code. It should be noted that the computer readable storage medium may include content that is subject to appropriate increases and decreases as required by jurisdictions and by jurisdictions in which such computer readable storage medium does not include electrical carrier signals and telecommunications signals.
A fifth aspect of the invention provides a vehicle comprising a vehicle assisted steering assist system as described above.
It should be appreciated that the vehicle assisted steering assist system of the present invention may be installed on a variety of vehicles, including cars, vans, buses, hybrid vehicles, electric vehicles, and the like. The subject of the invention is therefore also directed to protecting various vehicles equipped with the vehicle auxiliary steering assistance system of the invention.
It should be understood that all of the above preferred embodiments are exemplary and not limiting, and that various modifications or variations of the above-described specific embodiments, which are within the spirit of the invention, should be made by those skilled in the art within the legal scope of the invention.
Claims (13)
1. A vehicle assisted steering assist method, comprising the steps of:
judging whether the current vehicle is in a steering state or not, if so, executing the next step;
judging whether a failure condition exists in the vehicle steering power assisting system, if so, executing the next step;
collecting the current speed and steering wheel torque of the vehicle;
calculating a target steering power-assisted torque required by the vehicle according to the current speed of the vehicle and the steering wheel torque;
and obtaining a suspension adjusting signal according to the target steering power-assisted torque, and adjusting the suspension height of the wheels of the vehicle according to the suspension adjusting signal so as to realize steering power assistance.
2. The vehicle assisted steering assist method according to claim 1, characterized by further comprising the steps of, before calculating a target steering assist torque required for the vehicle from a current vehicle speed and a steering wheel torque of the vehicle:
and judging whether the current vehicle speed is higher than a preset vehicle speed threshold value and whether the steering wheel torque is lower than a preset torque threshold value, if so, not executing the following steps.
3. The vehicle assisted steering assist method according to claim 1, characterized by further comprising the step of, before deriving a suspension adjustment signal from the target steering assist torque:
and judging the steering direction of the vehicle according to the direction of the steering wheel torque, wherein if the vehicle steers leftwards, the suspension adjusting signal comprises a vehicle left wheel suspension rising signal and/or a vehicle right wheel suspension lowering signal, and if the vehicle steers rightwards, the suspension adjusting signal comprises a vehicle right wheel suspension rising signal and/or a vehicle left wheel suspension lowering signal.
4. A vehicle assisted steering assist method according to claim 3 further comprising the step of, prior to calculating a target steering assist torque required for the vehicle from the current speed of the vehicle and the steering wheel torque:
collecting failure percentage of a vehicle steering power assisting system and calculating system steering power assisting torque which can be provided by the steering power assisting system currently according to the failure percentage;
the suspension adjustment signal is determined from both the target steering assist torque and a system steering assist torque.
5. The vehicle assisted steering assist method according to claim 4, characterized in that,
in the case where the vehicle turns left, if the failure percentage of the vehicle steering assist system is 50% or less, the suspension adjustment signal includes a suspension increase signal of one of the left front wheel and the left rear wheel of the vehicle and/or a suspension decrease signal of one of the right front wheel and the right rear wheel of the vehicle, and if greater than 50%, the suspension adjustment signal includes a suspension increase signal of all left wheels of the vehicle and/or a suspension decrease signal of all right wheels of the vehicle;
in the case where the vehicle turns right, if the failure percentage of the vehicle steering assist system is 50% or less, the suspension adjustment signal includes a suspension increase signal of one of the right front wheel and the right rear wheel of the vehicle and/or a suspension decrease signal of one of the left front wheel and the left rear wheel of the vehicle, and if greater than 50%, the suspension adjustment signal includes a suspension increase signal of all right wheels of the vehicle and/or a suspension decrease signal of all left wheels of the vehicle.
6. A vehicle assisted steering assist system (100), characterized by comprising
A steering determination module (1) that determines whether or not the current vehicle is in a steering state; if the judgment result is negative, the auxiliary steering assistance is not executed;
a failure judgment module (2) which judges whether a failure condition exists in the vehicle steering assistance system, and if not, does not execute auxiliary steering assistance;
an acquisition module (3) that acquires a current vehicle speed and a steering wheel torque of the vehicle;
a calculation module (4) that calculates a target steering assist torque required for the vehicle from a current vehicle speed and a steering wheel torque of the vehicle;
a suspension control module (5) that obtains a suspension adjustment signal from the target steering assist torque;
and an execution module (6) which acquires a suspension adjustment signal from the suspension control module (5) and adjusts the suspension height of the wheel according to the suspension adjustment signal so as to realize steering assistance.
7. The vehicle assisted steering assist system (100) of claim 6, further comprising a pre-determination module: and judging whether the current vehicle speed is higher than a preset vehicle speed threshold value and whether the steering wheel torque is lower than a preset torque threshold value, if so, not executing auxiliary steering assistance.
8. The vehicle assisted steering assist system (100) of claim 6 wherein the suspension control module (5) determines the steering direction of the vehicle based on the direction of the steering wheel torque, and wherein the suspension adjustment signal comprises a vehicle left wheel suspension up signal and/or a vehicle right wheel suspension down signal if the vehicle is steering to the left, and wherein the suspension adjustment signal comprises a vehicle right wheel suspension up signal and/or a vehicle left wheel suspension down signal if the vehicle is steering to the right.
9. The vehicle assisted steering assistance system (100) according to claim 8, characterized in that the acquisition module (3) acquires a failure percentage of the vehicle steering assistance system and calculates therefrom a system steering assistance torque that the steering assistance system is currently able to provide; the suspension control module (5) obtains the suspension adjustment signal according to the target steering power-assisted torque and the system steering power-assisted torque at the same time.
10. The vehicle assisted steering assist system (100) according to claim 9, characterized in that, in the case of steering the vehicle to the left, if the failure percentage of the vehicle assisted steering system acquired by the acquisition module (3) is 50% or less, the suspension adjustment signal obtained by the suspension control module (5) comprises a suspension increase signal of one of the front left wheel and the rear left wheel of the vehicle and/or a suspension decrease signal of one of the front right wheel and the rear right wheel of the vehicle, and if it is greater than 50%, the suspension adjustment signal comprises a suspension increase signal of all the left wheels of the vehicle and/or a suspension decrease signal of all the right wheels of the vehicle;
in the case of steering the vehicle to the right, if the failure percentage of the steering assist system of the vehicle acquired by the acquisition module (3) is less than or equal to 50%, the suspension adjustment signal obtained by the suspension control module (5) includes a suspension increase signal of one of the right front wheel and the right rear wheel of the vehicle and/or a suspension decrease signal of one of the left front wheel and the left rear wheel of the vehicle, and if more than 50%, the suspension adjustment signal includes a suspension increase signal of all right wheels of the vehicle and/or a suspension decrease signal of all left wheels of the vehicle.
11. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the vehicle assisted steering assist method according to any one of claims 1 to 5.
12. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the vehicle assisted steering assistance method according to any one of claims 1 to 5 when executing the computer program.
13. A vehicle characterized in that it comprises a vehicle auxiliary steering assistance system (100) according to any one of claims 6-10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310102132.4A CN116062033A (en) | 2023-01-19 | 2023-01-19 | Vehicle auxiliary steering power assisting method, system, related device and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310102132.4A CN116062033A (en) | 2023-01-19 | 2023-01-19 | Vehicle auxiliary steering power assisting method, system, related device and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116062033A true CN116062033A (en) | 2023-05-05 |
Family
ID=86183501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310102132.4A Pending CN116062033A (en) | 2023-01-19 | 2023-01-19 | Vehicle auxiliary steering power assisting method, system, related device and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116062033A (en) |
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2023
- 2023-01-19 CN CN202310102132.4A patent/CN116062033A/en active Pending
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