CN116279789A - Steer-by-wire system, control method and control device thereof, and storage medium - Google Patents
Steer-by-wire system, control method and control device thereof, and storage medium Download PDFInfo
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- CN116279789A CN116279789A CN202310259781.5A CN202310259781A CN116279789A CN 116279789 A CN116279789 A CN 116279789A CN 202310259781 A CN202310259781 A CN 202310259781A CN 116279789 A CN116279789 A CN 116279789A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a steering-by-wire system, a control method and a control device thereof, and a storage medium, wherein the steering system comprises a steering actuator, the steering actuator is configured to control the turning angle of a steering machine, and the method comprises the following steps: acquiring a wheel speed difference and a yaw rate of a vehicle; acquiring a steering angle of a steering gear when the vehicle is in a straight running state according to the wheel speed difference and/or the yaw rate; and determining a steering angle compensation value according to the steering angle of the steering machine, and controlling the steering actuator to control the steering angle of the steering machine according to the steering angle compensation value. The control method can ensure the straight running of the vehicle and improve the driving experience of the user.
Description
Technical Field
The present invention relates to the field of vehicle control, and more particularly, to a control method of a steer-by-wire system, a control apparatus of a steer-by-wire system, a computer readable storage medium, and a steer-by-wire system.
Background
The straight running maintaining capability is an assessment index of the vehicle driving performance, and the vehicle with the good straight running maintaining capability can effectively relieve the operation intensity of a driver and improve the driving comfort and the driving safety. Therefore, how to keep the vehicle straight is an important research direction.
At present, the steer-by-wire system can cause vehicle deviation due to the fact that angles of an upper motor and a lower motor are not synchronous, or due to the fact that the left tire pressure, the right tire pressure, the left suspension, the right suspension and the like of a vehicle are asymmetric, a driver is possibly required to always apply steering force to keep the vehicle to move straight, and poor experience is brought to a user.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, a first object of the present invention is to provide a control method of a steer-by-wire system, which determines a steering angle compensation value according to a steering angle of a steering wheel, and controls a steering actuator to control the steering angle of the steering wheel according to the steering angle compensation value, so as to ensure straight running of a vehicle and improve driving experience of a user.
A second object of the present invention is to provide a control device of a steer-by-wire system.
A third object of the present invention is to propose a computer readable storage medium.
A fourth object of the present invention is to provide a steer-by-wire system.
To achieve the above object, an embodiment of a first aspect of the present invention provides a control method of a steer-by-wire system, the steering system including a steering actuator configured to control a steering angle of a steering machine, the method comprising: acquiring a wheel speed difference and a yaw rate of a vehicle; acquiring a steering angle of a steering gear when the vehicle is in a straight running state according to the wheel speed difference and/or the yaw rate; and determining a steering angle compensation value according to the steering angle of the steering machine, and controlling the steering actuator to control the steering angle of the steering machine according to the steering angle compensation value.
According to the control method of the steer-by-wire system, firstly, the wheel speed difference and the yaw rate of the vehicle are obtained, then, when the vehicle is in a straight running state according to the wheel speed difference and/or the yaw rate, the steering angle of the steering machine is obtained, finally, the steering angle compensation value is determined according to the steering angle of the steering machine, and the steering actuator is controlled to control the steering angle of the steering machine according to the steering angle compensation value. Therefore, the method can ensure the straight running of the vehicle and improve the driving experience of the user.
In addition, the control method of the steer-by-wire system according to the above embodiment of the present invention may further have the following additional technical features:
according to one embodiment of the present invention, determining a steering angle compensation value from a steering angle of a steering wheel includes: the opposite number of steering angles is determined as the angle compensation value.
According to one embodiment of the present invention, determining that a vehicle is in a straight-ahead state includes: the wheel speed difference is smaller than the wheel speed limit value, and the vehicle driving distance is larger than or equal to the preset distance; or the yaw rate is smaller than the yaw rate limit value, and the vehicle driving distance is larger than or equal to the preset distance; or the wheel speed difference is smaller than the wheel speed limit value, the yaw rate is smaller than the yaw rate limit value, and the vehicle running distance is greater than or equal to the preset distance.
According to one embodiment of the present invention, when the front wheel speed difference is smaller than the first wheel speed limit and the rear wheel speed difference is smaller than the second wheel speed limit, it is determined that the wheel speed difference is smaller than the wheel speed limit.
According to one embodiment of the invention, the first wheel speed limit is determined by the following formula:
wherein V' represents a first wheel speed limit, V 1 Representing the wheel speed of the left rear wheel, v 2 Represents the wheel speed of the right rear wheel, J r Represents the wheel track of the rear wheel, J f Representing the tread of the front wheel, alpha 0 The angle between the center of the outer front wheel and the center of the rear wheel to the turning center is represented by L, the wheelbase is represented by R ro The outside rear wheel turning radius is indicated, and R indicates the turning radius of the vehicle.
According to one embodiment of the invention, the second wheel speed limit is determined by the following formula:
wherein V' represents a second wheel speed limit, V 3 Representing the wheel speed of the left front wheel, v 4 Represents the wheel speed of the right front wheel, J f Representing the tread of the front wheel, J r Represents the wheel track of the rear wheel, L represents the wheel base, alpha 0 R represents the angle between the center of the outer front wheel and the center of the rear wheel to the center of turning ro The outside rear wheel turning radius is indicated, and R indicates the turning radius of the vehicle.
According to one embodiment of the present invention, the yaw rate limit is obtained by the following formula:
where YR represents a yaw rate limit, V represents a vehicle speed of the vehicle, and R represents a turning radius of the vehicle.
To achieve the above object, a second aspect of the present invention provides a control device of a steer-by-wire system including a steering actuator configured to control a steering angle of a steering machine, the device comprising: the first acquisition module is used for acquiring the wheel speed difference of the vehicle; a second acquisition module for acquiring a yaw rate of the vehicle; the third acquisition module is used for acquiring the steering angle of the steering gear when the vehicle is determined to be in a straight running state according to the wheel speed difference and/or the yaw rate; and the control module is used for determining a steering angle compensation value according to the steering angle of the steering machine and controlling the steering actuator to control the steering angle of the steering machine according to the steering angle compensation value.
According to the control device of the steer-by-wire system, the first acquisition module is used for acquiring the wheel speed difference of the vehicle, the second acquisition module is used for acquiring the yaw rate of the vehicle, the third acquisition module is used for acquiring the steering angle of the steering machine when the vehicle is determined to be in a straight running state according to the wheel speed difference and/or the yaw rate, and the control module is used for determining the angle compensation value according to the steering angle of the steering machine and controlling the steering actuator to control the steering angle of the steering machine according to the angle compensation value. Therefore, the device can ensure the straight running of the vehicle and promote the driving experience of the user.
To achieve the above object, a third aspect of the present invention provides a computer-readable storage medium having stored thereon a control program of a steer-by-wire system, which when executed by a processor, implements the control method of the steer-by-wire system described above.
According to the computer readable storage medium, the control method of the steer-by-wire system can ensure the straight running of the vehicle and improve the driving experience of a user.
In order to achieve the above objective, a steer-by-wire system according to a fourth aspect of the present invention includes a memory, a processor, and a control program of the steer-by-wire system stored in the memory and operable on the processor, wherein the processor implements the control method of the steer-by-wire system when executing the control program of the steer-by-wire system.
According to the steer-by-wire system provided by the embodiment of the invention, the control method of the steer-by-wire system can ensure the straight running of the vehicle and improve the driving experience of a user.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of a control method of a steer-by-wire system according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a vehicle travel excursion according to one embodiment of the invention;
FIG. 3 is a schematic diagram of various parameters of a vehicle steering in accordance with one embodiment of the present invention;
FIG. 4 is a flow chart of a method of controlling a steer-by-wire system according to one specific example of the present invention;
FIG. 5 is a block schematic diagram of a control device of a steer-by-wire system according to an embodiment of the present invention;
fig. 6 is a block schematic diagram of a steer-by-wire system according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
A control method of a steer-by-wire system, a control device of a steer-by-wire system, a computer-readable storage medium, and a steer-by-wire system according to embodiments of the present invention are described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a control method of a steer-by-wire system according to an embodiment of the present invention.
As shown in fig. 1, the control method of the steer-by-wire system according to the embodiment of the present invention may include the following steps:
s1, acquiring a wheel speed difference and a yaw rate of the vehicle.
Specifically, when the vehicle is in a running state, the front wheel speed difference of the vehicle and the rear wheel speed difference of the vehicle, and the yaw rate of the vehicle may be acquired. When the wheel speed difference of the front wheel of the vehicle and the wheel speed difference of the rear wheel of the vehicle are obtained, the wheel speeds of the wheels can be obtained through the wheel speed sensor, and after the wheel speeds of the wheels are obtained, the left wheel speed difference and the right wheel speed difference can be calculated. The yaw rate is a parameter describing the case where the vehicle is rotationally moved around its weight axis, and can be acquired by a yaw rate sensor when the yaw rate of the vehicle is acquired.
S2, acquiring the steering angle of the steering gear when the vehicle is in a straight running state according to the wheel speed difference and/or the yaw rate.
According to one embodiment of the present invention, determining that a vehicle is in a straight-ahead state includes: the wheel speed difference is smaller than the wheel speed limit value, and the vehicle driving distance is larger than or equal to the preset distance; or the yaw rate is smaller than the yaw rate limit value, and the vehicle driving distance is larger than or equal to the preset distance; or the wheel speed difference is smaller than the wheel speed limit value, the yaw rate is smaller than the yaw rate limit value, and the vehicle running distance is greater than or equal to the preset distance. The preset distance may be determined according to practical situations, for example, the preset distance may be 50 meters.
Specifically, the wheel speed difference and the yaw rate of the vehicle may be obtained through the above step S1, and when determining whether the vehicle is in a straight running state, it may be determined based on the wheel speed difference or the yaw rate of the vehicle. For example, when judging whether the vehicle is straight or not based on the wheel speed difference of the vehicle, the wheel speed difference may be compared with the wheel speed limit, and when the wheel speed difference is smaller than the wheel speed limit, and for the result of the straight running judgment to be more accurate, it is also necessary to judge the vehicle running distance, only when the vehicle running distance is greater than or equal to a preset distance, for example, the distance of the normal running distance of the vehicle is greater than or equal to 50 meters, it may be determined that the vehicle is currently in the straight running state. Alternatively, in determining whether the vehicle is in a straight running state, it may also be determined based on the yaw rate of the vehicle. For example, comparing the yaw rate with the yaw rate limit, when the yaw rate is smaller than the yaw rate limit, and for the result of the straight traveling determination to be more accurate, it is also necessary to determine the vehicle traveling distance, and it is determined that the vehicle is currently in the straight traveling state only when the vehicle traveling distance is greater than or equal to a preset distance, for example, a distance of the normal traveling distance of the vehicle is greater than or equal to 50 meters. Alternatively, in determining whether the vehicle is in a straight running state, it may also be determined based on the wheel speed difference and yaw rate of the vehicle. For example, the wheel speed difference may be compared with the wheel speed limit, the yaw rate may be compared with the yaw rate limit, and when the wheel speed difference is smaller than the wheel speed limit and when the yaw rate is smaller than the yaw rate limit, and in order to make the result of the straight traveling determination more accurate, it may be necessary to determine the vehicle traveling distance, and it may be determined that the vehicle is currently in the straight traveling state only when the vehicle traveling distance is greater than or equal to a preset distance, for example, the distance of the normal traveling distance of the vehicle is greater than or equal to 50 meters.
According to one embodiment of the present invention, when the front wheel speed difference is smaller than the first wheel speed limit and the rear wheel speed difference is smaller than the second wheel speed limit, it is determined that the wheel speed difference is smaller than the wheel speed limit.
Further, according to one embodiment of the present invention, the first wheel speed limit is determined by the following formula:
wherein V' represents a first wheel speed limit, V 1 Representing the wheel speed of the left rear wheel, v 2 Represents the wheel speed of the right rear wheel, J r Represents the wheel track of the rear wheel, J f Representing the tread of the front wheel, alpha 0 The angle between the center of the outer front wheel and the center of the rear wheel to the turning center is represented by L, the wheelbase is represented by R ro The outside rear wheel turning radius is indicated, and R indicates the turning radius of the vehicle.
Specifically, when determining the first wheel speed limit value, the turning radius of the vehicle is calculated by taking the lateral deviation 1m when the vehicle speed is 100kph and driving for 100m, as shown in fig. 2, according to the Pythagorean theorem, the square of R plus 100 is equal to the square of the sum of R plus the deviation, namely (R plus the deviation) 2 ＝R 2 +100 2 When the offset amount is 1m, the turning radius R of the vehicle can be approximately calculated to be 5000m. After the acquired turning radius R of the vehicle, as shown in FIG. 3, the outside rear wheel turning radius R can be calculated according to the above formula (1) r0 Equal to the turning radius R of the vehicle plus the rear wheel track J r Half of (1) is obtained after obtaining the outside rear wheel turning radius R r0 Thereafter, the rear wheel track J of the vehicle can be calculated according to the above formula (1), i.e., according to the vehicle wheel track L r And the wheel track J of the front wheel of the vehicle f The angle R between the center of the front wheel and the center of the rear wheel on the outer side and the center of turning can be calculated r0 . Calculating the angle R between the center of the front wheel and the center of the rear wheel on the outside of the vehicle and the center of turning r0 Then, the wheel speed V of the left rear wheel can be calculated according to the formula (1) 1 Wheel speed V of right rear wheel 2 The wheel base L of the vehicle and the angle R between the center of the outer front wheel and the center of the rear wheel to the turning center r0 The first wheel speed limit V' is calculated from the tangent value of (a). The front wheel track of the vehicle, the rear wheel track of the vehicle and the wheel base of the vehicle are fixed values, and when the vehicle leaves the factory, the specific length can be determined according to the factory information.
According to one embodiment of the invention, the second wheel speed limit is determined by the following formula:
wherein V' represents a second wheel speed limit, V 3 Representing the wheel speed of the left front wheel, v 4 Represents the wheel speed of the right front wheel, J f Representing the tread of the front wheel, J r Represents the wheel track of the rear wheel, L represents the wheel base, alpha 0 R represents the angle between the center of the outer front wheel and the center of the rear wheel to the center of turning ro The outside rear wheel turning radius is indicated, and R indicates the turning radius of the vehicle.
Specifically, when determining the second wheel speed limit value, the turning radius of the vehicle is calculated by taking the lateral deviation 1m when the vehicle speed is 100kph and driving 100m, as shown in fig. 2, according to the Pythagorean theorem, the square of R plus 100 is equal to the square of the sum of R plus the deviation, namely (R+the deviation) 2 ＝R 2 +100 2 When the offset amount is 1m, the turning radius R of the vehicle can be approximately calculated to be 5000m. After the acquired turning radius R of the vehicle, as shown in FIG. 3, the outside rear wheel turning radius R can be calculated according to the above formula (2) r0 Equal to the turning radius R of the vehicle plus the rear wheel track J r Half of (1) is obtained after obtaining the outside rear wheel turning radius R r0 Thereafter, the rear wheel track J of the vehicle can be calculated according to the above formula (2), i.e., according to the vehicle wheel track L r And the wheel track J of the front wheel of the vehicle f The angle R between the center of the front wheel and the center of the rear wheel on the outer side and the center of turning can be calculated r0 . Calculating the angle R between the center of the front wheel and the center of the rear wheel on the outside of the vehicle and the center of turning r0 Then, the wheel speed V of the left front wheel can be calculated according to the formula (2) 3 Wheel speed V of right front wheel 4 The vehicle wheelbase L and the distance between the center of the outer front wheel and the center of the rear wheel and the turning centerAngle R r0 The second wheel speed limit V "is calculated from the tangent value of (a). The front wheel track of the vehicle, the rear wheel track of the vehicle and the wheel base of the vehicle are fixed values, and when the vehicle leaves the factory, the specific length can be determined according to the factory information.
After the first wheel speed limit V 'of the vehicle and the second wheel speed limit V' of the vehicle are calculated, if the current wheel speed difference is smaller than the first wheel speed limit V ', and the rear wheel speed difference is smaller than the second wheel speed limit V' at the same time, the wheel speed difference can be determined to be smaller than the wheel speed limit, so that whether the vehicle is in a straight running state or not can be determined according to the wheel speed difference.
According to one embodiment of the present invention, the yaw rate limit is obtained by the following formula:
where YR represents a yaw rate limit, V represents a vehicle speed of the vehicle, and R represents a turning radius of the vehicle.
Specifically, the yaw rate limit value can be calculated by the lateral displacement of the vehicle at a fixed distance along the straight line, for example, when determining the yaw rate limit value, the turning radius of the vehicle can be calculated by taking the lateral offset 1m when the vehicle speed is 100kph and driving 100m, as shown in fig. 2, according to the Pythagorean theorem, the square of R plus 100 is equal to the square of the sum of R plus offset, namely (R+ offset) 2 ＝R 2 +100 2 When the offset amount is 1m, the turning radius R of the vehicle can be approximately calculated to be 5000m. After the turning radius R of the vehicle is obtained, the yaw rate limit YR may be calculated according to the above formula (3), that is, according to the ratio between the vehicle speed V of the vehicle and the turning radius R of the vehicle. And when the yaw rate is smaller than the yaw rate limit value and the vehicle driving distance is larger than or equal to the preset distance, judging that the vehicle is in a straight running state.
When it is determined that the vehicle is in a straight running state according to the wheel speed difference or the yaw rate, the steering actuator may control the steering gear and acquire the steering gear angle, for example, may be acquired through an angle sensor and consider that the current steering gear is in a zero position. When the vehicle is determined to be in a straight running state based on both the wheel speed difference and the yaw rate, an average value of steering angle calculated by both may be taken as the steering angle. And if it is not determined that the vehicle is in a straight running state according to either the wheel speed difference or the yaw rate, the steering angle calculated last time may be acquired.
And S3, determining a steering angle compensation value according to the steering angle of the steering machine, and controlling the steering actuator to control the steering angle of the steering machine according to the steering angle compensation value.
According to one embodiment of the present invention, determining a steering angle compensation value from a steering angle of a steering wheel includes: the opposite number of steering angles is determined as the angle compensation value.
Specifically, after the steering wheel angle is obtained, the angle compensation value can be determined according to the steering wheel angle, for example, the obtained steering wheel angle is x, and the opposite number-x of the steering wheel angle x can be used as the angle compensation value, that is, the angle compensation value is equal to the steering wheel angle in size and opposite in direction. After the rotation angle compensation value is determined, the rotation angle compensation value can be stored in the memory, so that the steering actuator can be controlled to control the rotation angle of the steering gear according to the rotation angle compensation value when the vehicle is electrified next time. Therefore, when the steering angle of the steering gear is controlled to be zero, the vehicle is in a straight running state, and therefore the driving experience of a user is improved.
The control method of the present invention is described below with reference to fig. 4.
As a specific example, the control method of the steer-by-wire system of the present invention may include the steps of:
s101, acquiring a wheel speed difference and a yaw rate of the vehicle.
S102, determining whether the vehicle is in a straight running state according to the wheel speed difference and/or the yaw rate. If yes, go to step S103; if not, step S104 is performed.
S103, acquiring the steering angle of the steering engine, and proceeding to step S105.
S104, using the steering angle obtained last time.
S105, determining the opposite number of steering angles as an angle compensation value.
And S106, controlling the steering actuator to control the steering angle of the steering machine according to the angle compensation value.
In summary, according to the control method of the steer-by-wire system of the embodiment of the invention, the wheel speed difference and the yaw rate of the vehicle are firstly obtained, then the steering angle of the steering machine is obtained when the vehicle is determined to be in a straight running state according to the wheel speed difference and/or the yaw rate, finally the steering angle compensation value is determined according to the steering angle of the steering machine, and the steering actuator is controlled to control the steering angle of the steering machine according to the steering angle compensation value. Therefore, the method can ensure the straight running of the vehicle and improve the driving experience of the user.
Corresponding to the embodiment, the invention also provides a control device of the steer-by-wire system.
As shown in fig. 5, a control device 100 of a steer-by-wire system according to an embodiment of the present invention may include: the first acquisition module 110, the second acquisition module 120, the third acquisition module 130, and the control module 140.
Wherein the first acquisition module 110 is configured to acquire a wheel speed difference of the vehicle. The second acquisition module 120 is used to acquire the yaw rate of the vehicle. The third acquisition module 130 is configured to acquire a steering angle when it is determined that the vehicle is in a straight running state according to the wheel speed difference and/or the yaw rate. The control module 140 is configured to determine a steering angle compensation value according to a steering angle of the steering wheel, and control the steering actuator to control the steering angle of the steering wheel according to the steering angle compensation value.
According to one embodiment of the invention, the control module 140 determines a steering angle compensation value based on the steering angle, and is specifically configured to: the opposite number of steering angles is determined as the angle compensation value.
According to one embodiment of the present invention, the third obtaining module 130 determines that the vehicle is in a straight running state, specifically for: the wheel speed difference is smaller than the wheel speed limit value, and the vehicle driving distance is larger than or equal to the preset distance; or the yaw rate is smaller than the yaw rate limit value, and the vehicle driving distance is larger than or equal to the preset distance; or the wheel speed difference is smaller than the wheel speed limit value, the yaw rate is smaller than the yaw rate limit value, and the vehicle running distance is greater than or equal to the preset distance.
According to one embodiment of the present invention, the third acquisition module 130 is further configured to determine that the wheel speed difference is less than the wheel speed limit when the front wheel speed difference is less than the first wheel speed limit and the rear wheel speed difference is less than the second wheel speed limit.
According to one embodiment of the invention, the third acquisition module 130 determines the first wheel speed limit by the following formula:
wherein V' represents a first wheel speed limit, V 1 Representing the wheel speed of the left rear wheel, v 2 Represents the wheel speed of the right rear wheel, J r Represents the wheel track of the rear wheel, J f Representing the tread of the front wheel, alpha 0 The angle between the center of the outer front wheel and the center of the rear wheel to the turning center is represented by L, the wheelbase is represented by R ro The outside rear wheel turning radius is indicated, and R indicates the turning radius of the vehicle.
According to one embodiment of the invention, the third acquisition module 130 determines the second wheel speed limit by the following formula:
wherein V' represents a second wheel speed limit, V 3 Representing the wheel speed of the left front wheel, v 4 Represents the wheel speed of the right front wheel, J f Representing the tread of the front wheel, J r Represents the wheel track of the rear wheel, L represents the wheel base, alpha 0 R represents the angle between the center of the outer front wheel and the center of the rear wheel to the center of turning ro The outside rear wheel turning radius is indicated, and R indicates the turning radius of the vehicle.
According to one embodiment of the invention, the third acquisition module 130 acquires the yaw rate limit by the following formula:
where YR represents a yaw rate limit, V represents a vehicle speed of the vehicle, and R represents a turning radius of the vehicle.
It should be noted that, for details not disclosed in the control device of the steer-by-wire system in the embodiment of the present invention, please refer to details disclosed in the control method of the steer-by-wire system in the embodiment of the present invention, and details thereof are not described herein.
According to the control device of the steer-by-wire system, the first acquisition module is used for acquiring the wheel speed difference of the vehicle, the second acquisition module is used for acquiring the yaw rate of the vehicle, the third acquisition module is used for acquiring the steering angle of the steering machine when the vehicle is determined to be in a straight running state according to the wheel speed difference and/or the yaw rate, and the control module is used for determining the angle compensation value according to the steering angle of the steering machine and controlling the steering actuator to control the steering angle of the steering machine according to the angle compensation value. Therefore, the device can ensure the straight running of the vehicle and promote the driving experience of the user.
The present invention also proposes a computer-readable storage medium corresponding to the above-described embodiments.
The computer readable storage medium of the embodiment of the invention stores a control program of the steer-by-wire system, and the control program of the steer-by-wire system realizes the control method of the steer-by-wire system when being executed by a processor.
According to the computer readable storage medium, the linear running of the vehicle can be ensured and the driving experience of a user can be improved by executing the control method of the steer-by-wire system.
Corresponding to the embodiment, the invention further provides a steer-by-wire system.
As shown in fig. 6, the steer-by-wire system 200 of an embodiment of the present invention may include: the control method of the steer-by-wire system is implemented when the processor 220 executes the control program of the steer-by-wire system.
According to the steer-by-wire system provided by the embodiment of the invention, the control method of the steer-by-wire system can ensure the straight running of the vehicle and improve the driving experience of a user.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (10)
1. A control method of a steer-by-wire system, wherein the steering system includes a steering actuator configured to control a steering angle of a steering machine, the method comprising:
acquiring a wheel speed difference and a yaw rate of a vehicle;
acquiring a steering angle of a steering gear when the vehicle is determined to be in a straight running state according to the wheel speed difference and/or the yaw rate;
and determining a steering angle compensation value according to the steering angle of the steering machine, and controlling the steering actuator to control the steering angle of the steering machine according to the steering angle compensation value.
2. The control method of a steer-by-wire system according to claim 1, characterized in that determining a steering angle compensation value from the steering angle includes:
and determining the opposite number of steering angles as the angle compensation value.
3. The control method of a steer-by-wire system according to claim 1, characterized in that determining that the vehicle is in a straight running state includes:
the wheel speed difference is smaller than the wheel speed limit value, and the vehicle driving distance is larger than or equal to the preset distance; or alternatively
The yaw rate is smaller than a yaw rate limit value, and the vehicle driving distance is larger than or equal to the preset distance; or alternatively
The wheel speed difference is smaller than the wheel speed limit value, the yaw rate is smaller than the yaw rate limit value, and the vehicle travel distance is greater than or equal to the preset distance.
4. A control method of a steer-by-wire system according to claim 3, wherein when the front wheel speed difference is smaller than a first wheel speed limit value and the rear wheel speed difference is smaller than a second wheel speed limit value, it is determined that the wheel speed difference is smaller than the wheel speed limit value.
5. The control method of a steer-by-wire system according to claim 4, characterized in that the first wheel speed limit is determined by the following formula:
wherein V' represents the first wheel speed limit, V 1 Representing the wheel speed of the left rear wheel, v 2 Represents the wheel speed of the right rear wheel, J r Represents the wheel track of the rear wheel, J f Representing the tread of the front wheel, alpha 0 The angle between the center of the outer front wheel and the center of the rear wheel to the turning center is represented by L, the wheelbase is represented by R ro The outside rear wheel turning radius is indicated, and R indicates the turning radius of the vehicle.
6. The control method of a steer-by-wire system according to claim 4, characterized in that the second wheel speed limit is determined by the following formula:
wherein V' represents the second wheel speed limit, V 3 Representing the wheel speed of the left front wheel, v 4 Represents the wheel speed of the right front wheel, J f Representing the tread of the front wheel, J r Represents the wheel track of the rear wheel, L represents the wheel base, alpha 0 R represents the angle between the center of the outer front wheel and the center of the rear wheel to the center of turning ro The outside rear wheel turning radius is indicated, and R indicates the turning radius of the vehicle.
7. A control method of a steer-by-wire system according to claim 3, characterized in that the yaw rate limit is obtained by the following formula:
where YR represents the yaw rate limit, V represents the vehicle speed of the vehicle, and R represents the turning radius of the vehicle.
8. A control apparatus of a steer-by-wire system, the steer-by-wire system comprising a steering actuator configured to control a steering angle of a steering machine, the apparatus comprising:
the first acquisition module is used for acquiring the wheel speed difference of the vehicle;
a second acquisition module for acquiring a yaw rate of the vehicle;
the third acquisition module is used for acquiring a steering angle of the steering gear when the vehicle is determined to be in a straight running state according to the wheel speed difference and/or the yaw rate;
and the control module is used for determining a steering angle compensation value according to the steering angle of the steering machine and controlling the steering actuator to control the steering angle of the steering machine according to the steering angle compensation value.
9. A computer-readable storage medium, characterized in that a control program of a steer-by-wire system is stored thereon, which when executed by a processor, implements the control method of a steer-by-wire system according to any one of claims 1-7.
10. A steer-by-wire system, characterized by comprising a memory, a processor and a control program of the steer-by-wire system stored on the memory and operable on the processor, said processor realizing the control method of the steer-by-wire system according to any one of claims 1-7 when executing the control program of the steer-by-wire system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310259781.5A CN116279789A (en) | 2023-03-10 | 2023-03-10 | Steer-by-wire system, control method and control device thereof, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310259781.5A CN116279789A (en) | 2023-03-10 | 2023-03-10 | Steer-by-wire system, control method and control device thereof, and storage medium |
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| Publication Number | Publication Date |
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| CN116279789A true CN116279789A (en) | 2023-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310259781.5A Pending CN116279789A (en) | 2023-03-10 | 2023-03-10 | Steer-by-wire system, control method and control device thereof, and storage medium |
Country Status (1)
| Country | Link |
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| CN (1) | CN116279789A (en) |
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2023
- 2023-03-10 CN CN202310259781.5A patent/CN116279789A/en active Pending
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