CN118107655A - Vehicle steering control method, system, equipment, storage medium and vehicle - Google Patents
Vehicle steering control method, system, equipment, storage medium and vehicle Download PDFInfo
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Abstract
The application provides a vehicle steering control method, a system, equipment, a storage medium and a vehicle, wherein the scheme is used for obtaining a vehicle speed signal by monitoring and processing the real-time state of the vehicle; when the vehicle speed signal fails, the running parameters of the vehicle are received through the electric control steering system; estimating the speed of the vehicle according to the running parameters of the vehicle to obtain a speed estimated value; and sending the vehicle speed estimated value to an electric control steering system, and outputting corresponding steering assistance through the electric control steering system according to the vehicle speed estimated value to control the steering of the vehicle. Under the condition that a vehicle speed signal fails, the present vehicle speed value is estimated for the running parameters of the vehicle, so that the electric control steering system can continuously output power assistance according to the present vehicle speed estimated value, the running safety of the vehicle in steering control is improved, and the electric control steering system can be widely applied to the technical field of vehicle control.
Description
Technical Field
The present application relates to the field of vehicle control technologies, and in particular, to a vehicle steering control method, system, device, storage medium, and vehicle.
Background
Along with the continuous development of intelligent driving and intelligent automobile technology, the electric control steering system gradually replaces the traditional hydraulic power steering system in the automobile field due to the advantages of variable power assisting characteristics, energy saving and the like. However, when the vehicle speed signal fails, the electric control steering system usually adopts a default vehicle speed to calculate the power assisting amount, so that the power assisting amount cannot adapt to the actual vehicle speed at the moment, and the abnormal hand feeling of a driver operating the steering wheel can be caused, thereby influencing the driving safety.
Disclosure of Invention
The embodiment of the application mainly aims to provide a vehicle steering control method, a system, equipment, a storage medium and a vehicle, which can improve the driving safety.
To achieve the above object, an aspect of an embodiment of the present application provides a vehicle steering control method, including:
monitoring the real-time state of the vehicle to obtain a vehicle speed signal;
when the vehicle speed signal fails, the running parameters of the vehicle are received through an electric control steering system;
estimating the speed of the vehicle according to the running parameters of the vehicle to obtain a speed estimated value;
And sending the vehicle speed estimated value to the electric control steering system, and outputting corresponding steering assistance through the electric control steering system according to the vehicle speed estimated value to control the steering of the vehicle.
In some embodiments, the estimating the vehicle speed according to the running parameter of the vehicle to obtain a vehicle speed estimated value includes:
Acquiring a vehicle longitudinal acceleration signal, and detecting the validity of the vehicle longitudinal acceleration signal;
when the vehicle longitudinal acceleration signal is valid, acquiring a vehicle speed failure moment, a sampling period and a vehicle longitudinal acceleration value from the running parameters of the vehicle;
and calculating the vehicle speed failure moment, the sampling period and the vehicle longitudinal acceleration value according to a first speed formula to obtain a vehicle speed estimated value.
In some embodiments, the estimating the vehicle speed according to the running parameter of the vehicle to obtain a vehicle speed estimated value further includes:
When the vehicle longitudinal acceleration signal fails, acquiring a vehicle speed failure moment and a sampling period from the running parameters of the vehicle;
Performing deceleration operation on the vehicle, and determining a deceleration slope;
And calculating the vehicle speed failure moment, the sampling period and the deceleration slope according to a second speed formula to obtain a vehicle speed estimated value.
In some embodiments, the calculating the vehicle speed failure time, the sampling period and the vehicle longitudinal acceleration value according to the first speed formula to obtain a vehicle speed estimated value includes:
determining an effective vehicle speed value according to the vehicle speed invalidation time and the sampling period, wherein the effective vehicle speed value is the vehicle speed value of the sampling time before the failure of the vehicle speed signal;
And multiplying the vehicle longitudinal acceleration value by the sampling period according to the first speed formula, adding the multiplied vehicle longitudinal acceleration value to the effective vehicle speed value, and adding the product of the vehicle longitudinal acceleration value and the sampling period to an addition result to obtain a vehicle speed estimated value.
In some embodiments, the calculating the vehicle speed failure time, the sampling period and the deceleration slope according to the second speed formula to obtain a vehicle speed estimated value includes:
determining an effective vehicle speed value according to the vehicle speed invalidation time and the sampling period, wherein the effective vehicle speed value is the vehicle speed value of the sampling time before the failure of the vehicle speed signal;
determining failure time according to the vehicle speed failure moment;
And multiplying the value obtained by subtracting the vehicle speed failure time from the failure time and adding the sampling period by the deceleration slope according to the second speed formula, and subtracting the multiplication result from the effective vehicle speed value to obtain a vehicle speed estimated value.
In some embodiments, after the estimating the vehicle speed according to the running parameter of the vehicle, the method further includes:
When the vehicle speed signal value is recovered to be effective, acquiring a vehicle speed change slope;
and carrying out gradual smooth adjustment output on the vehicle speed estimated value according to the vehicle speed change slope until the vehicle speed estimated value is equal to the vehicle speed signal value.
To achieve the above object, another aspect of the embodiments of the present application provides a vehicle steering control system, including:
The first unit is used for monitoring and processing the real-time state of the vehicle to obtain a vehicle speed signal;
The second unit is used for receiving the running parameters of the vehicle through the electric control steering system when the vehicle speed signal fails;
a third unit, configured to estimate a vehicle speed of the vehicle according to a running parameter of the vehicle, to obtain a vehicle speed estimated value;
And the fourth unit is used for sending the vehicle speed estimated value to the electric control steering system, outputting corresponding steering assistance by the electric control steering system according to the vehicle speed estimated value, and performing steering control on the vehicle.
To achieve the above object, another aspect of the embodiments of the present application provides an electronic device, including a memory and a processor, where the memory stores a computer program, and the processor implements the method described above when executing the computer program.
To achieve the above object, another aspect of the embodiments of the present application proposes a computer-readable storage medium storing a computer program which, when executed by a processor, implements the method described above.
To achieve the above object, another aspect of the embodiments of the present application proposes a vehicle including an in-vehicle memory having a computer program stored therein and an in-vehicle processor configured to run the computer program to perform the method described above.
The embodiment of the application at least comprises the following beneficial effects: the application provides a vehicle steering control method, a system, equipment, a storage medium and a vehicle, wherein the scheme is used for obtaining a vehicle speed signal by monitoring and processing the real-time state of the vehicle; when the vehicle speed signal fails, the running parameters of the vehicle are received through an electric control steering system; estimating the speed of the vehicle according to the running parameters of the vehicle to obtain a speed estimated value; and sending the vehicle speed estimated value to the electric control steering system, and outputting corresponding steering assistance through the electric control steering system according to the vehicle speed estimated value to control the steering of the vehicle. According to the scheme, under the condition that the vehicle speed signal fails, the current vehicle speed value is estimated through the running parameter of the vehicle, so that the electric control steering system can continue to output the power assistance corresponding to the actual vehicle speed according to the current vehicle speed estimated value, the situation that the power assistance effect of the electric control steering system cannot adapt to the vehicle speed due to the failure of the vehicle speed sensor is reduced, and the running safety of the vehicle in steering control is improved.
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Fig. 1 is a schematic flow chart of a vehicle steering control method according to an embodiment of the present application;
FIG. 2 is a flow chart of one implementation of step S103 in FIG. 1;
FIG. 3 is a flow chart of another implementation of step S103 in FIG. 1;
FIG. 4 is a schematic diagram of a vehicle steering control system according to an embodiment of the present application;
Fig. 5 is a schematic hardware structure of an electronic device according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with embodiments of the application, but are merely examples of apparatuses and methods consistent with aspects of embodiments of the application as detailed in the accompanying claims.
It is to be understood that the terms "first," "second," and the like, as used herein, may be used to describe various concepts, but are not limited by these terms unless otherwise specified. These terms are only used to distinguish one concept from another. For example, the first information may also be referred to as second information, and similarly, the second information may also be referred to as first information, without departing from the scope of embodiments of the present application. The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination", depending on the context.
The terms "at least one", "a plurality", "each", "any" and the like as used herein, at least one includes one, two or more, a plurality includes two or more, each means each of the corresponding plurality, and any one means any of the plurality.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the application only and is not intended to be limiting of the application.
Before describing embodiments of the present application in detail, some of the terms and expressions that are referred to in the embodiments of the present application will be described first, and the terms and expressions that are referred to in the embodiments of the present application are applicable to the following explanation.
An electronically controlled steering system (Electric Power Steering, EPS) is a power steering system that directly relies on a motor to provide assist torque, and the system directly provides steering assistance from an electric booster, which saves energy and protects the environment. In addition, the steering device has the characteristics of simple adjustment, flexible assembly and capability of providing steering assistance under various conditions.
Intelligent driving is cognitive engineering involving attention attraction and distraction, and mainly comprises three links of network navigation, autonomous driving and manual intervention. The related audiovisual signals and information can be obtained through the sensors on the vehicle, and the corresponding follow-up system is controlled to drive through cognitive calculation.
The intelligent automobile is a comprehensive system integrating the functions of environment sensing, planning decision, multi-level auxiliary driving and the like, and the intelligent automobile is integrated with the technologies of computers, modern sensing, information fusion, communication, artificial intelligence, automatic control and the like, can realize information exchange with people, vehicles, roads and the like through the vehicle-mounted environment sensing system and the information terminal, so that the vehicle has intelligent environment sensing capability, and can automatically analyze the running safety and dangerous state of the vehicle.
Because the electric control steering system has the advantages of variable power assisting characteristics, energy saving and the like, the traditional hydraulic power assisted steering system is gradually replaced in the field of automobiles. The electric control steering system is characterized in that a power auxiliary device, namely a motor, is added on the basis of the mechanical steering system, so that extra power assistance can be provided when a driver operates a steering wheel, and the power assistance is obtained by acquiring corresponding signals through a control system and calculating. The magnitude of the assist force is generally primarily related to the hand torque of the driver operating the steering wheel, the vehicle speed, and the steering wheel angle. In particular, the influence of the vehicle speed on the magnitude of the assistance force is mainly: the load of the steering wheel is larger at low speed, so that the power assisting is larger; the steering wheel is less loaded at high speed and thus less power assisted. In the related art, when a vehicle speed signal fails, a default vehicle speed (typically 80 km/h) is generally adopted to calculate the power assisting amount, so that the power assisting amount cannot adapt to the actual vehicle speed at the moment, and abnormal hand feeling of a driver for operating a steering wheel can be caused, thereby affecting the driving safety.
In view of the above, the embodiment of the application provides a vehicle steering control method, a system, a device, a storage medium and a vehicle, wherein the scheme is that a vehicle speed signal is obtained by monitoring and processing the real-time state of the vehicle; when the vehicle speed signal fails, the running parameters of the vehicle are received through the electric control steering system; estimating the speed of the vehicle according to the running parameters of the vehicle to obtain a speed estimated value; and sending the vehicle speed estimated value to an electric control steering system, and outputting corresponding steering assistance through the electric control steering system according to the vehicle speed estimated value to control the steering of the vehicle. According to the scheme, under the condition that the vehicle speed signal fails, the current vehicle speed value is estimated through the running parameter of the vehicle, so that the electric control steering system can continue to assist according to the current vehicle speed estimated value, the situation that the assistance effect of the electric control steering system cannot adapt to the vehicle speed due to the failure of the vehicle speed sensor is reduced, and the running safety of the vehicle in steering control is improved.
The embodiment of the application provides a vehicle steering control method, and relates to the technical field of vehicle control. The vehicle steering control method provided by the embodiment of the application can be applied to the vehicle-mounted terminal, can be applied to the server, and can also be software running in the vehicle-mounted terminal or the server. The server side can be configured as an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, and can be configured as a cloud server for providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDNs, basic cloud computing services such as big data and artificial intelligence platforms, and the server can also be a node server in a blockchain network; the software may be an application or the like that implements the vehicle steering control method, but is not limited to the above form.
Fig. 1 is an optional flowchart of a vehicle steering control method according to an embodiment of the present application, where the method in fig. 1 may include, but is not limited to, steps S101 to S104.
Step S101, monitoring and processing the real-time state of the vehicle to obtain a vehicle speed signal;
Step S102, when the vehicle speed signal fails, the running parameters of the vehicle are received through an electric control steering system;
Step S103, estimating the speed of the vehicle according to the running parameters of the vehicle to obtain a speed estimated value;
step S104, the vehicle speed estimated value is sent to the electric control steering system, and corresponding steering assistance is output through the electric control steering system according to the vehicle speed estimated value, so that steering control is carried out on the vehicle.
In the steps S101 to S104 shown in the embodiment of the present application, a vehicle speed signal is obtained by monitoring a real-time state of a vehicle, where the vehicle speed signal is obtained by a vehicle speed sensor, and the vehicle speed signal is a vehicle speed value. It is conceivable that the embodiment of the application can also acquire the vehicle speed validity signal through the vehicle speed sensor, wherein the vehicle speed validity signal is used for representing whether the vehicle speed signal is valid or not, and the value of the vehicle speed validity signal is valid or invalid. And if the vehicle speed signal and the vehicle speed validity signal are normal and the vehicle speed validity signal is valid, the electric control steering system calculates a power-assisted value according to the received vehicle speed signal value. The boost value can be a function of the vehicle speed, or can be obtained by looking up a table of the vehicle speed. In a possible implementation, when the assistance value is a function of the vehicle speed, the function of the vehicle speed may be expressed as that the assistance value is equal to the vehicle speed multiplied by a vehicle speed coefficient, where the vehicle speed coefficient is a calibration value, and is obtained through real vehicle calibration. When the vehicle speed signal is invalid, namely, when the vehicle speed signal is lost or the vehicle speed validity signal is invalid, the vehicle speed is invalid at the moment, the running parameters of the vehicle are required to be received through the electric control steering system, the vehicle speed of the vehicle is estimated according to the running parameters of the vehicle, the vehicle speed estimated value is obtained, the vehicle speed estimated value is sent to the electric control steering system, corresponding steering assistance is output according to the vehicle speed estimated value through the electric control steering system, and steering control is carried out on the vehicle. The running parameters of the vehicle can include the vehicle speed failure moment, the sensor sampling period, the vehicle longitudinal acceleration value, the failure time and the like. According to the embodiment of the application, under the condition that the vehicle speed signal fails, the current vehicle speed value is estimated by the running parameters of the vehicle, so that the electric control steering system can continuously assist the vehicle according to the current vehicle speed estimated value, the condition that the assistance effect of the electric control steering system cannot adapt to the vehicle speed due to the failure of the vehicle speed sensor is reduced, and the running safety of the vehicle in steering control is improved.
In step S101 of some embodiments, the real-time state of the vehicle may be monitored through the vehicle-mounted environment sensing system and the information terminal, advanced devices such as a vehicle-mounted sensor, a controller, an actuator and the like are mounted on the vehicle, and intelligent information exchange and sharing are performed between the vehicle and a person, the vehicle, a road, a cloud end and the like by integrating communication and network technology, so that the real-time state of the vehicle is monitored, and in particular, a vehicle speed signal may be obtained through a vehicle speed sensor.
In step S102 of some embodiments, whether the vehicle speed signal is invalid or not may be determined by the vehicle speed sensor, specifically by acquiring the vehicle speed signal or the vehicle speed validity signal, where the vehicle speed signal is a vehicle speed value, and the vehicle speed validity signal is used to indicate whether the vehicle speed signal is valid or not, and the value thereof is valid or invalid. When the vehicle speed signal is lost, the vehicle speed signal can be judged to be invalid; or when the vehicle speed validity signal is lost or indicates a failure, it may be determined that the vehicle speed signal is failed. When the vehicle speed signal fails, the running parameters of the vehicle are received through the electric control steering system, so that the speed of the vehicle is estimated according to the running parameters, the electric control steering system outputs corresponding steering assistance according to the vehicle speed estimated value, and the vehicle is controlled in a steering mode.
Referring to fig. 2, in step S103 of some embodiments, the estimating the vehicle speed of the vehicle according to the running parameter of the vehicle to obtain a vehicle speed estimated value includes:
S201, acquiring a vehicle longitudinal acceleration signal, and detecting the validity of the vehicle longitudinal acceleration signal;
s202, acquiring a vehicle speed failure moment, a sampling period and a vehicle longitudinal acceleration value from running parameters of the vehicle when the vehicle longitudinal acceleration signal is effective;
and S203, calculating the vehicle speed failure moment, the sampling period and the vehicle longitudinal acceleration value according to a first speed formula to obtain a vehicle speed estimated value.
In the embodiment of the application, a vehicle longitudinal acceleration signal is acquired through an acceleration sensor, the vehicle longitudinal acceleration signal is expressed as a vehicle longitudinal acceleration value, and then the vehicle longitudinal acceleration signal is detected for validity. The vehicle longitudinal acceleration signal can be judged through the vehicle longitudinal acceleration validity signal, the vehicle longitudinal acceleration validity signal is obtained through the acceleration sensor, and the vehicle longitudinal acceleration validity signal is used for representing whether the vehicle longitudinal acceleration signal is valid or not, and the value of the vehicle longitudinal acceleration validity signal is valid or invalid. When the vehicle longitudinal acceleration signal is valid, the vehicle speed failure moment, the sampling period and the vehicle longitudinal acceleration value are obtained from the running parameters of the vehicle, and the running parameters of the vehicle can be obtained through devices such as a vehicle-mounted sensor and a controller. Finally, the vehicle speed failure moment, the sampling period and the vehicle longitudinal acceleration value are calculated according to a first speed formula to obtain a vehicle speed estimated value, so that when a vehicle speed signal fails, the vehicle speed is estimated according to the vehicle longitudinal acceleration value, and the electric control steering system can output corresponding steering assistance according to the vehicle speed estimated value to control steering of the vehicle, and the running safety is improved.
In step S203 of some embodiments, the calculating the vehicle speed failure time, the sampling period, and the vehicle longitudinal acceleration value according to the first speed formula to obtain a vehicle speed estimated value includes:
determining an effective vehicle speed value according to the vehicle speed invalidation time and the sampling period, wherein the effective vehicle speed value is the vehicle speed value of the sampling time before the failure of the vehicle speed signal;
And multiplying the vehicle longitudinal acceleration value by the sampling period according to the first speed formula, adding the multiplied vehicle longitudinal acceleration value to the effective vehicle speed value, and adding the product of the vehicle longitudinal acceleration value and the sampling period to an addition result to obtain a vehicle speed estimated value.
In the embodiment of the application, the vehicle speed failure time and the sampling period are obtained, so that the effective vehicle speed value is determined according to the vehicle speed failure time and the sampling period, wherein the effective vehicle speed value is the vehicle speed value of the sampling time before the failure of the vehicle speed signal, namely, the effective vehicle speed value recorded at the sampling time before the vehicle speed failure time is obtained according to the sampling period. And then taking the vehicle speed failure moment as the starting moment, and subtracting the vehicle speed failure moment at any moment after the vehicle speed is failed, thereby obtaining the failure time. The vehicle speed is then estimated by substituting the above parameters into a first speed equation, the expression of which is as follows:
Vt0＝Va+at0*Δt；
Vt＝(Vt-Δt)+at*Δt；
Where V t denotes a vehicle speed estimated value, V a denotes an effective vehicle speed value, t0 denotes a vehicle speed failure time, a t0 denotes a vehicle longitudinal acceleration value at the vehicle speed failure time, Δt denotes a sampling period, (V t-Δt) denotes an estimated value at the last sampling time, and a t denotes a vehicle longitudinal acceleration value at an arbitrary time after the vehicle speed failure.
When the vehicle speed is estimated, the estimated value of each moment is calculated on the basis of the estimated value of the last moment, the vehicle speed value at the sampling moment before the failure of the vehicle speed signal is firstly obtained, and the vehicle speed value is taken as an effective vehicle speed value. And then, multiplying the longitudinal acceleration value of the vehicle and the sampling period, and then, adding the multiplied longitudinal acceleration value with the effective vehicle speed value to obtain an estimated value of the vehicle speed failure moment, so that the vehicle speed is calculated on the basis of the estimated value of the vehicle speed failure moment, and the estimated value of the vehicle at any moment after the failure of the vehicle speed signal is calculated on the basis of the value of the last sampling moment. When the vehicle speed signal fails, the vehicle speed estimation value is obtained by acquiring the running parameters of the vehicle and estimating the vehicle speed by combining the longitudinal acceleration of the vehicle, so that the vehicle speed estimation value is more fit with the actual vehicle speed, and the electric control steering system can output corresponding steering assistance to steer the vehicle, thereby improving the running safety.
Referring to fig. 3, in step S103 of some embodiments, the estimating the vehicle speed of the vehicle according to the running parameter of the vehicle to obtain a vehicle speed estimated value further includes:
s301, when the vehicle longitudinal acceleration signal fails, acquiring a vehicle speed failure moment and a sampling period from the running parameters of the vehicle;
s302, performing deceleration operation on the vehicle, and determining a deceleration slope;
and S303, calculating the vehicle speed failure moment, the sampling period and the deceleration slope according to a second speed formula to obtain a vehicle speed estimated value.
In the embodiment of the application, when the vehicle longitudinal acceleration signal fails, namely, the vehicle longitudinal acceleration signal is lost or the vehicle longitudinal acceleration validity signal is invalid, the vehicle longitudinal acceleration signal also fails at the moment, and the vehicle speed cannot be estimated according to the vehicle longitudinal acceleration. The vehicle speed failure moment and the sampling period are obtained from the running parameters of the vehicle, then the vehicle is subjected to deceleration operation, the corresponding deceleration slope is obtained, the electric control steering system can be used for lighting the alarm lamp on the instrument panel of the vehicle to prompt the system to fail when the signal failure is detected, so that the vehicle is subjected to gradual deceleration and parking operation, the automatic brake auxiliary system can be used for decelerating the vehicle, the deceleration slope can be a fixed value or a time function, in one embodiment, the deceleration slope is obtained through calibration of a development engineer, and the deceleration slope can be set to be 2m/s 2 by way of example. And finally, calculating the vehicle speed failure moment, the sampling period and the deceleration slope according to a second speed formula to obtain a vehicle speed estimated value, so that the electric control steering system outputs corresponding steering assistance to steer the vehicle according to the estimated vehicle speed estimated value, the output assistance is more suitable for the actual vehicle speed, and the running safety is improved.
In step S303 of some embodiments, the calculating the vehicle speed failure time, the sampling period, and the deceleration slope according to the second speed formula to obtain a vehicle speed estimated value includes:
determining an effective vehicle speed value according to the vehicle speed invalidation time and the sampling period, wherein the effective vehicle speed value is the vehicle speed value of the sampling time before the failure of the vehicle speed signal;
determining failure time according to the vehicle speed failure moment;
And multiplying the value obtained by subtracting the vehicle speed failure time from the failure time and adding the sampling period by the deceleration slope according to the second speed formula, and subtracting the multiplication result from the effective vehicle speed value to obtain a vehicle speed estimated value.
In the embodiment of the application, the effective vehicle speed value is the vehicle speed value of the sampling time before the failure of the vehicle speed signal according to the obtained vehicle speed failure time and the sampling period, namely the effective vehicle speed value recorded at the sampling time before the vehicle speed failure time is obtained according to the sampling period. And then taking the vehicle speed failure moment as the starting moment, and subtracting the vehicle speed failure moment at any moment after the vehicle speed is failed, thereby obtaining the failure time. And then substituting the parameters into a second speed formula to estimate the vehicle speed, wherein the expression of the second speed formula is as follows:
Vt＝Va-K*(t-t0+Δt)；
Where V t represents a vehicle speed estimated value, V a represents an effective vehicle speed value, t0 represents a vehicle speed failure time, Δt represents a sampling period, t represents a failure time, and K represents a deceleration slope.
And estimating the vehicle speed through a second speed formula, so that when the vehicle speed signal and the vehicle longitudinal acceleration signal are simultaneously invalid, the vehicle speed of the vehicle is estimated according to the running parameters of the vehicle to obtain a vehicle speed estimated value, and the electric control steering system outputs steering assistance which is more consistent with the actual vehicle speed of the vehicle according to the estimated vehicle speed estimated value to control the steering of the vehicle, thereby improving the running safety.
In some embodiments, after the estimating the vehicle speed according to the running parameter of the vehicle, the method further includes:
When the vehicle speed signal value is recovered to be effective, acquiring a vehicle speed change slope;
and carrying out gradual smooth adjustment output on the vehicle speed estimated value according to the vehicle speed change slope until the vehicle speed estimated value is equal to the vehicle speed signal value.
In the embodiment of the application, when the vehicle speed signal value is recovered to be effective, the electric control steering system gradually recovers to use the vehicle speed signal value to calculate the power assisting value, but the vehicle speed signal value and the vehicle speed estimated value may be different when the vehicle speed signal value is recovered to be effective, so that smooth transition to the vehicle speed signal value is required. By obtaining a preset vehicle speed change gradient, which is a standard amount, which can be adjusted by a developer, the vehicle speed change gradient may be set to 2m/s 2, for example. And then, gradually and smoothly adjusting and outputting the vehicle speed estimated value according to the vehicle speed change slope until the vehicle speed estimated value is equal to the vehicle speed signal value, so that the electric control steering system can gradually adjust the vehicle speed estimated value under the condition that the vehicle speed signal value is recovered to be effective after a period of failure, further, the output power can be smoothly transited to the power assisting value when the vehicle speed signal value is effective, the power assisting size can adapt to the actual vehicle speed of a vehicle, the operation hand feeling of a driver is improved, and the running safety is improved.
The following describes and illustrates the embodiments of the present application in detail with reference to specific application examples:
According to the embodiment of the application, the real-time state of the vehicle is monitored and processed through the vehicle-mounted sensor, so that the vehicle speed signal of the vehicle is obtained in real time. When the vehicle speed signal cannot be received, or the vehicle speed validity signal is displayed to be invalid, the vehicle speed signal is invalid, and the running parameters of the vehicle need to be received through the electric control steering system, wherein the running parameters comprise the invalid time, the sampling period, the longitudinal acceleration of the vehicle and the like. The vehicle speed can be estimated by adopting the longitudinal acceleration signal so as to calculate the steering assistance value, and when the longitudinal acceleration signal is invalid, the vehicle speed is estimated according to time so as to calculate the steering assistance value, thereby estimating the vehicle speed according to the running parameters of the vehicle so as to obtain the vehicle speed estimated value, inputting the vehicle speed estimated value into the electric control steering system, and further enabling the electric control steering system to output the steering assistance which is more suitable for the actual vehicle speed of the vehicle according to the vehicle speed estimated value so as to control the steering of the vehicle, and improving the running safety of the vehicle.
Referring to fig. 4, an embodiment of the present application further provides a vehicle steering control system, which may implement the vehicle steering control method, where the system includes:
a first unit 401, configured to monitor and process a real-time state of a vehicle, and obtain a vehicle speed signal;
a second unit 402, configured to receive, through an electric control steering system, a driving parameter of the vehicle when the vehicle speed signal fails;
A third unit 403, configured to estimate a vehicle speed of the vehicle according to the running parameter of the vehicle, to obtain a vehicle speed estimated value;
And a fourth unit 404, configured to send the vehicle speed estimated value to the electric control steering system, and output, by the electric control steering system, a corresponding steering assistance according to the vehicle speed estimated value, so as to perform steering control on the vehicle.
It can be understood that the content in the above method embodiment is applicable to the system embodiment, and the functions specifically implemented by the system embodiment are the same as those of the above method embodiment, and the achieved beneficial effects are the same as those of the above method embodiment.
The embodiment of the application also provides electronic equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the vehicle steering control method when executing the computer program. The electronic equipment can be any intelligent terminal including a tablet personal computer, a vehicle-mounted computer and the like.
It can be understood that the content in the above method embodiment is applicable to the embodiment of the present apparatus, and the specific functions implemented by the embodiment of the present apparatus are the same as those of the embodiment of the above method, and the achieved beneficial effects are the same as those of the embodiment of the above method.
Referring to fig. 5, fig. 5 illustrates a hardware structure of an electronic device according to another embodiment, where the electronic device includes:
The processor 501 may be implemented by a general-purpose CPU (central processing unit), a microprocessor, an application-specific integrated circuit (ApplicationSpecificIntegratedCircuit, ASIC), or one or more integrated circuits, etc. for executing related programs to implement the technical solution provided by the embodiments of the present application;
Memory 502 may be implemented in the form of read-only memory (ReadOnlyMemory, ROM), static storage, dynamic storage, or random access memory (RandomAccessMemory, RAM). The memory 502 may store an operating system and other application programs, and when the technical solutions provided in the embodiments of the present disclosure are implemented by software or firmware, relevant program codes are stored in the memory 502, and the processor 501 invokes a vehicle steering control method for executing the embodiments of the present disclosure;
An input/output interface 503 for implementing information input and output;
The communication interface 504 is configured to implement communication interaction between the device and other devices, and may implement communication in a wired manner (e.g. USB, network cable, etc.), or may implement communication in a wireless manner (e.g. mobile network, WIFI, bluetooth, etc.);
Bus 505 that transfers information between the various components of the device (e.g., processor 501, memory 502, input/output interface 503, and communication interface 504);
Wherein the processor 501, the memory 502, the input/output interface 503 and the communication interface 504 enable a communication connection between each other inside the device via the bus 505.
The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program which realizes the vehicle steering control method when being executed by a processor.
It can be understood that the content of the above method embodiment is applicable to the present storage medium embodiment, and the functions of the present storage medium embodiment are the same as those of the above method embodiment, and the achieved beneficial effects are the same as those of the above method embodiment.
The memory, as a non-transitory computer readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer executable programs. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory remotely located relative to the processor, the remote memory being connectable to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The embodiment of the application also provides a vehicle, which comprises a vehicle-mounted memory and a vehicle-mounted processor, wherein the vehicle-mounted memory stores a computer program, and the vehicle-mounted processor is used for running the computer program to execute the method.
It can be understood that the content in the above method embodiment is applicable to the embodiment of the present vehicle, and the specific functions implemented by the embodiment of the present vehicle are the same as those of the embodiment of the above method, and the achieved beneficial effects are the same as those of the embodiment of the above method.
The embodiment of the application provides a vehicle steering control method, a system, equipment, a storage medium and a vehicle, wherein the scheme is used for acquiring a vehicle speed signal by monitoring and processing the real-time state of the vehicle; when the vehicle speed signal fails, the running parameters of the vehicle are received through an electric control steering system; estimating the speed of the vehicle according to the running parameters of the vehicle to obtain a speed estimated value; and sending the vehicle speed estimated value to the electric control steering system, and outputting corresponding steering assistance through the electric control steering system according to the vehicle speed estimated value to control the steering of the vehicle. According to the scheme, under the condition that the vehicle speed signal fails, the current vehicle speed value is estimated through the running parameter of the vehicle, so that the electric control steering system can continue to output the power assistance corresponding to the actual vehicle speed according to the current vehicle speed estimated value, the situation that the power assistance effect of the electric control steering system cannot adapt to the vehicle speed due to the failure of the vehicle speed sensor is reduced, and the running safety of the vehicle in steering control is improved.
The embodiments described in the embodiments of the present application are for more clearly describing the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application, and those skilled in the art can know that, with the evolution of technology and the appearance of new application scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.
It will be appreciated by persons skilled in the art that the embodiments of the application are not limited by the illustrations, and that more or fewer steps than those shown may be included, or certain steps may be combined, or different steps may be included.
The above described apparatus embodiments are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Those of ordinary skill in the art will appreciate that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof.
The terms "first," "second," "third," "fourth," and the like in the description of the application and in the above figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in the present application, "at least one (item)" means one or more, and "a plurality" means two or more. "and/or" for describing the association relationship of the association object, the representation may have three relationships, for example, "a and/or B" may represent: only a, only B and both a and B are present, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b or c may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the above-described division of units is merely a logical function division, and there may be another division manner in actual implementation, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including multiple instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method of the various embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory RAM), a magnetic disk, or an optical disk, or other various media capable of storing a program.
The preferred embodiments of the present application have been described above with reference to the accompanying drawings, and are not thereby limiting the scope of the claims of the embodiments of the present application. Any modifications, equivalent substitutions and improvements made by those skilled in the art without departing from the scope and spirit of the embodiments of the present application shall fall within the scope of the claims of the embodiments of the present application.
Claims (10)
1. A vehicle steering control method, characterized by comprising:
monitoring the real-time state of the vehicle to obtain a vehicle speed signal;
when the vehicle speed signal fails, the running parameters of the vehicle are received through an electric control steering system;
estimating the speed of the vehicle according to the running parameters of the vehicle to obtain a speed estimated value;
And sending the vehicle speed estimated value to the electric control steering system, and outputting corresponding steering assistance through the electric control steering system according to the vehicle speed estimated value to control the steering of the vehicle.
2. The method according to claim 1, wherein estimating the vehicle speed according to the running parameter of the vehicle to obtain the vehicle speed estimated value comprises:
Acquiring a vehicle longitudinal acceleration signal, and detecting the validity of the vehicle longitudinal acceleration signal;
when the vehicle longitudinal acceleration signal is valid, acquiring a vehicle speed failure moment, a sampling period and a vehicle longitudinal acceleration value from the running parameters of the vehicle;
and calculating the vehicle speed failure moment, the sampling period and the vehicle longitudinal acceleration value according to a first speed formula to obtain a vehicle speed estimated value.
3. The method according to claim 2, wherein the estimating the vehicle speed according to the running parameter of the vehicle to obtain the vehicle speed estimated value further comprises:
When the vehicle longitudinal acceleration signal fails, acquiring a vehicle speed failure moment and a sampling period from the running parameters of the vehicle;
Performing deceleration operation on the vehicle, and determining a deceleration slope;
And calculating the vehicle speed failure moment, the sampling period and the deceleration slope according to a second speed formula to obtain a vehicle speed estimated value.
4. The method of claim 2, wherein calculating the vehicle speed failure time, the sampling period, and the vehicle longitudinal acceleration value according to the first speed formula to obtain a vehicle speed estimated value includes:
determining an effective vehicle speed value according to the vehicle speed invalidation time and the sampling period, wherein the effective vehicle speed value is the vehicle speed value of the sampling time before the failure of the vehicle speed signal;
And multiplying the vehicle longitudinal acceleration value by the sampling period according to the first speed formula, adding the multiplied vehicle longitudinal acceleration value to the effective vehicle speed value, and adding the product of the vehicle longitudinal acceleration value and the sampling period to an addition result to obtain a vehicle speed estimated value.
5. The method according to claim 3, wherein calculating the vehicle speed failure time, the sampling period, and the deceleration slope according to a second speed formula to obtain a vehicle speed estimated value includes:
determining an effective vehicle speed value according to the vehicle speed invalidation time and the sampling period, wherein the effective vehicle speed value is the vehicle speed value of the sampling time before the failure of the vehicle speed signal;
determining failure time according to the vehicle speed failure moment;
And multiplying the value obtained by subtracting the vehicle speed failure time from the failure time and adding the sampling period by the deceleration slope according to the second speed formula, and subtracting the multiplication result from the effective vehicle speed value to obtain a vehicle speed estimated value.
6. The method according to any one of claims 1 to 5, characterized in that after the vehicle speed is estimated from the running parameters of the vehicle, the method further comprises:
When the vehicle speed signal value is recovered to be effective, acquiring a vehicle speed change slope;
and carrying out gradual smooth adjustment output on the vehicle speed estimated value according to the vehicle speed change slope until the vehicle speed estimated value is equal to the vehicle speed signal value.
7. A vehicle steering control system, the system comprising:
The first unit is used for monitoring and processing the real-time state of the vehicle to obtain a vehicle speed signal;
The second unit is used for receiving the running parameters of the vehicle through the electric control steering system when the vehicle speed signal fails;
a third unit, configured to estimate a vehicle speed of the vehicle according to a running parameter of the vehicle, to obtain a vehicle speed estimated value;
And the fourth unit is used for sending the vehicle speed estimated value to the electric control steering system, outputting corresponding steering assistance by the electric control steering system according to the vehicle speed estimated value, and performing steering control on the vehicle.
8. An electronic device comprising a memory storing a computer program and a processor implementing the method of any of claims 1 to 6 when the computer program is executed by the processor.
9. A computer readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the method of any one of claims 1 to 6.
10. A vehicle comprising an on-board memory having a computer program stored therein and an on-board processor arranged to run the computer program to perform the method of any of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410332895.2A CN118107655A (en) | 2024-03-22 | 2024-03-22 | Vehicle steering control method, system, equipment, storage medium and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410332895.2A CN118107655A (en) | 2024-03-22 | 2024-03-22 | Vehicle steering control method, system, equipment, storage medium and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118107655A true CN118107655A (en) | 2024-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410332895.2A Pending CN118107655A (en) | 2024-03-22 | 2024-03-22 | Vehicle steering control method, system, equipment, storage medium and vehicle |
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| Country | Link |
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| CN (1) | CN118107655A (en) |
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- 2024-03-22 CN CN202410332895.2A patent/CN118107655A/en active Pending
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