CN112407038A - Control method of electronic power steering system, storage medium, and electronic device - Google Patents
Control method of electronic power steering system, storage medium, and electronic device Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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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
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
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Abstract
The invention provides a control method of an electronic power steering system, a storage medium and an electronic device, wherein the method comprises the following steps: when the hand torque of a steering wheel is detected, generating a preset switching signal of a vehicle control mode corresponding to the hand torque of the steering wheel, wherein the vehicle control mode comprises a conventional power-assisted mode and a lane keeping or automatic parking auxiliary system power-assisted mode; and switching the vehicle control mode according to the switching signal. By implementing the method, the device and the system, the preset switching signal of the vehicle control mode corresponding to the hand torque of the steering wheel is generated by detecting the hand torque of the steering wheel applied to the steering wheel, and the vehicle control mode is controlled according to the switching signal, so that the smooth transition between the conventional power-assisted mode and the LKA/APA system power-assisted mode is realized, the hand force intervention mutation of a driver is avoided, and the user experience is improved.
Description
Technical Field
The present invention relates to the field of automotive technologies, and in particular, to a control method of an electronic power steering system, a storage medium, and an electronic device.
Background
An Electric Power Steering (EPS) is a Power Steering system that directly relies on a motor to provide an assist torque, and the EPS mainly includes a torque sensor, a vehicle speed sensor, a motor, a speed reduction mechanism, and an Electronic Control Unit (ECU). The EPS is used as a conventional steering Assist system and a Lane Keeping Assist (LKA)/Automatic Parking Assist (APA) execution member, and smooth switching between the two is particularly important. In the conventional EPS power-assisted module, in order to obtain better hand feeling, the conventional EPS power-assisted module is generally provided with a plurality of compensation functions, such as friction compensation, inertia compensation, hysteresis compensation, slow lifting and slow descending, and the like.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a control method, a storage medium and electronic equipment of an electronic power-assisted steering system, so that smooth transition between a conventional power-assisted mode and an LKA/APA system power-assisted mode is realized, sudden change of hand power of a driver is avoided, and user experience is improved.
The technical scheme of the invention provides a control method of an electronic power steering system, which comprises the following steps:
when the hand torque of a steering wheel is detected, generating a preset switching signal of a vehicle control mode corresponding to the hand torque of the steering wheel, wherein the vehicle control mode comprises a conventional power-assisted mode and a lane keeping or automatic parking auxiliary system power-assisted mode;
and switching the vehicle control mode according to the switching signal.
Further, when the steering wheel hand torque is detected, generating a preset switching signal of the vehicle control mode corresponding to the steering wheel hand torque, includes:
when the hand moment of the steering wheel is greater than or equal to a preset first moment threshold value and lasts for a first preset time, generating a conventional power-assisted mode switching signal;
and when the hand moment of the steering wheel is less than or equal to a preset second moment threshold value and lasts for a second preset time, generating a power-assisted mode switching signal of the lane keeping or automatic parking auxiliary system, wherein the first moment threshold value is greater than the second moment threshold value.
Further, when the steering wheel hand torque is detected, generating a preset switching signal of the vehicle control mode corresponding to the steering wheel hand torque, previously includes:
when the lane keeping system or the automatic parking assisting system is in an activated state, acquiring vehicle state information, wherein the vehicle state information comprises torsion bar damping, torsion bar rigidity, torsion bar deformation and an initial rotation angle corresponding to a path plan in the lane keeping system or the automatic parking assisting system;
and calculating initial power-assisted torque according to the vehicle state information.
Further, the vehicle state information further includes an assist current corresponding to the vehicle control mode, and when a steering wheel hand torque is detected, a preset switching signal of the vehicle control mode corresponding to the steering wheel hand torque is generated, and then the method further includes:
when the steering wheel hand moment is greater than or equal to a preset first moment threshold value and lasts for a first preset time, acquiring a first compensation coefficient corresponding to the steering wheel hand moment in a preset first compensation coefficient curve;
when the hand moment of the steering wheel is smaller than or equal to a preset second moment threshold value and lasts for a second preset time, obtaining a second compensation coefficient corresponding to the hand moment of the steering wheel in a preset second compensation coefficient curve;
calculating a target power-assisted torque according to the vehicle state information, the first compensation coefficient or the second compensation system;
and controlling the motor according to the target power-assisted torque.
Further, the calculating a target assist torque according to the initial assist torque, the assist current and the compensation coefficient includes:
and multiplying the initial boosting torque, the boosting current and the compensation coefficient to obtain the target boosting torque.
Further, the first compensation coefficient curve and the second compensation coefficient curve are linear functions.
The technical solution of the present invention further provides a storage medium, where the storage medium stores computer instructions, and when the computer executes the computer instructions, the storage medium is configured to execute all the steps of the control method of the electronic power steering system.
The technical solution of the present invention also provides an electronic device, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to:
when the hand torque of a steering wheel is detected, generating a preset switching signal of a vehicle control mode corresponding to the hand torque of the steering wheel, wherein the vehicle control mode comprises a conventional power-assisted mode and a lane keeping or automatic parking auxiliary system power-assisted mode;
and switching the vehicle control mode according to the switching signal.
After adopting above-mentioned technical scheme, have following beneficial effect: the switching signal of the preset vehicle control mode corresponding to the hand moment of the steering wheel is generated by detecting the hand moment of the steering wheel applied to the steering wheel, and the vehicle control mode is controlled according to the switching signal, so that the smooth transition between the conventional power-assisted mode and the power-assisted mode of the LKA/APA system is realized, the hand force intervention mutation of a driver is avoided, and the user experience is improved.
Drawings
The disclosure of the present invention will become more readily understood by reference to the drawings. It should be understood that: these drawings are for illustrative purposes only and are not intended to limit the scope of the present disclosure. In the figure:
fig. 1 is a flowchart illustrating a control method of an electric power steering system according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a control method of an electric power steering system according to a second embodiment of the present invention;
FIG. 3 is a graph illustrating a first compensation factor;
FIG. 4 is a second compensation factor curve;
FIG. 5 is a diagram illustrating the relationship between the hand moment of the steering wheel and the compensation coefficient;
fig. 6 is a schematic hardware configuration diagram of an electronic device used in a control method of an electronic power steering system according to a fourth embodiment of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings.
It is easily understood that according to the technical solution of the present invention, those skilled in the art can substitute various structures and implementation manners without changing the spirit of the present invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical aspects of the present invention, and should not be construed as limiting or restricting the technical aspects of the present invention.
The terms of orientation of up, down, left, right, front, back, top, bottom, and the like referred to or may be referred to in this specification are defined relative to the configuration shown in the drawings, and are relative terms, and thus may be changed correspondingly according to the position and the use state of the device. Therefore, these and other directional terms should not be construed as limiting terms.
Example one
As shown in fig. 1, fig. 1 is a flowchart of a control method of an electronic power steering system according to an embodiment of the present invention, including:
step S101: when the hand torque of the steering wheel is detected, generating a preset switching signal of a vehicle control mode corresponding to the hand torque of the steering wheel;
step S102: and switching the vehicle control mode according to the switching signal.
Specifically, when LKA/APA is in operation and after a driver manually intervenes, first, the EPS performs step S101 to generate a switching signal for switching a vehicle control mode including a normal assist mode and an LKA/APA system assist mode, based on a steering wheel hand moment detected by a sensor at a steering wheel hand moment applied to a steering wheel, the normal assist mode being an EPS base assist, for example, when the steering wheel hand moment is detected to be equal to or greater than a preset torque threshold value, the switching signal for switching to the normal assist mode is generated; and generating a switching signal for switching to the assistance mode of the LKA/APA system when the hand torque of the steering wheel is detected to be smaller than the torque threshold value. Then, the EPS executes step S102 to switch the vehicle control mode according to the switching signal, so as to realize smooth transition between the conventional assistance mode and the LKA/APA system assistance mode, avoid abrupt change of the driver' S manual force, and improve the user experience.
According to the control method of the electronic power steering system, the steering wheel hand moment applied to the steering wheel is detected, the preset switching signal of the vehicle control mode corresponding to the steering wheel hand moment is generated, the vehicle control mode is controlled according to the switching signal, smooth transition between the conventional power-assisted mode and the LKA/APA system power-assisted mode is achieved, the hand force of a driver is prevented from being involved in sudden change, and user experience is improved.
Example two
As shown in fig. 2, fig. 2 is a flowchart of a control method of an electronic power steering system according to a second embodiment of the present invention, including:
step S201: when the LKA/APA system is in an activated state, vehicle state information is obtained;
step S202: calculating initial power-assisted torque according to the vehicle state information;
step S203: detecting hand torque of a steering wheel;
step S204: judging whether the hand moment of the steering wheel is greater than or equal to a preset first moment threshold value and lasting for a first preset time;
step S205: acquiring a first compensation coefficient corresponding to the hand moment of the steering wheel in a preset first compensation coefficient curve;
step S206: calculating a target power-assisted torque according to the vehicle state information and the first compensation coefficient;
step S207: controlling the motor according to the target power-assisted torque;
step S208: generating a conventional power-assisted mode switching signal;
step S209: switching to a conventional boosting mode;
step S210: judging whether the hand moment of the steering wheel is less than or equal to a preset second moment threshold value or not, and continuing for a second preset time;
step S211: acquiring a second compensation coefficient corresponding to the hand moment of the steering wheel in a preset second compensation coefficient curve;
step S212: calculating a target power-assisted torque according to the vehicle state information and the second compensation coefficient;
step S213: controlling the motor according to the target power-assisted torque;
step S214: generating a power-assisted mode switching signal of the LKA/APA system;
step S215: and switching to an assistance mode of the LKA/APA system.
Specifically, when the LKA/APA system is in an activated state, first, the EPS performs step S201 to acquire vehicle state information through a radar or a camera, where the vehicle state information includes torsion bar damping, torsion bar stiffness, torsion bar deformation, assist current, and an initial rotation angle corresponding to a path plan in the LKA/APA system, and performs step S202 to calculate an initial assist torque according to the vehicle state information; then, when detecting the hand torque of the steering wheel exerted on the steering wheel through the sensor, executing step S204 to judge whether the hand torque of the steering wheel is greater than or equal to a preset first torque threshold value and continues for a first preset time, if so, executing steps S205-S209 to obtain a first compensation coefficient corresponding to the hand torque of the steering wheel in a first compensation coefficient curve, and calculating a target power-assisted torque according to the vehicle state information and the first compensation coefficient, and controlling the motor according to the target power-assisted torque, so as to enable the vehicle control mode to smoothly transit to the conventional power-assisted mode, otherwise, continuing to execute step S201;
and (3) gradually reducing the steering wheel hand moment applied to the steering wheel by the driver along with the time change, executing step S210 by the EPS to judge whether the steering wheel hand moment is less than or equal to a preset second moment threshold value and continues for a second preset time, if so, executing steps S211-S215 to obtain a second compensation coefficient corresponding to the steering wheel hand moment in a second compensation coefficient curve, calculating a target power-assisted torque according to the vehicle state information and the second compensation coefficient, controlling the motor according to the target power-assisted torque to enable the vehicle control mode to be smoothly transited from the conventional power-assisted mode to the LKA/APA system power-assisted mode, otherwise, executing step S209 to circulate so until the LKA/APA system power-assisted mode exits.
Wherein the first torque threshold T1 is greater than or equal to the second torque threshold T2.
The first compensation coefficient curve and the second compensation coefficient curve are linear functions, as shown in fig. 3, the first compensation coefficient K1 is obtained by a linear interpolation method, the first compensation coefficient K1 linearly increases along with time, and the target power-assisted torque can be gradually increased through the first compensation coefficient K1, so that the power-assisted mode of the LKA/APA system is softly switched to the conventional power-assisted mode. As shown in fig. 4, the second compensation factor K2 is obtained by a linear interpolation method, the second compensation factor K2 decreases linearly with time, and the target assist torque can be gradually reduced by the second compensation factor K2, so that the power assistance mode is softly switched from the conventional power assistance mode to the LKA/APA system power assistance mode. The corresponding relation between the hand torque of the steering wheel and the first compensation coefficient K1 and the second compensation coefficient K2 is as shown in fig. 5, and the vehicle control mode is softly switched between the conventional power assist mode and the LKA/APA system power assist mode according to the compensation coefficient K through the judgment of the hand torque of the steering wheel and the first torque threshold value T1 and the second torque threshold value T2.
According to the control method of the electronic power steering system, the steering wheel hand moment applied to the steering wheel is detected, the preset switching signal of the vehicle control mode corresponding to the steering wheel hand moment is generated, the vehicle control mode is controlled according to the switching signal, smooth transition between the conventional power-assisted mode and the LKA/APA system power-assisted mode is achieved, the hand force of a driver is prevented from being involved in sudden change, and user experience is improved.
In one embodiment, the calculating the target assist torque according to the initial assist torque, the assist current and the compensation coefficient includes:
and multiplying the initial boosting torque, the boosting current and the compensation coefficient to obtain the target boosting torque.
EXAMPLE III
A storage medium of an embodiment of the present application is configured to store computer instructions, which when executed by a computer, are configured to perform all the steps of the control method of an electronic power steering system in any one of the method embodiments as described above.
Example four
As shown in fig. 6, fig. 6 is a schematic diagram of a hardware structure of an electronic device for controlling an electronic power steering system according to a fourth embodiment of the present invention, including:
at least one processor 601; and the number of the first and second groups,
a memory 602 communicatively coupled to the at least one processor 601; wherein,
the memory 602 stores instructions executable by the at least one processor 601 to cause the at least one processor 601 to:
when the hand torque of a steering wheel is detected, generating a preset switching signal of a vehicle control mode corresponding to the hand torque of the steering wheel, wherein the vehicle control mode comprises a conventional power-assisted mode and a lane keeping or automatic parking auxiliary system power-assisted mode;
and switching the vehicle control mode according to the switching signal.
In fig. 6, one processor 601 is taken as an example.
The Electronic device is preferably an Electronic Control Unit (ECU).
The electronic device may further include: an input device 603 and an output device 604.
The processor 601, the memory 602, the input device 603, and the output device 604 may be connected by a bus or other means, and are illustrated as being connected by a bus.
The memory 602, serving as a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the control method of the electric power steering system in the embodiments of the present application, for example, the method flows shown in fig. 1-2. The processor 601 executes various functional applications and data processing by running nonvolatile software programs, instructions and modules stored in the memory 602, that is, implements the control method of the electric power steering system in the above embodiments.
The memory 602 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the stored data area may store data created according to use of a control method of the electronic power steering system, and the like. Further, the memory 602 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 602 may optionally include a memory remotely located from the processor 601, and these remote memories may be connected via a network to a device that performs the control method of the electric power steering system. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 603 may receive input user clicks and generate signal inputs related to user settings of the control method and function control of the electric power steering system. The output device 604 may include a display device such as a display screen.
When the one or more modules are stored in the memory 602, and executed by the one or more processors 601, the method for controlling the electric power steering system in any of the above-described method embodiments is performed.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.
The electronic device of embodiments of the present invention exists in a variety of forms, including but not limited to:
(1) an Electronic Control Unit (ECU) is also called a "traveling computer" or a "vehicle-mounted computer". The digital signal processor mainly comprises a microprocessor (CPU), a memory (ROM and RAM), an input/output interface (I/O), an analog-to-digital converter (A/D), a shaping circuit, a driving circuit and other large-scale integrated circuits.
(2) Mobile communication devices, which are characterized by mobile communication capabilities and are primarily targeted at providing voice and data communications. Such terminals include smart phones (e.g., iphones), multimedia phones, functional phones, and low-end phones, among others.
(3) The ultra-mobile personal computer equipment belongs to the category of personal computers, has calculation and processing functions and generally has the characteristic of mobile internet access. Such terminals include PDA, MID, and UMPC devices, among others.
(4) Portable entertainment devices such devices may display and play multimedia content. Such devices include audio and video players (e.g., ipods), handheld game consoles, electronic books, as well as smart toys and portable car navigation devices.
(5) The server is similar to a general computer architecture, but has higher requirements on processing capability, stability, reliability, safety, expandability, manageability and the like because of the need of providing highly reliable services.
(6) And other electronic devices with data interaction functions.
Furthermore, the logic instructions in the memory 602 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a mobile terminal (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and not to limit the same; although embodiments of the present invention have been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A control method of an electronic power steering system, comprising:
when the hand torque of a steering wheel is detected, generating a preset switching signal of a vehicle control mode corresponding to the hand torque of the steering wheel, wherein the vehicle control mode comprises a conventional power-assisted mode and a lane keeping or automatic parking auxiliary system power-assisted mode;
and switching the vehicle control mode according to the switching signal.
2. The control method of an electronic power steering system according to claim 1, wherein the generating of the switching signal of the preset vehicle control mode corresponding to the steering wheel hand moment when the steering wheel hand moment is detected includes:
when the hand moment of the steering wheel is greater than or equal to a preset first moment threshold value and lasts for a first preset time, generating a conventional power-assisted mode switching signal;
and when the hand moment of the steering wheel is less than or equal to a preset second moment threshold value and lasts for a second preset time, generating a power-assisted mode switching signal of the lane keeping or automatic parking auxiliary system, wherein the first moment threshold value is greater than the second moment threshold value.
3. The control method of an electronic power steering system according to claim 2, wherein the generating of the switching signal of the preset vehicle control mode corresponding to the steering wheel hand moment when the steering wheel hand moment is detected, previously comprises:
when the lane keeping system or the automatic parking assisting system is in an activated state, acquiring vehicle state information, wherein the vehicle state information comprises torsion bar damping, torsion bar rigidity, torsion bar deformation and an initial rotation angle corresponding to a path plan in the lane keeping system or the automatic parking assisting system;
and calculating initial power-assisted torque according to the vehicle state information.
4. The control method of an electronic power steering system according to claim 3, wherein the vehicle state information further includes an assist current corresponding to the vehicle control mode, and the generating of the preset switching signal of the vehicle control mode corresponding to the steering wheel hand torque when the steering wheel hand torque is detected further comprises:
when the steering wheel hand moment is greater than or equal to a preset first moment threshold value and lasts for a first preset time, acquiring a first compensation coefficient corresponding to the steering wheel hand moment in a preset first compensation coefficient curve;
when the hand moment of the steering wheel is smaller than or equal to a preset second moment threshold value and lasts for a second preset time, obtaining a second compensation coefficient corresponding to the hand moment of the steering wheel in a preset second compensation coefficient curve;
calculating a target power-assisted torque according to the vehicle state information, the first compensation coefficient or the second compensation system;
and controlling the motor according to the target power-assisted torque.
5. The control method of an electronic power steering system according to claim 4, wherein the calculating a target assist torque based on the initial assist torque, the assist current, and the compensation coefficient includes:
and multiplying the initial boosting torque, the boosting current and the compensation coefficient to obtain the target boosting torque.
6. The control method of an electric power steering system according to claim 4, wherein the first compensation coefficient curve and the second compensation coefficient curve are linear functions.
7. A storage medium storing computer instructions for performing all the steps of the control method of an electric power steering system according to any one of claims 1 to 6 when the computer instructions are executed by a computer.
8. An electronic device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to:
when the hand torque of a steering wheel is detected, generating a preset switching signal of a vehicle control mode corresponding to the hand torque of the steering wheel, wherein the vehicle control mode comprises a conventional power-assisted mode and a lane keeping or automatic parking auxiliary system power-assisted mode;
and switching the vehicle control mode according to the switching signal.
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Cited By (4)
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| CN113771848A (en) * | 2021-08-11 | 2021-12-10 | 江铃汽车股份有限公司 | Vehicle driving control method and device, electronic equipment and storage medium |
| CN113830103A (en) * | 2021-09-23 | 2021-12-24 | 岚图汽车科技有限公司 | Vehicle transverse control method and device, storage medium and electronic equipment |
| CN115195858A (en) * | 2021-04-12 | 2022-10-18 | 广州汽车集团股份有限公司 | Man-machine common driving steering hand feeling control method and system |
| WO2023226290A1 (en) * | 2022-05-27 | 2023-11-30 | 广州汽车集团股份有限公司 | Vehicle steering torque control method and system |
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