CN102897210B - The control method for wheel alignment of vehicle - Google Patents
The control method for wheel alignment of vehicle Download PDFInfo
- Publication number
- CN102897210B CN102897210B CN201210256349.2A CN201210256349A CN102897210B CN 102897210 B CN102897210 B CN 102897210B CN 201210256349 A CN201210256349 A CN 201210256349A CN 102897210 B CN102897210 B CN 102897210B
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- CN
- China
- Prior art keywords
- wheel
- steering
- steering wheel
- vehicle
- control method
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000007935 neutral effect Effects 0.000 claims abstract description 28
- 238000011084 recovery Methods 0.000 claims abstract description 6
- 230000000694 effects Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000035278 mandibuloacral dysplasia progeroid syndrome Diseases 0.000 description 1
Classifications
-
- 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
- B62D5/0466—Controlling the motor for returning the steering wheel to neutral position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
-
- 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
- B62D5/0481—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 monitoring the steering system, e.g. failures
-
- 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
- B62D6/006—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 using a measured or estimated road friction coefficient
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention relates to the control method for wheel alignment of a kind of vehicle, this control method comprises the steps: if inputting commencing signal, and steering wheel resets into neutral condition, then steering wheel is carried out adding the step turned to by control portion to restoring direction；And steering wheel is carried out after additional turning to, steering wheel is carried out turning to the step making steering wheel be restored to neutral condition by control portion to the direction in opposite direction with recovery, present invention have the advantage that the detent torque by removing tire, the positioning performance of wheel can be improved, without separately adding other devices, only can be achieved with location control by logic alternative.
Description
Technical field
The present invention relates to the control method for wheel alignment of a kind of vehicle, when relating to, by electric steering-assisted device, wheel alignment is become neutral condition in more detail, can by removing the control method for wheel alignment that the detent torque of tire improves the vehicle of locating effect.
Background technology
It is said that in general, the steering wheel of vehicle be a kind of according to driver operation conversion travel direction turn to operation utensil, if steering wheel is turned to by driver to specific direction, then wheel rotates, thus vehicle to specific direction travel.
On the other hand, electric steering-assisted device (MDPS:MotorDrivenPowerSteering), utilize motor to provide moment of torsion to the direction that driver turns to, so that controls lightens.This electric steering-assisted device improves steering force according to the action of driving conditions automatic control motor.
In the past, at the vehicle with electric steering-assisted device as above, calculate the steering angle based on steering wheel and steering wheel is turned to the moment of torsion into neutral condition, and the electric current corresponding with this moment of torsion is applied to motor, thus make wheel alignment.
But, if being turned to by steering wheel as neutral condition by mode so, then steering wheel and the crooked problem of wheel occur because remaining in the detent torque of tire.
Summary of the invention
The problem solved
The present invention proposes to improve the problems referred to above, its object is to provide the control method for wheel alignment of a kind of vehicle, for solving at the vehicle with electric steering-assisted device, when making wheel alignment, cause steering wheel and the crooked problem of wheel because remaining in the detent torque of tire.
The solution of problem
The control method for wheel alignment of vehicle according to an embodiment of the present invention, it is characterized in that, comprise the steps: when have input commencing signal, and steering wheel resets into neutral condition, then above-mentioned steering wheel is carried out adding the step turned to by control portion to restoring direction；And steering wheel is carried out after additional turning to, steering wheel is turned to the direction in opposite direction with above-mentioned recovery by above-mentioned control portion, so that steering wheel is restored to the step of above-mentioned neutral condition.
It is a feature of the present invention that and carry out above-mentioned steering wheel adding in the step turned to, turn to the steering angle set by the weight of vehicle.
It is a feature of the present invention that and carry out above-mentioned steering wheel adding in the step turned to, turn to the steering angle set by the coefficient of friction on road surface.
Invention effect
According to the present invention, when steering wheel is restored to neutral condition, then, after steering wheel being carried out additional turning to recovery direction, again it is restored to neutral condition, makes steering wheel swing, it is possible to remove the detent torque remaining in tire.
Further, according to the present invention, owing to the detent torque of tire can be removed, therefore, it is possible to improve the positioning performance of wheel, and the convenience of driver when stopping is improved.
Further, the present invention has without separately adding other devices, only can be achieved with, by logic alternative, the advantage that location controls.
Accompanying drawing explanation
Fig. 1 is performed for the mount structure figure of the device of the control method for wheel alignment of the vehicle of one embodiment of the invention.
Fig. 2 indicates that the figure of the electric steering-assisted device in the control method for wheel alignment of the vehicle of one embodiment of the invention.
Fig. 3 indicates that the flow chart of the motion flow in the control method for wheel alignment of the vehicle of one embodiment of the invention.
Fig. 4 indicates that the figure of the action example of the control method for wheel alignment of the vehicle of one embodiment of the invention.
(description of reference numerals)
11: steering wheel 13: steering spindle
15: rack pinion assembly 17: pull bar
19: wheel
20: vehicle speed sensor 30: steering angle sensor
40: steering torque sensor 50: input portion
60: control portion 70: motor
80: informing portion
T1: the first steering torque T2: the second steering torque
T3: the 3rd steering torque
Detailed description of the invention
Hereinafter, the control method for wheel alignment of the vehicle of one embodiment of the invention has been explained in detail with reference to the accompanying drawings.In the process, the likely enlarged representation such as the width of the line shown in figure or the size of structural detail, contribute to the definition and the convenience that guarantee to illustrate.Further, the term being described below is in view of the term that defines of function played in the present invention, and these terms are likely different according to user, the intention of operator or convention.Therefore, it should define these terms based on this specification.
Before the present invention is described, first " neutral condition " is defined.
In this manual, steering wheel 11 is in neutral condition and refers to the state that steering angle is 0 degree of steering wheel 11.But, strictly, it is not limited to 0 degree, should be regarded as 0 degree of situation comprising in range of error for benchmark.
Further, wheel 19 is in the state that neutral condition refers to that wheel 19 forward direction positions.However, it is not limited to the situation of wheel 19 correctly forward direction location, should be regarded as comprising the situation in the range of error that can regard as forward direction location.
Define based on term as above, below, the present invention will be described in beginning.
Fig. 1 is performed for the mount structure figure of the device of the control method for wheel alignment of the vehicle of one embodiment of the invention.Fig. 2 indicates that the figure of the electric steering-assisted device in the control method for wheel alignment of the vehicle of one embodiment of the invention.
As it is shown in figure 1, be used for performing the device of the control method for wheel alignment of the vehicle of one embodiment of the invention, including vehicle speed sensor 20, steering angle sensor 30, steering torque sensor 40, input portion 50, control portion 60, motor 70 and informing portion 80.
Vehicle speed sensor 20, steering angle sensor 30 and steering torque sensor 40, by sensing the speed of each vehicle, the steering angle of steering wheel 11 and the steering torque inputted by driver, transmit to control portion 60.
Input portion 50 receives the control command for positioning wheel 19 inputted by driver, transmits to control portion 60.
Now, control command can be the commencing signal or the end signal of finishing control that start to control.
Input portion 50 can pass through parking brake (not shown) or gear lever (not shown) receives control command, further, also can pass through that there is the other switch (not shown) embodied with button-pressing way or touch manner and receive control command.
For control portion 60, if the speed of the vehicle inputted by vehicle speed sensor 20 is below reference speed, then based on the steering angle sensed by steering angle sensor 30, steering wheel 11 is restored to neutral condition.
After, control portion 60 by steering wheel 11 to the directional steering in opposite direction with recovery, makes steering wheel 11 again be restored to neutral condition after steering wheel 11 is carried out additional turning to above-mentioned recovery direction.
As it has been described above, control portion 60 by steering wheel 11 to restore direction carry out add turn to after, be again restored to neutral condition, make steering wheel 11 swing, it is possible to remove the detent torque remaining in tire.
Motor 70 produces revolving force according to the electric current applied by control portion 60, thus makes the steering wheel 11 shown in Fig. 2 and steering spindle 13.
If making steering spindle 13 rotate, then carrying out rectilinear motion about the rack pinion of rack pinion assembly 15, the rectilinear motion of rack pinion is delivered to wheel 19 by pull bar 17, is achieved in turning to of wheel 19.
Informing portion 80 is to operator alert mistake.
This informing portion 80 likely provides alarm tone or warning information in a speech mode, also can pass through the display warning information such as display window or display lamp.
Fig. 3 indicates that the flow chart of the motion flow in the control method for wheel alignment of the vehicle of one embodiment of the invention, and Fig. 4 indicates that the figure of the action example of the control method for wheel alignment of the vehicle of one embodiment of the invention.
Hereinafter, with reference to Fig. 3 and Fig. 4, the concrete action of the present invention is described.
Control portion 60 checks whether the commencing signal (step S100) being controlled beginning by input portion 50 input.
If input controls the commencing signal started, then control portion 60 judges whether the speed of the vehicle inputted by vehicle speed sensor 20 reaches below reference speed (step S110), if the speed of vehicle is below reference speed, then proceed by the control for positioning wheel 19.
Wherein, reference speed refers to as can interpolate that vehicle is in the speed as benchmark of dead ship condition, can select multiple speed according to the intention of designer.
That is, being in when running at a low speed of dead ship condition for vehicle can determine whether, start and be controlled according to control portion 60.
If the speed of the vehicle sensed by vehicle speed sensor 20 is more than reference speed, then control portion 60 is not actuated for the control for positioning wheel 19, and by the generation (step S120) of informing portion 80 alarm mistake.
If the speed of vehicle reaches below reference speed, then control portion 60 receives the steering angle (step S130) of the steering wheel 11 inputted by steering angle sensor 30.
After, control portion 60 calculates the first steering torque T based on steering angle1, and apply and this torque T to motor 701Corresponding electric current (step S140).
First steering torque T1Refer to torque value required when turning to steering wheel 11 into neutral condition.
That is, control portion 60 applies and the first steering torque T to motor 701Corresponding electric current, it is possible to turn to as neutral condition steering wheel 11.
Such as, as shown in (a) of Fig. 4, when steering wheel 11 and wheel 19 are crooked to the left, as shown in (b) of Fig. 4, control portion 60 can apply the first steering torque T to the right1Steering wheel 11 is turned to as neutral condition.
If terminating to apply the first steering torque T1, then control portion 60 applies and the second steering torque T to motor 702Corresponding electric current (step S150).
Second steering torque T2Refer to and the steering wheel 11 turned to as neutral condition carry out adding the torque value that turns to, and to the first steering torque T1Identical direction plays a role.
That is, control portion 60 applies and the second steering torque T to motor 702Corresponding electric current, steering wheel 11 can turn to into and exceed neutral condition.
Such as, as shown in (c) of Fig. 4, control portion 60 applies the second steering torque T to the right2, the steering wheel 11 navigating to neutral condition can also be turned to the right.
This second steering torque T2Can be to steering wheel 11 be added the torque value turned to as steering angle set in advance, its torque value can be set according to the coefficient of friction of the weight of applicable vehicle or road surface.
But, as it has been described above, the second steering torque T2The value that more than one variable values such as the weight of applicable vehicle or the coefficient of friction on road surface calculate can be based on.
If terminating to apply the second steering torque T2, then control portion 60 applies and the 3rd steering torque T to motor 703Corresponding electric current (step S160).
Wherein, the 3rd steering torque T3It is will by the second steering torque T2The steering wheel 11 exceeding neutral condition rotation is restored to the torque value of neutral condition, the 3rd steering torque T again3To with the second steering torque T2Opposite direction plays a role.
That is, control portion 60 applies the 3rd steering torque T3, thus steering wheel 11 can be turned back to as neutral condition.
Such as, as shown in (d) of Fig. 4, control portion 60 applies the 3rd steering torque T to the left3, it is possible to turn back to as neutral condition the steering wheel 11 exceeding neutral condition rotation.
This 3rd steering torque T3Such as the second steering torque T2, it is possible to it is the intention according to designer and the next value set in advance of applicable vehicle, and this torque value can be set according to the weight of vehicle being suitable in this case or the coefficient of friction on road surface.
But, unlike this, terminating applying the second steering torque T2Moment, the 3rd steering torque T can be calculated based on the steering angle that inputted by steering angle sensor 303。
Apply and the first steering torque T as it has been described above, add1Second steering torque T of equidirectional2And with the second steering torque T2Rightabout 3rd steering torque T3, make steering wheel 11 swing, it is possible to remove the detent torque remaining in tire.
Further, by removing the detent torque remaining in tire, the phenomenon that wheel 19 is crooked because of detent torque can be prevented, thus can improve the positioning performance of wheel 19.
On the other hand, in the control process as above of carrying out, input portion 50 input the end signal for finishing control, or when being sensed the steering torque of driver by steering torque sensor 40, in order to not interfere with turning to of driver, control portion 60 terminates the control for positioning wheel 19.
On the other hand, in the present embodiment, schematically illustrate when the speed of vehicle reaches below reference speed, perform the situation being used for positioning the control of wheel 19, but unlike this, when vehicle is in halted state, the condition performing above-mentioned control can be limited.
When according to as above condition, only perform control when vehicle stops, comparing and parking performs when controlling, can more strengthen safety.
Finally, in the present embodiment, apply successively to motor 70 and the second steering torque T2With the 3rd steering torque T3Corresponding electric current, the situation of the detent torque thus illustrated by the mode that steering wheel 11 swings being removed tire, and, for more than twice steering wheel 11 that swings, it is possible to apply the steering torque added.
Further, for the steering wheel 11 that swings, the number of times of steering torque applying to add is not preset, it is possible to control its number of times according to the coefficient of friction of the weight of vehicle or road surface.
When so embodying, the coefficient of friction according to the weight of vehicle or road surface, it may be achieved the location of suitable wheel 19, thus can improve positioning performance.
Although describing the present invention with reference to the embodiment shown in figure, but this being only exemplary, general technical staff of the technical field of the invention is to be understood that, it is possible to therefrom realize other embodiments of various deformation and equalization.
Claims (3)
1. the control method for wheel alignment of a vehicle, it is characterised in that comprise the steps:
When have input commencing signal, and judge that car speed is below reference speed, and steering wheel resets into neutral condition, then above-mentioned steering wheel is carried out adding the step turned to by control portion to restoring direction；And
After above-mentioned steering wheel carries out additional turning to, steering wheel is turned to the direction in opposite direction with above-mentioned recovery by above-mentioned control portion, so that steering wheel is restored to the step of above-mentioned neutral condition.
2. the control method for wheel alignment of vehicle according to claim 1, it is characterised in that
Carry out above-mentioned steering wheel adding in the step turned to, turn to the steering angle set by the weight of vehicle.
3. the control method for wheel alignment of vehicle according to claim 1, it is characterised in that
Carry out above-mentioned steering wheel adding in the step turned to, turn to the steering angle set by the coefficient of friction on road surface.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020110073523A KR101767876B1 (en) | 2011-07-25 | 2011-07-25 | Method for controlling wheel alignment in vehicle |
| KR10-2011-0073523 | 2011-07-25 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102897210A CN102897210A (en) | 2013-01-30 |
| CN102897210B true CN102897210B (en) | 2016-07-06 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210256349.2A Active CN102897210B (en) | 2011-07-25 | 2012-07-23 | The control method for wheel alignment of vehicle |
Country Status (2)
| Country | Link |
|---|---|
| KR (1) | KR101767876B1 (en) |
| CN (1) | CN102897210B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104554429B (en) * | 2015-01-28 | 2017-01-18 | 重庆长安汽车股份有限公司 | Steering wheel returning system and steering wheel returning method based on remote control |
| KR102054425B1 (en) * | 2018-11-28 | 2019-12-10 | (주)아이티 | Apparatus and method for controlling steering return in mobile robot |
| KR102054433B1 (en) * | 2018-11-28 | 2019-12-10 | (주)아이티 | Apparatus and method for alignment of whee in mobile robot |
| US12005974B2 (en) | 2021-03-15 | 2024-06-11 | Ford Global Technologies, Llc | Methods and apparatus to center a steering wheel |
| US12091106B2 (en) | 2021-03-15 | 2024-09-17 | Ford Global Technologies, Llc | Methods and apparatus to center a steering wheel and move road wheels to a straightly forward position |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2887842A1 (en) * | 2005-07-04 | 2007-01-05 | Peugeot Citroen Automobiles Sa | Motor vehicle assisted steering system has information processor linked to control for returning steering to pre-set position |
| CN101898582A (en) * | 2009-04-17 | 2010-12-01 | 现代摩比斯株式会社 | The method of using the motor to return the steering wheel |
| CN101934815A (en) * | 2009-06-30 | 2011-01-05 | 上海罗冠电子有限公司 | Electric power-assisted steering system with active correction control function |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4293734B2 (en) * | 2001-01-17 | 2009-07-08 | 三菱電機株式会社 | Electric power steering control device |
| KR100599474B1 (en) * | 2004-05-17 | 2006-07-13 | 현대모비스 주식회사 | Steer-by-wire system with front wheel alignment switch |
-
2011
- 2011-07-25 KR KR1020110073523A patent/KR101767876B1/en active Active
-
2012
- 2012-07-23 CN CN201210256349.2A patent/CN102897210B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2887842A1 (en) * | 2005-07-04 | 2007-01-05 | Peugeot Citroen Automobiles Sa | Motor vehicle assisted steering system has information processor linked to control for returning steering to pre-set position |
| CN101898582A (en) * | 2009-04-17 | 2010-12-01 | 现代摩比斯株式会社 | The method of using the motor to return the steering wheel |
| CN101934815A (en) * | 2009-06-30 | 2011-01-05 | 上海罗冠电子有限公司 | Electric power-assisted steering system with active correction control function |
Also Published As
| Publication number | Publication date |
|---|---|
| KR101767876B1 (en) | 2017-08-16 |
| KR20130012371A (en) | 2013-02-04 |
| CN102897210A (en) | 2013-01-30 |
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