CN110723206A - Adaptive adjustment steering method and system for road surface roughness - Google Patents
Adaptive adjustment steering method and system for road surface roughness Download PDFInfo
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- CN110723206A CN110723206A CN201810779813.3A CN201810779813A CN110723206A CN 110723206 A CN110723206 A CN 110723206A CN 201810779813 A CN201810779813 A CN 201810779813A CN 110723206 A CN110723206 A CN 110723206A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000003044 adaptive effect Effects 0.000 title claims description 11
- 230000003746 surface roughness Effects 0.000 title claims description 8
- 238000013016 damping Methods 0.000 claims abstract description 13
- 238000011156 evaluation Methods 0.000 claims abstract description 10
- 230000007613 environmental effect Effects 0.000 claims abstract description 8
- 230000006870 function Effects 0.000 claims description 11
- 238000005070 sampling Methods 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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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
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- Combustion & Propulsion (AREA)
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- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention provides a road surface concavity and convexity self-adaptive steering adjusting method and a system, which comprise an environmental sensor, a controller and a power-assisted steering system, wherein the controller comprises a processor and a storage, and the processor is used for realizing instructions stored in the storage for the following steps: 1) acquiring a road surface condition detected by an environment sensor; 2) judging the roughness of the road surface; 3) and adjusting the damping coefficient of the steering system according to the concave-convex degree of the road surface. The sensor collects the road surface condition, the processor in the controller generates a road surface depth map and a top view according to the information collected by the sensor, the road surface condition is evaluated through a concave-convex evaluation function, and steering control parameters are determined; when a driver does not control steering or the steering torque is insufficient, the controller sends a signal to the power-assisted steering system to adjust steering control parameters, so that the steering stability and flexibility of the vehicle are ensured. The problem of the driver because of turning to the reaction and in time causing the vehicle to go unstable is solved.
Description
Technical Field
The invention belongs to the technical field of automobile steering systems, and particularly relates to a method and a system for adaptively adjusting steering of road surface concavity and convexity.
Background
At present, most automobiles still adopt a hydraulic power-assisted steering system, the power-assisted characteristic of the steering system is fixed, namely the power-assisted steering is not correspondingly adjusted along with the change of the automobile speed, if the portability of low-speed steering is emphasized in design, a driver can feel that the road feel is not clear and the automobile is 'floating' due to large power-assisted steering when the automobile steers at a high speed, and thus the operation stability and the driving safety of the automobile can not be ensured; if high-speed steering stability is emphasized, the boosting characteristic is more gradual in a small operation torque range, and the portability of low-speed steering is sacrificed to improve the safety of high-speed steering, but the low-speed steering feels heavy. Some automobiles adopt a technology capable of changing the steering power during driving, and the power-assisted steering system is adjusted by detecting the speed of the automobile, so that the steering power is reduced when the speed is high, and the steering power is increased when the speed is low. However, the scheme is easier to control when the road surface is relatively flat; however, if the road surface condition is poor, the driver steering reaction is not timely caused, and the vehicle is easy to run unstably.
Disclosure of Invention
The invention aims to provide a road surface concave-convex degree self-adaptive steering adjusting method and a road surface concave-convex degree self-adaptive steering adjusting system, which are used for solving the problem that the driving of a vehicle is unstable due to untimely steering reaction of a driver in the driving process under a complex road condition.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the invention provides a road surface concavity and convexity self-adaptive adjusting steering method, which comprises the following steps:
1) detecting the road surface condition;
2) judging the roughness of the road surface according to the road surface condition;
3) adjusting the damping coefficient of a steering system according to the roughness of the road surface; the larger the roughness of the road surface is, the larger the damping coefficient of the steering system is.
The invention also provides a road surface concavity and convexity self-adaptive adjusting steering system, which comprises an environmental sensor, a controller and a power-assisted steering system, wherein the controller comprises a processor and a storage, and the processor is used for realizing the instructions of the following steps stored in the storage:
1) acquiring a road surface condition detected by an environment sensor;
2) judging the roughness of the road surface;
3) and adjusting the damping coefficient of the steering system according to the concave-convex degree of the road surface.
The invention has the beneficial effects that:
according to the method, a sensor collects road surface conditions, a processor in a controller generates a road surface depth map and a top view according to information collected by the sensor, the road surface conditions are evaluated through a concave-convex degree evaluation function, and steering control parameters are determined; when a driver does not control steering or the steering torque is insufficient, the controller sends a signal to the power-assisted steering system to adjust steering control parameters, so that the steering stability and flexibility of the vehicle are ensured.
Further, the road surface condition is detected by an environmental sensor, which is a binocular camera and/or a radar.
Further, the function is evaluated by the degree of concavity and convexity
R＝1/n×∑|Z(i)|
Judging the road surface condition; in the formula, Z is a distance between a point on a contour line and a reference line, n is a sampling length, i is a sampling point number, the contour line is a curve detected according to a road surface condition, and the reference line is a straight line with a set road surface height.
Further, before step 3), the method further comprises the step of detecting the steering torque of the steering wheel: and if the steering wheel steering torque is smaller than the set value, executing the step 3).
Furthermore, if the steering torque of the steering wheel is larger than a set value, the damping coefficient of the steering system is not changed.
Drawings
FIG. 1 is a flow chart of a method for adaptively adjusting and steering the roughness of a road surface;
FIG. 2 is a schematic view of a vehicle sensor scanning a minimum drivable region;
FIG. 3 is a schematic view of a vehicle with environmental sensors;
fig. 4 is a schematic diagram of a road surface irregularity evaluation function.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.
The method comprises the following basic steps:
1) detecting the road surface condition;
2) judging the roughness of the road surface;
3) and adjusting the damping coefficient of the steering system according to the concave-convex degree of the road surface.
As shown in fig. 1, the method in this embodiment includes the following specific steps:
the method provided by the invention comprises the steps of obtaining the minimum driving area of a vehicle according to the steering wheel rotation angle, the speed, the lane line and the like, continuously scanning the minimum driving area through a sensor, transmitting the scanning result to a processor unit in a controller, obtaining a depth map under a sensor coordinate system through TOF (time of flight) by the processor, and obtaining a top view of a road surface through a vertical projection method according to the scanning result; then, the road surface condition is evaluated by using a road surface roughness evaluation function to obtain a parameter R.
The processor judges the steering torque of the driver to the steering wheel, if the torque is larger than a certain value T, the driver is indicated to control steering consciously in the driving process, and the power-assisted steering system does not adjust steering control parameters and responds to the steering demand of the driver preferentially; if the torque is smaller than T, the power-assisted steering system adjusts different steering control parameters, namely the damping coefficient of the steering system, for different road surface roughness parameters R, and the steering stability of the vehicle is ensured.
As shown in fig. 2 and 3, a is a minimum travelable region of the vehicle, B is an environment sensor, and B is a lidar. The vehicle C continuously scans a road surface scanning area along the vehicle running longitudinal direction X through a laser radar arranged on a front bumper, different distances between the front road surface and the laser radar are obtained, and a road surface top view is obtained through vertical projection conversion.
As shown in fig. 4, the evaluation function of the roughness of the road surface:
R＝1/n×∑|Z(i)|
wherein Z is a distance between a point on the contour D and the reference line E, n is a sampling length, i is a sampling point number, the contour line is a curve detected from the road surface condition, and the reference line is a straight line of a set road surface height. And adjusting the parameters of the steering system according to the evaluation function of the roughness of the road surface, increasing the damping coefficient of the power-assisted steering system when the road surface condition is poor, preventing the instability of the vehicle direction, and recovering the normal parameters when detecting that the acting torque of a driver is larger.
The method comprises the steps that a sensor is used for collecting road surface conditions, a processor in a controller generates a road surface depth map and a top view according to information collected by the sensor, the road surface conditions are evaluated through a concave-convex degree evaluation function, and steering control parameters are determined; when a driver does not control steering or the steering torque is insufficient, the controller sends a signal to the power-assisted steering system to adjust steering control parameters, so that the steering stability and flexibility of the vehicle are ensured.
In another embodiment, the environmental sensor is a binocular camera, and the binocular camera mounted on the front windshield directly acquires a depth map in front and acquires a road surface top view through vertical projection conversion.
As another embodiment, the road surface depth map may be obtained by a T-parallax method.
As another embodiment, the evaluation of the roughness of the road surface may be performed by other functions equivalent to the above functions.
As another embodiment, the steering control parameter of the power steering system may be directly adjusted without determining the steering wheel torque T.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (10)
1. A road surface concave-convex degree self-adaptive adjusting steering method is characterized by comprising the following steps:
1) detecting the road surface condition;
2) judging the roughness of the road surface according to the road surface condition;
3) adjusting the damping coefficient of a steering system according to the roughness of the road surface; the larger the roughness of the road surface is, the larger the damping coefficient of the steering system is.
2. The adaptive road surface roughness adjustment steering method according to claim 1, wherein the road surface condition is detected by an environmental sensor, the environmental sensor being a binocular camera and/or a radar.
3. The adaptive steering method for adjusting the roughness of a road surface according to claim 1, wherein the evaluation function of the roughness is used
R＝1/n×∑|Z(i)|
Judging the road surface condition; in the formula, Z is a distance between a point on a contour line and a reference line, n is a sampling length, i is a sampling point serial number, the contour line is a curve detected according to a road surface condition, and the reference line is a straight line with a set road surface height.
4. The adaptive road surface roughness adjusting steering method according to claim 1, further comprising the step of detecting steering torque of a steering wheel before the step 3): and if the steering wheel steering torque is smaller than the set value, executing the step 3).
5. The adaptive adjustment steering method for the roughness of the road surface according to claim 4, wherein if the steering torque of the steering wheel is larger than a set value, the damping coefficient of the steering system is not changed.
6. A road surface concavity and convexity adaptive adjustment steering system is characterized by comprising an environment sensor, a controller and a power steering system, wherein the controller comprises a processor and a memory, and the processor is used for realizing instructions stored in the memory for the following steps:
1) acquiring a road surface condition detected by an environment sensor;
2) judging the roughness of the road surface;
3) and adjusting the damping coefficient of the steering system according to the concave-convex degree of the road surface.
7. The adaptive pavement roughness adjustment steering system according to claim 6, wherein the environmental sensor is a binocular camera and/or a radar.
8. The adaptive adjustment steering system for road surface roughness according to claim 6, wherein the evaluation function of the roughness is used
R＝1/n×∑|Z(i)|
Judging the road surface condition; in the formula, Z is a distance between a point on a contour line and a reference line, n is a sampling length, i is a sampling point serial number, the contour line is a curve detected according to a road surface condition, and the reference line is a straight line with a set road surface height.
9. The adaptive pavement roughness adjustment steering system according to claim 6, further comprising a step of detecting a steering torque of a steering wheel before the step 3): and if the steering wheel steering torque is smaller than the set value, executing the step 3).
10. The adaptive road surface roughness adjustment steering system according to claim 9, wherein if the steering torque of the steering wheel is larger than a set value, the damping coefficient of the steering system is not changed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810779813.3A CN110723206A (en) | 2018-07-16 | 2018-07-16 | Adaptive adjustment steering method and system for road surface roughness |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810779813.3A CN110723206A (en) | 2018-07-16 | 2018-07-16 | Adaptive adjustment steering method and system for road surface roughness |
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| CN110723206A true CN110723206A (en) | 2020-01-24 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114763176A (en) * | 2021-01-11 | 2022-07-19 | 长城汽车股份有限公司 | Torque compensation method and system of steering wheel and automobile |
| US11643137B2 (en) | 2020-10-08 | 2023-05-09 | Volvo Truck Corporation | Method for controlling a steering assist system of a vehicle |
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| JPS6061364A (en) * | 1983-09-15 | 1985-04-09 | Mazda Motor Corp | Steering device for car |
| JPH0224271A (en) * | 1988-07-13 | 1990-01-26 | Nissan Motor Co Ltd | Device for controlling steering of vehicle |
| JPH02182576A (en) * | 1988-12-29 | 1990-07-17 | Omron Tateisi Electron Co | Power steering device |
| JP2008133748A (en) * | 2006-11-27 | 2008-06-12 | Toyota Motor Corp | Vibration control device |
| CN102975735A (en) * | 2012-08-27 | 2013-03-20 | 齐齐哈尔轨道交通装备有限责任公司 | Spring vibration attenuation damping device and bogie applying with the same |
| CN104627237A (en) * | 2013-11-06 | 2015-05-20 | 上海航天汽车机电股份有限公司 | EPS-based pavement high frequency interference damping suppression method and system |
-
2018
- 2018-07-16 CN CN201810779813.3A patent/CN110723206A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6061364A (en) * | 1983-09-15 | 1985-04-09 | Mazda Motor Corp | Steering device for car |
| JPH0224271A (en) * | 1988-07-13 | 1990-01-26 | Nissan Motor Co Ltd | Device for controlling steering of vehicle |
| JPH02182576A (en) * | 1988-12-29 | 1990-07-17 | Omron Tateisi Electron Co | Power steering device |
| JP2008133748A (en) * | 2006-11-27 | 2008-06-12 | Toyota Motor Corp | Vibration control device |
| CN102975735A (en) * | 2012-08-27 | 2013-03-20 | 齐齐哈尔轨道交通装备有限责任公司 | Spring vibration attenuation damping device and bogie applying with the same |
| CN104627237A (en) * | 2013-11-06 | 2015-05-20 | 上海航天汽车机电股份有限公司 | EPS-based pavement high frequency interference damping suppression method and system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11643137B2 (en) | 2020-10-08 | 2023-05-09 | Volvo Truck Corporation | Method for controlling a steering assist system of a vehicle |
| CN114763176A (en) * | 2021-01-11 | 2022-07-19 | 长城汽车股份有限公司 | Torque compensation method and system of steering wheel and automobile |
| CN114763176B (en) * | 2021-01-11 | 2023-12-22 | 长城汽车股份有限公司 | Torque compensation method and system for steering wheel and automobile |
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Application publication date: 20200124 |