CN110871779A

CN110871779A - Method and apparatus for controlling torque steering

Info

Publication number: CN110871779A
Application number: CN201811010738.0A
Authority: CN
Inventors: 周泽磊; 徐阳
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2018-08-31
Filing date: 2018-08-31
Publication date: 2020-03-10
Anticipated expiration: 2038-08-31
Also published as: CN110871779B

Abstract

The invention relates to a method and a device for controlling torque steering, the method comprising: detecting whether the vehicle has torque steering; and applying a specified braking force to the rear wheels of the vehicle on the non-steered side if the result of the detection is affirmative. With which torque steering can be easily eliminated.

Description

Method and apparatus for controlling torque steering

Technical Field

The present invention relates to the field of vehicles, and more particularly to a method and apparatus for controlling torque steering.

Background

In current front wheel drive vehicles, as shown in FIG. 1, the driveline T (also referred to as a transmission) used to transmit power generated by the engine E to the drive wheels (i.e., the front left and right wheels LF, RF) of the vehicle is offset such that the distance of the driveline T from the front left wheel LF of the vehicle and the distance of the driveline T from the front right wheel RF of the vehicle are different, which results in the angle α of a line through the driveline T and front left wheel LF to the lateral direction of the vehicle and the angle β of a line through the driveline T and front right wheel RF to the lateral direction of the vehicle being different.

To eliminate torque steering, a common current solution is to change the deployment of the engine and driveline of the vehicle so that the driveline is at the same distance from the front left and front right wheels of the vehicle.

However, changing the engine and driveline deployment of an existing vehicle is expensive and not easily accomplished. Therefore, it is not easy to eliminate torque steering with the existing solutions.

Disclosure of Invention

In view of the above problems of the prior art, embodiments of the present invention provide a method and apparatus for controlling torque steering, which can easily eliminate torque steering.

A method for controlling torque steering according to an embodiment of the present invention includes: detecting whether the vehicle has torque steering; and applying a specified braking force to the rear wheels of the vehicle on the non-steered side if the result of the detection is affirmative.

An apparatus for controlling torque steering according to an embodiment of the present invention includes: the detection module is used for detecting whether the vehicle is subjected to torque steering; and an applying module for applying a specified braking force to a rear wheel of the vehicle on a non-steered side if a result of the detection is affirmative.

A control apparatus according to an embodiment of the present invention includes: a processor; and a memory having executable instructions stored thereon, wherein the executable instructions, when executed, cause the processor to perform the aforementioned method.

A machine-readable storage medium according to an embodiment of the invention has stored thereon executable instructions, wherein the executable instructions, when executed, cause a machine to perform the aforementioned method.

The solution of the embodiment of the invention, which applies a specified braking force to the rear wheels of the vehicle on the non-steered side to cancel torque steering when it is detected that the torque steering of the vehicle occurs, is simpler and easier to implement than canceling torque steering by changing the arrangement of the engine and the transmission system of the vehicle, and therefore, can easily cancel torque steering.

Drawings

The features, characteristics, advantages and benefits of the present invention will become apparent from the following detailed description taken in conjunction with the accompanying drawings.

FIG. 1 shows a schematic representation of the engine and transmission deployment of an existing vehicle.

FIG. 2 illustrates a general flow diagram of a method for controlling torque steering, according to an embodiment of the invention.

FIG. 3 shows a flow diagram of a method for controlling torque steering, according to an embodiment of the invention.

FIG. 4 shows a schematic diagram of an apparatus for controlling torque steering, according to an embodiment of the present invention.

Fig. 5 shows a schematic diagram of a control device according to an embodiment of the invention.

Detailed Description

Hereinafter, various embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 2 illustrates a general flow diagram of a method for controlling torque steering, according to an embodiment of the invention. The method 200 shown in FIG. 2 may be implemented by an onboard computer of the vehicle, such as, but not limited to, an Electronic Stability Program (ESP) in the onboard computer.

As shown in fig. 2, at block 202, the signals currently output by the accelerator pedal sensor AP and the steering sensor S of the vehicle and the image currently captured by the camera C of the vehicle are received as the signals from the accelerator pedal sensor AP and the steering sensor S currently received and the image from the camera C currently received.

The accelerator pedal sensor AP is configured to sense a stroke of an accelerator pedal of the vehicle and output a signal indicating the sensed stroke. When the driver depresses the accelerator pedal of the vehicle so that the vehicle is accelerated, the stroke of the accelerator pedal is greater than zero. When the driver releases the accelerator pedal of the vehicle without accelerating the vehicle, the stroke of the accelerator pedal is equal to zero. Therefore, based on the magnitude of the stroke of the accelerator pedal indicated by the signal output from the accelerator pedal sensor AP, it is possible to know whether the vehicle is accelerated or not.

The steering sensor S is used to sense the angle of rotation of the steering wheel of the vehicle. When the vehicle is to be steered, the driver turns the steering wheel of the vehicle in the direction to be steered such that the angle through which the steering wheel is turned is greater than zero. And when the driver does not want the vehicle to turn, the driver turns the steering wheel of the vehicle by an angle equal to zero. Therefore, based on the magnitude of the angle of steering wheel rotation indicated by the signal output from the steering sensor S, it is possible to know whether the driver of the vehicle has an intention to steer.

The camera C as the image capturing apparatus may be, for example, but not limited to, a front-view camera or a rear-view camera of a vehicle, or the like.

At block 206, it is determined whether the vehicle is being accelerated and the driver has no intent to turn based on the signals currently received from the accelerator pedal sensor AP and the steering sensor S.

Wherein if the signal from the accelerator pedal sensor AP received at the present time indicates that the stroke of the accelerator pedal is greater than zero and the signal from the steering sensor S received at the present time indicates that the angle of rotation of the steering wheel is equal to zero, it is determined that the vehicle is accelerated and the driver has no steering intention, otherwise it is determined that the vehicle is not accelerated and/or the driver has a steering intention.

If the determination at block 206 is negative (N), the flow returns to block 202 after deleting the stored reference travel route RT (if present) and waiting for the predetermined time PT.

At block 210, if the determination at block 206 is positive (Y), then the image from camera C that is currently received is image processed to obtain the current travel path of the vehicle. For example, but not limited to, a center line passing through the image in the traveling direction of the vehicle may be taken as the current traveling route of the vehicle.

In block 214, it is determined whether the reference travel route RT is already stored.

In block 218, if the determination in block 214 is negative (N), the obtained current travel route is stored as the reference travel route RT, and then the flow returns to block 202 after waiting for the predetermined time PT.

At block 222, if the determination at block 214 is positive (Y), an angle between the obtained current travel path and the stored reference travel path RT is calculated as an offset of the vehicle's travel path occurrence.

At block 226, a determination is made as to whether the calculated angle is greater than AN angle threshold AN, which is AN offset threshold. Here, the angle threshold value AN is appropriately selected so that the calculated angle is larger than the angle threshold value AN when the vehicle is torque-steered.

If the determination at block 226 is negative (N), the flow returns to block 202 after waiting for the predetermined time PT.

At block 230, if the determination at block 226 is positive (Y), it is determined that torque steering of the vehicle has occurred and the stored reference travel path RT is deleted.

At block 234, after it is determined that torque steering of the vehicle has occurred, a specified braking force is applied to the rear wheels of the vehicle on the non-steered side to eliminate or reduce the torque steering.

Here, if the torque steering causes the vehicle to turn to the right, the non-steered side is the left side of the vehicle, and if the torque steering causes the vehicle to turn to the left, the non-steered side is the right side of the vehicle.

The solution of the present embodiment, which cancels torque steering by applying a specified braking force to the rear wheels of the vehicle on the non-steered side when it is detected that the torque steering of the vehicle occurs, is simpler and easier to implement than canceling torque steering by changing the manner of disposition of the engine and the transmission system of the vehicle, and therefore, can easily cancel torque steering.

Other variants

It should be understood by those skilled in the art that although in the above embodiments, the deviation of the running route of the vehicle is measured by using the image captured by the image capturing apparatus of the vehicle, the present invention is not limited thereto. In other embodiments of the present invention, any other suitable manner may be used to measure the deviation of the driving route of the vehicle.

It should be understood by those skilled in the art that although in the above embodiment, whether the vehicle is accelerated is detected by using the signal output from the accelerator pedal sensor of the vehicle, the present invention is not limited thereto. In other embodiments of the present invention, any other suitable manner may be used to detect whether the vehicle is accelerated.

It should be understood by those skilled in the art that although in the above embodiment, whether the driver has an intention to turn is detected by using the signal output from the steering sensor of the vehicle, the present invention is not limited thereto. In other embodiments of the present invention, any other suitable manner may be utilized to detect whether the driver has an intention to steer.

It should be understood by those skilled in the art that although in the above embodiment, it is detected whether the vehicle has torque steering based on whether the vehicle is accelerated, the driver has no steering intention, and the deviation of the running course of the vehicle occurs is greater than the deviation threshold, the present invention is not limited thereto. In other embodiments of the present invention, any other suitable manner for detecting whether the vehicle is torque-steered may be used.

FIG. 3 shows a flow diagram of a method for controlling torque steering, according to an embodiment of the invention. The method 300 shown in fig. 3 may be implemented, for example, by an onboard computer or any other suitable device of a vehicle.

As shown in FIG. 3, the method 300 may include, at block 302, detecting whether the vehicle is torque-steered.

The method 300 may further include, at block 304, applying a designated braking force to the rear wheels of the vehicle on the non-steered side if the result of the detection is positive.

In one aspect, block 302 may comprise: determining whether the vehicle is accelerated, the driver of the vehicle has no intent to turn, and the deviation of the travel path of the vehicle is greater than a deviation threshold; and determining that the torque steering of the vehicle has occurred if the result of the determination is affirmative.

In another aspect, determining whether the vehicle is accelerated, the driver of the vehicle does not have an intent to turn, and the deviation of the travel path of the vehicle is greater than a deviation threshold comprises: checking whether the vehicle is accelerated and a driver of the vehicle does not have an intention to turn based on signals received from an accelerator pedal sensor and a steering sensor of the vehicle at the present time; and if the result of the check is positive, determining whether the deviation of the running route of the vehicle is greater than a deviation threshold value by using the image received from the image capturing device of the vehicle at the current time.

In yet another aspect, determining whether the deviation in the travel path of the vehicle is greater than a deviation threshold comprises: acquiring a current driving route of the vehicle by using the image received at the current time; calculating an angle between the current running course and a reference running course as an offset of a running course of the vehicle, wherein the reference running course is the running course of the vehicle when acceleration of the vehicle and no steering intention of the driver are detected for the first of the latest consecutive times including the current time, and acceleration of the vehicle and no steering intention of the driver are detected for each of the consecutive times; and judging whether the included angle is larger than an included angle threshold value serving as the offset threshold value.

FIG. 4 shows a schematic diagram of an apparatus for controlling torque steering, according to an embodiment of the present invention. The apparatus 400 shown in fig. 4 can be implemented by software, hardware or a combination of software and hardware. The apparatus 400 shown in fig. 4 may be installed, for example, in an onboard computer or any other suitable device of a vehicle.

As shown in fig. 4, the apparatus 400 may include a detection module 402 and an application module 404. The detection module 402 is used to detect whether the vehicle is torque-steered. The applying module 404 is configured to apply a specified braking force to the rear wheels of the vehicle on the non-steered side if the detection result is positive.

In one aspect, the detection module 402 includes: a determination module to determine whether the vehicle is accelerated, the driver of the vehicle has no intent to turn, and a deviation of a travel path of the vehicle is greater than a deviation threshold; and the arbitration module is used for judging that the torque steering of the vehicle occurs if the judgment result is positive.

In another aspect, the determining module includes: a checking module for checking whether the vehicle is accelerated and a driver of the vehicle does not have an intention to turn based on signals received from an accelerator pedal sensor and a steering sensor of the vehicle at a current time; and a determination module for determining whether the deviation of the driving route of the vehicle occurs is greater than a deviation threshold value by using the image received from the image capturing device of the vehicle at the current time if the result of the check is positive.

In yet another aspect, the determining module includes: means for obtaining a current travel route of the vehicle using the currently received image; means for calculating an angle between the current travel route and a reference travel route as an offset of the travel route of the vehicle, wherein the reference travel route is the travel route of the vehicle when acceleration of the vehicle and no steering intention of the driver are detected for the first of a last consecutive plurality of times including a current time, acceleration of the vehicle and no steering intention of the driver being detected for each of the consecutive plurality of times; and a module for determining whether the included angle is greater than an included angle threshold as the migration threshold.

Fig. 5 shows a schematic diagram of a control device according to an embodiment of the invention. As shown in fig. 5, the control device 500 may include a processor 502 and a memory 504. The memory 504 has stored thereon executable instructions that, when executed, cause the processor 502 to perform the

method

200 or 300. The control device 500 may be, for example, an onboard computer or any other suitable device of a vehicle.

There is also provided, in accordance with an embodiment of the present invention, a machine-readable storage medium having stored thereon executable instructions, wherein the executable instructions, when executed, cause a machine to perform the

method

200 or 300.

The detailed description set forth above in connection with the appended drawings describes exemplary embodiments but does not represent all embodiments that may be practiced or fall within the scope of the claims. The term "exemplary" used throughout this specification means "serving as an example, instance, or illustration," and does not mean "preferred" or "advantageous" over other embodiments. The detailed description includes specific details for the purpose of providing an understanding of the described technology. However, the techniques may be practiced without these specific details. In some instances, well-known structures and devices are shown in block diagram form in order to avoid obscuring the concepts of the described embodiments.

The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling torque steering, comprising:

detecting whether the vehicle has torque steering; and

if the result of the detection is affirmative, a specified braking force is applied to the rear wheels of the vehicle on the non-steered side.

2. The method of claim 1, wherein detecting whether the vehicle is torque-steered comprises:

determining whether the vehicle is accelerated, the driver of the vehicle has no intent to turn, and the deviation of the travel path of the vehicle is greater than a deviation threshold; and

and if the result of the judgment is affirmative, judging that the torque steering of the vehicle occurs.

3. The method of claim 2, wherein determining whether the vehicle is accelerated, the driver of the vehicle does not have an intent to turn, and the deviation of the travel path of the vehicle is greater than a deviation threshold comprises:

checking whether the vehicle is accelerated and a driver of the vehicle does not have an intention to turn based on signals received from an accelerator pedal sensor and a steering sensor of the vehicle at the present time; and

if the result of the check is positive, it is determined whether the deviation of the running route of the vehicle occurs is greater than a deviation threshold value using the image currently received from the image capturing device of the vehicle.

4. The method of claim 3, wherein determining whether the deviation in the travel path of the vehicle is greater than a deviation threshold comprises:

acquiring a current driving route of the vehicle by using the image received at the current time;

calculating an angle between the current running course and a reference running course as an offset of a running course of the vehicle, wherein the reference running course is the running course of the vehicle when acceleration of the vehicle and no steering intention of the driver are detected for the first of the latest consecutive times including the current time, and acceleration of the vehicle and no steering intention of the driver are detected for each of the consecutive times; and

and judging whether the included angle is larger than an included angle threshold value serving as the offset threshold value.

5. An apparatus for controlling torque steering, comprising:

the detection module is used for detecting whether the vehicle is subjected to torque steering; and

and the applying module is used for applying a specified braking force to the rear wheels of the vehicle on the non-steered side if the detection result is positive.

6. The apparatus of claim 5, wherein the detection module comprises:

a determination module to determine whether the vehicle is accelerated, the driver of the vehicle has no intent to turn, and a deviation of a travel path of the vehicle is greater than a deviation threshold; and

and the arbitration module is used for judging that the vehicle has the torque steering if the judgment result is positive.

7. The apparatus of claim 6, wherein the means for determining comprises:

a checking module for checking whether the vehicle is accelerated and a driver of the vehicle does not have an intention to turn based on signals received from an accelerator pedal sensor and a steering sensor of the vehicle at a current time; and

a determination module for determining whether the deviation of the driving route of the vehicle is greater than a deviation threshold value using the image currently received from the image capturing device of the vehicle if the result of the check is positive.

8. The apparatus of claim 7, wherein the means for determining comprises:

means for obtaining a current travel route of the vehicle using the currently received image;

means for calculating an angle between the current travel route and a reference travel route as an offset of the travel route of the vehicle, wherein the reference travel route is the travel route of the vehicle when acceleration of the vehicle and no steering intention of the driver are detected for the first of a last consecutive plurality of times including a current time, acceleration of the vehicle and no steering intention of the driver being detected for each of the consecutive plurality of times; and a module for determining whether the included angle is greater than an included angle threshold as the migration threshold.

9. A control device, comprising:

a processor; and

a memory having executable instructions stored thereon, wherein the executable instructions, when executed, cause the processor to perform the method of any of claims 1-4.

10. A machine readable storage medium having stored thereon executable instructions, wherein the executable instructions, when executed, cause a machine to perform the method of any one of claims 1-4.