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CN111301513A - Method for determining torque of steering hand, method and device for controlling steering of vehicle - Google Patents

Method for determining torque of steering hand, method and device for controlling steering of vehicle Download PDF

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Publication number
CN111301513A
CN111301513A CN201811512159.6A CN201811512159A CN111301513A CN 111301513 A CN111301513 A CN 111301513A CN 201811512159 A CN201811512159 A CN 201811512159A CN 111301513 A CN111301513 A CN 111301513A
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China
Prior art keywords
steering
target
torque
moment
target steering
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CN201811512159.6A
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Chinese (zh)
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CN111301513B (en
Inventor
陈远龙
刘咏萱
刘飞
张成宝
邓念
李勇
林龙贤
徐灯福
韩东冬
郑冬霞
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SAIC Motor Corp Ltd
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SAIC Motor Corp Ltd
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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
    • 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
    • B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The application discloses a method and a device for determining torque of a steering hand and a method and a device for controlling vehicle steering. The method for determining the moment of the steering hand comprises the following steps: acquiring a target steering torque of a pipe column of an automobile steering system; acquiring a target steering angle of the output shaft of the tubular column; and determining a target steering hand torque by using the target steering torque and the target steering angle. Therefore, in the embodiment of the application, the target steering hand moment can be obtained through the target steering moment and the target steering angle, and the steering hand moment applied to the steering wheel can be accurately determined as the target steering moment, the target steering angle and the target steering hand moment meet a certain dynamic relation.

Description

Method for determining torque of steering hand, method and device for controlling steering of vehicle
Technical Field
The application relates to the technical field of automobiles, in particular to a method for determining torque of a steering hand, and a method and a device for controlling vehicle steering.
Background
With the development of automobile technology, the development of driving assistance technology and automatic driving technology is also more and more rapid. As for the driving assistance technology and the automatic driving technology, the driver's demand for safety during the driving of the vehicle is increasing. When a driver controls the vehicle to run by using the driving assistance technology and the automatic driving technology, the driver can timely and safely control the steering of the vehicle, and the safety running of the vehicle is guaranteed.
Generally, a driver can control the steering of a vehicle by controlling the steering wheel of the vehicle. However, the traffic regulations in China stipulate that when using driving assistance technology, the time that the driver's hands cannot be separated from the steering wheel is too long, that is, when using driving assistance technology and automatic driving technology, the driver's hands are placed on the steering wheel, but the steering of the vehicle is not controlled.
Since the steering hand torque applied to the steering wheel when the driver controls the steering of the vehicle is different from the steering hand torque applied to the steering wheel when the driver does not control the steering of the vehicle. Therefore, it is important to determine the steering hand torque applied to the steering wheel by the driver, and thus to determine whether the driver needs to control the steering of the vehicle by the steering hand torque applied to the steering wheel by the driver.
Disclosure of Invention
In order to solve the above problems, the present application provides a method of calculating a steering hand torque applied to a steering wheel of an automobile, a method of controlling steering of a vehicle, and an apparatus thereof.
In a first aspect, the present application provides a method of determining a steering hand torque applied to a steering wheel of an automobile, comprising:
acquiring a target steering torque of a pipe column of an automobile steering system; acquiring a target steering angle of the output shaft of the tubular column;
and determining a target steering hand torque by using the target steering torque and the target steering angle.
Optionally, the determining the target steering hand torque by using the target steering torque and the target steering angle includes:
taking the target steering torque and the target steering angle as the input of a target steering hand torque estimation model, and determining the target steering hand torque by using the target steering hand torque estimation model;
the target steering hand moment estimation model is determined according to the dynamic relationship between the rotational inertia of a steering wheel and the pipe column, the target steering hand moment, the target steering angle, the steering angular velocity of the pipe column, the steering hand moment of the pipe column, the friction moment of the pipe column, the torsional rigidity of a torque sensor, the friction coefficient of the pipe column and the friction moment at the installation position of the pipe column.
Optionally, the target steering hand moment estimation model includes:
Figure BDA0001901060370000021
wherein,
Figure BDA0001901060370000022
wherein,
Figure BDA0001901060370000023
is the steering angular velocity theta of the pipe stringswIs estimated by
Figure BDA0001901060370000024
Is composed of
Figure BDA0001901060370000025
The derivative of,
Figure BDA0001901060370000026
Is the target steering hand torque;
Figure BDA0001901060370000027
is composed of
Figure BDA0001901060370000028
A derivative of (a);
u＝θout，θoutis the target steering angle;
Figure BDA0001901060370000029
an estimate of y;
y＝Ttbwherein, TtbIs the target steering torque;
Keis a target gain parameter; the target gain parameters are y and
Figure BDA00019010603700000210
a gain of the difference of (a);
parameter(s)
Figure BDA00019010603700000211
Parameter(s)
Figure BDA00019010603700000212
Parameter C ═ Ktb0 0]The parameter D [ -K [ - ]tb]；
KtbIs the torsional stiffness of the torque sensor; j. the design is a squareswThe moment of inertia of the steering wheel and the pipe column; and b is the friction coefficient of the pipe column.
Optionally, the target gain parameter KeObtained by the following method:
obtainingTorsional rigidity K of torque sensortbMoment of inertia J of steering wheel and tubular columnswAnd the friction coefficient b of the pipe string;
according to A-KeC is a Hurwitz matrix, and a target gain parameter K is determinedeThe value range of (a);
acquiring a test steering torque of the pipe column, a test steering angle of the output shaft of the pipe column and a test steering hand torque;
obtaining an estimated steering hand torque by using a test steering hand torque estimation model according to the test steering torque and the test steering angle; the test steering hand moment estimation model comprises a test gain parameter, and the value of the test gain parameter is in the value range of the target gain parameter;
and if the difference value between the test steering hand moment and the estimated steering hand moment meets a preset condition, determining the test gain parameter as the target gain parameter.
In a second aspect, the present application further provides a method of controlling steering of a vehicle, comprising:
obtaining a target steering hand moment determined by the method of any one of the first aspect above;
and if the target steering hand moment is larger than or equal to a preset threshold value, controlling the vehicle to steer according to the target steering hand moment.
In a third aspect, the present application also provides an apparatus for determining a steering hand torque applied to a steering wheel of an automobile, comprising:
the first acquisition unit is used for acquiring a target steering torque of a pipe column of an automobile steering system; acquiring a target steering angle of the output shaft of the tubular column;
and the determining unit is used for determining the target steering hand moment by utilizing the target steering moment and the target steering angle.
Optionally, the determining unit is specifically configured to:
taking the target steering torque and the target steering angle as the input of a target steering hand torque estimation model, and determining the target steering hand torque by using the target steering hand torque estimation model;
the target steering hand moment estimation model is determined according to the dynamic relationship between the rotational inertia of a steering wheel and the pipe column, the target steering hand moment, the target steering angle, the steering angular velocity of the pipe column, the steering hand moment of the pipe column, the friction moment of the pipe column, the torsional rigidity of a torque sensor, the friction coefficient of the pipe column and the friction moment at the installation position of the pipe column.
Optionally, the target steering hand moment estimation model includes:
Figure BDA0001901060370000031
wherein,
Figure BDA0001901060370000041
wherein,
Figure BDA0001901060370000042
is the steering angular velocity theta of the pipe stringswThe estimated value of,
Figure BDA0001901060370000043
Is composed of
Figure BDA0001901060370000044
The derivative of,
Figure BDA0001901060370000045
Is the target steering hand torque;
Figure BDA0001901060370000046
is composed of
Figure BDA0001901060370000047
A derivative of (a);
u＝θout，θoutis the target steering angle;
Figure BDA0001901060370000048
an estimate of y;
y＝Ttbwherein, TtbIs the target steering torque;
Keis a target gain parameter; the target gain parameters are y and
Figure BDA0001901060370000049
a gain of the difference of (a);
parameter(s)
Figure BDA00019010603700000410
Parameter(s)
Figure BDA00019010603700000411
Parameter C ═ Ktb0 0]The parameter D [ -K [ - ]tb]；
KtbIs the torsional stiffness of the torque sensor; j. the design is a squareswThe moment of inertia of the steering wheel and the pipe column; and b is the friction coefficient of the pipe column.
Optionally, the target gain parameter is obtained as follows:
obtaining torsional stiffness K of torque sensortbMoment of inertia J of steering wheel and tubular columnswAnd the friction coefficient b of the pipe string;
according to A-KeC is a Hurwitz matrix, and a target gain parameter K is determinedeThe value range of (a);
acquiring a test steering torque of the pipe column, a test steering angle of the output shaft of the pipe column and a test steering hand torque;
obtaining an estimated steering hand torque by using a test steering hand torque estimation model according to the test steering torque and the test steering angle; the test steering hand moment estimation model comprises a test gain parameter, and the value of the test gain parameter is in the value range of the target gain parameter;
and if the difference value between the test steering hand moment and the estimated steering hand moment meets a preset condition, determining the test gain parameter as the target gain parameter.
In a fourth aspect, the present application further provides an apparatus for controlling steering of a vehicle, comprising:
a second acquisition unit configured to acquire the target steering hand moment determined by the method according to any one of the above first aspects;
and the control unit is used for controlling the vehicle to steer according to the target steering hand moment if the target steering hand moment is greater than or equal to a preset threshold value.
Compared with the prior art, the embodiment of the application has the following advantages:
in the embodiment of the application, the target steering torque of a pipe column of an automobile steering system is obtained; acquiring a target steering angle of a tubular column output shaft of the automobile steering system; and determining the target steering hand torque by using the target steering torque and the target steering angle. Therefore, in the embodiment of the application, the target steering hand moment can be obtained through the target steering moment and the target steering angle, and the steering hand moment applied to the steering wheel can be accurately determined as the target steering moment, the target steering angle and the target steering hand moment meet a certain dynamic relation.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a steering system provided in an embodiment of the present application;
FIG. 2 is a schematic flow chart illustrating a method for determining a steering hand torque applied to a steering wheel of an automobile according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart of a method for determining a target gain parameter according to an embodiment of the present application;
FIG. 4 is a schematic flow chart illustrating a method for controlling steering of a vehicle according to an embodiment of the present disclosure;
FIG. 5 is a schematic structural diagram of an apparatus for determining a steering hand moment applied to a steering wheel of an automobile according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an apparatus for controlling vehicle steering according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
For the sake of easy understanding, first, the structure of the steering system of the automobile will be briefly described.
Referring to fig. 1, the drawing is a schematic structural diagram of a steering system provided in an embodiment of the present application.
In fig. 1, 101 denotes a steering wheel, 102 denotes a column input shaft, 103 denotes a torque sensor, 104 denotes a rotation angle sensor, 105 denotes a column output shaft, 106 denotes a motor, 107 denotes a speed reduction mechanism, 108 denotes a tie rod, 109 denotes a steering gear (for example, a rack and pinion steering gear), and 110 and 111 denote tires.
The inventors of the present application have found, through studies, that the measurement value of the torque sensor 103 can be directly used as a hand torque applied to the steering wheel, assuming that the positions of the column output shaft 105, the tie rod 108, the tires 110 and 111, and the like are fixed. However, in actual use, such an assumption is hardly made that the positions of the column output shaft 105, the tie rod 108, the tires 110 and 111, and the like are hardly fixed. Therefore, the measurement value of the torque sensor 103 is often inaccurate as the steering hand torque applied to the steering wheel.
In order to solve the above problem, in the embodiments of the present application, a target steering torque of a column of an automobile steering system is obtained; acquiring a target steering angle of a tubular column output shaft of the automobile steering system; and determining the target steering hand torque by using the target steering torque and the target steering angle. Therefore, in the embodiment of the application, the target steering hand moment can be obtained through the target steering moment and the target steering angle, and the steering hand moment applied to the steering wheel can be accurately determined as the target steering moment, the target steering angle and the target steering hand moment meet a certain dynamic relation.
First embodiment
Various non-limiting embodiments of the present application are described in detail below with reference to the accompanying drawings.
Referring to fig. 2, a flow chart of a method for determining a steering hand torque applied to a steering wheel of an automobile according to an embodiment of the present application is shown.
The method provided by the embodiment of the application can be realized through the following steps S201 to S202, for example.
S201: acquiring a target steering torque of a pipe column of an automobile steering system; and acquiring a target steering angle of the output shaft of the pipe column.
It should be noted that, in the embodiment of the present application, the target steering torque of the column may be measured using the torque sensor 103 as shown in fig. 1. Therefore, the measurement value of the torque sensor 103 can be acquired, thereby acquiring the target steering torque.
It should be noted that, in the embodiment of the present application, the target steering angle of the column output shaft may be measured by using the rotation angle sensor 104 shown in fig. 1. Therefore, the measurement value of the rotation angle sensor 104 can be acquired, thereby acquiring the target steering angle.
It should be noted that, in general, an Electric Power Steering (EPS) system of an automobile is provided with the torque sensor 103 and the Steering angle sensor 104, so that the target Steering torque and the target Steering angle can be obtained easily.
S202: and determining a target steering hand torque by using the target steering torque and the target steering angle.
The target steering hand torque mentioned in the embodiments of the present application means a torque applied to the steering wheel by the driver.
Because a certain dynamic relation is satisfied between the target steering torque, the target steering angle and the target steering hand torque, the steering hand torque applied to the steering wheel can be accurately determined by using the target steering torque and the target steering angle.
Therefore, by using the method for determining the steering hand moment applied to the automobile steering wheel, the target steering hand moment can be obtained through the target steering moment and the target steering angle, and the steering hand moment applied to the steering wheel can be accurately determined because the target steering moment, the target steering angle and the target steering hand moment meet a certain dynamic relation.
In a possible implementation manner, when the step S202 is implemented specifically, the following steps may be performed: and taking the target steering torque and the target steering angle as the input of a target steering hand torque estimation model, and determining the target steering hand torque by using the target steering hand torque estimation model.
The target steering hand moment estimation model is determined according to dynamic relations among the rotational inertia of a steering wheel and the pipe column, the target steering hand moment, the target steering angle, the steering angular velocity of the pipe column, the steering hand moment of the pipe column, the friction moment of the pipe column, the torsional rigidity of a torque sensor, the friction coefficient of the pipe column and the friction moment at the installation position of the pipe column.
Specifically, the dynamic relationship may be represented by the following formulas (1) to (3).
Figure BDA0001901060370000071
Ttb＝Ktb·(θsw-θout) Formula (2)
Tf＝b·θswFormula (3)
Wherein, JswThe moment of inertia of the steering wheel and the pipe column; t isdIs the target steering hand torque; t istbIs the target steering torque; t isfThe friction torque at the installation position of the pipe column is obtained; thetaswIs the steering angular velocity of the pipe string; thetaoutIs the target steering angle; ktbIs the torsional stiffness of the torque sensor; b is the friction coefficient of the pipe string;
Figure BDA0001901060370000081
is thetaswThe second derivative of (c).
It should be noted that the moment of inertia J of the steering wheel and the columnswTorsional rigidity K of the torque sensortbThe coefficient of friction b of the pipe string is a known quantity related to the material and the surface processing precision of the pipe string.
In addition, θoutMay be obtained by the rotation angle sensor measurement; t istbMay be obtained by the torque sensor; thetaswAnd TdIs an unknown quantity.
It should be noted that, in one possible implementation, the target steering hand moment estimation model may be represented by the following formula (4).
Figure BDA0001901060370000082
Wherein,
Figure BDA0001901060370000083
Figure BDA0001901060370000084
is an unknown quantity; wherein,
Figure BDA0001901060370000085
is the steering angular velocity theta of the pipe stringswThe estimated value of,
Figure BDA0001901060370000086
Is composed of
Figure BDA0001901060370000087
The derivative of,
Figure BDA0001901060370000088
Is the target steering hand torque;
Figure BDA0001901060370000089
is composed of
Figure BDA00019010603700000810
A derivative of (a);
u＝θout，θoutis the target steering angle;
Figure BDA00019010603700000811
an estimate of y;
known quantity y ═ TtbWherein, TtbIs the target steering torque;
Keis a target gain parameter; the target gain parameters are y and
Figure BDA00019010603700000812
a gain of the difference of (a);
parameter(s)
Figure BDA00019010603700000813
Parameter(s)
Figure BDA00019010603700000814
Parameter C ═ Ktb0 0]The parameter D [ -K [ - ]tb]；
KtbIs the torsional stiffness of the torque sensor; j. the design is a squareswIs the steering wheelAnd the rotational inertia of the tubular string; and b is the friction coefficient of the pipe column.
It should be noted that the above formula (4) can be extended by the formulas (1), (2) and (3), and the target gain parameter K is determinedeAnd (4) obtaining.
Specifically, when θoutWhen the corresponding steering hand torque Td is not changed, let u be θout，y＝TtbLet us order
Figure BDA0001901060370000091
The formulas (1), (2) and (3) are expanded to obtain the formulas (5) and (6).
Figure BDA0001901060370000092
y ═ C · x + D · u formula (6)
With regard to equations (5), (6) and (4), it should be noted that:
Figure BDA0001901060370000093
is a true value, which is unknown.
Figure BDA0001901060370000094
Is a value obtained by estimating using the formula (4), and in practical application, the method can be used
Figure BDA0001901060370000095
Is approximately considered the value of x.
It should be noted that the target gain parameter KeIs a predetermined value. Determining the target gain parameter K is described below with reference to the drawingseThe concrete implementation of (1).
Referring to fig. 3, the flowchart of a method for determining a target gain parameter according to an embodiment of the present application is schematically shown.
The method for determining the target gain parameter provided by the embodiment of the application can be implemented through the following steps S301 to S303.
S301: obtaining torsional stiffness K of torque sensortbMoment of inertia J of steering wheel and tubular columnswAnd the coefficient of friction b of the pipe string.
The embodiment of the application does not particularly limit the acquisition of the torsional rigidity K of the torque sensortbMoment of inertia J of steering wheel and tubular columnswAnd the specific implementation mode of system parameters such as the friction coefficient b of the tubular column.
S302: . According to A-KeC is a Hurwitz matrix, and a target gain parameter K is determinedeThe value range of (a). In addition, A to KeC is a Herwitz (Hurwitz) matrix, i.e. the matrices A-KeThe eigenvalues of C have negative real parts.
In the specification, A-KeThe stability of C is a precondition for ensuring that the entire steering hand moment estimation model is valid, but the accuracy of the steering hand moment estimation model is determined by S303-S305.
S303: and acquiring the test steering torque of the pipe column, the test steering angle of the output shaft of the pipe column and the test steering hand torque.
S304: obtaining an estimated steering hand torque by using a test steering hand torque estimation model according to the test steering torque and the test steering angle; the test steering hand moment estimation model comprises a test gain parameter, and the value of the test gain parameter is within the value range of the target gain parameter.
S305: and if the difference value between the test steering hand moment and the estimated steering hand moment meets a preset condition, determining the test gain parameter as the target gain parameter.
With respect to S303 to S305, it should be noted that the embodiment of the present application is not particularly limited to the specific implementation manner of obtaining the test steering torque and the test steering angle, and as an example, the test steering torque may be obtained by using the torque sensor, and the test steering angle may be obtained by using the steering angle sensor.
It should be noted that the test steering hand moment estimation model mentioned in the present embodiment can be expressed by a formula similar to the above formula (4). However, the test steering hand moment estimation model includes a determination gain parameter, and formula (4) includes a target gain parameter.
It can be understood that, in step S302, a value range of the target gain parameter is determined, and when a specific value of the target gain is calibrated, a value of the test gain parameter is within the value range of the target gain parameter.
It will be appreciated that the difference between the test steering hand torque and the estimated steering hand torque may be indicative of an estimated error of the test steering hand torque estimation model.
It should be noted that the test steering hand moment mentioned in the embodiments of the present application refers to the actual value of the hand moment applied to the steering wheel.
It should be noted that, in the embodiment of the present application, the difference between the test steering hand torque and the estimated steering hand torque satisfies a preset condition, where the difference between the test steering hand torque and the estimated steering hand torque is smaller than a preset difference threshold, and at this time, it may be considered that the estimation result of the test steering hand torque estimation model is relatively accurate, and thus, the test gain parameter may be determined as the target gain parameter.
It should be noted that, with the target gain parameters determined in steps S301-S305, on one hand, the target gain parameters can ensure the stability of the target steering hand moment estimation model represented by formula (4); on the other hand, the target gain parameter may ensure the accuracy of the estimation result of the target steering hand moment estimation model represented by formula (4).
Second embodiment
Based on the method for determining the steering hand torque applied to the steering wheel of the automobile provided by the first embodiment, the embodiment of the application also provides a method for controlling the steering of the automobile.
Referring to fig. 4, the figure is a schematic flow chart of a method for controlling vehicle steering according to an embodiment of the present application.
The method for controlling the steering of the vehicle provided by the embodiment of the application can be realized through the following steps S401-S402, for example.
S401: and acquiring the target steering hand torque.
It should be noted that, as mentioned herein, the target steering hand torque may be the target steering hand torque determined by the method provided in the first embodiment.
S402: and if the target steering hand moment is larger than or equal to a preset threshold value, controlling the vehicle to steer according to the target steering hand moment.
The preset threshold value is not specifically limited in the embodiment of the application, and can be determined according to actual conditions. As an example, the preset threshold may be 0.5 Nm.
As described above, when the driver controls the vehicle, the steering of the vehicle can be controlled by controlling the steering wheel of the vehicle. However, the traffic regulations in China stipulate that the time for which the driver's hands cannot be separated from the steering wheel is too long when using the driving assistance technique and the automatic driving technique, that is, when using the driving assistance technique and the automatic driving technique, the driver's hands are placed on the steering wheel, but the steering of the vehicle is not controlled.
The steering hand torque applied to the steering wheel when the driver controls the vehicle to steer is different from the steering hand torque applied to the steering wheel when the driver does not control the vehicle to steer.
In the embodiment of the application, when the target steering hand torque is greater than or equal to a preset threshold, it can be considered that the driver wants to actively control the steering of the vehicle. At this time, the vehicle steering may be controlled according to the target steering hand torque.
Therefore, by using the method for controlling the vehicle steering provided by the embodiment of the application, whether the driver has the intention of actively controlling the vehicle steering can be judged according to the magnitude of the target steering hand moment, and when the driver wants to actively control the vehicle steering, the vehicle steering is controlled according to the target steering hand moment. The safety of the driving process is ensured.
Third embodiment
Based on the method for determining the steering hand torque applied to the steering wheel of the automobile provided in the first embodiment, the embodiment of the present application further provides a device for determining the steering hand torque applied to the steering wheel of the automobile.
Referring to fig. 5, the device for determining the steering hand moment applied to the steering wheel of the automobile according to the embodiment of the present application is schematically shown.
The apparatus 500 provided in the embodiment of the present application may specifically include: a first acquisition unit 510 and a determination unit 520.
A first obtaining unit 510 for obtaining a target steering torque of a pipe column of an automobile steering system; and acquiring a target steering angle of the output shaft of the pipe column.
A determining unit 520, configured to determine a target steering hand torque by using the target steering torque and the target steering angle.
Optionally, the determining unit 520 is specifically configured to:
taking the target steering torque and the target steering angle as the input of a target steering hand torque estimation model, and determining the target steering hand torque by using the target steering hand torque estimation model;
the target steering hand moment estimation model is determined according to the dynamic relationship between the rotational inertia of a steering wheel and the pipe column, the target steering hand moment, the target steering angle, the steering angular velocity of the pipe column, the steering hand moment of the pipe column, the friction moment of the pipe column, the torsional rigidity of a torque sensor, the friction coefficient of the pipe column and the friction moment at the installation position of the pipe column.
Optionally, the target steering hand moment estimation model includes:
Figure BDA0001901060370000121
wherein,
Figure BDA0001901060370000122
wherein,
Figure BDA0001901060370000123
is the steering angular velocity of the pipe column,
Figure BDA0001901060370000124
Is composed of
Figure BDA0001901060370000125
The derivative of,
Figure BDA0001901060370000126
Is the target steering hand torque;
Figure BDA0001901060370000127
is composed of
Figure BDA0001901060370000128
A derivative of (a);
u＝θout，θoutis the target steering angle;
Figure BDA0001901060370000129
an estimate of y;
y＝Ttbwherein, TtbIs the target steering torque;
Keis a target gain parameter; the target gain parameters are y and
Figure BDA00019010603700001210
a gain of the difference of (a);
parameter(s)
Figure BDA0001901060370000131
Parameter(s)
Figure BDA0001901060370000132
Parameter C ═ Ktb0 0]The parameter D [ -K [ - ]tb]；
KtbIs the torsional stiffness of the torque sensor; j. the design is a squareswThe moment of inertia of the steering wheel and the pipe column; and b is the friction coefficient of the pipe column.
Optionally, the target gain parameter is obtained as follows:
obtaining torsional stiffness K of torque sensortbMoment of inertia J of steering wheel and tubular columnswAnd the friction coefficient b of the pipe string;
according to A-KeC is a Hurwitz matrix, and a target gain parameter K is determinedeThe value range of (a);
acquiring a test steering torque of the pipe column, a test steering angle of the output shaft of the pipe column and a test steering hand torque;
obtaining an estimated steering hand torque by using a test steering hand torque estimation model according to the test steering torque and the test steering angle; the test steering hand moment estimation model comprises a test gain parameter, and the value of the test gain parameter is in the value range of the target gain parameter;
and if the difference value between the test steering hand moment and the estimated steering hand moment meets a preset condition, determining the test gain parameter as the target gain parameter.
For specific implementation of each unit of the apparatus 500, reference may be made to the description of relevant contents in the first embodiment, and details are not described here again.
Therefore, by using the device for determining the steering hand moment applied to the automobile steering wheel, the target steering hand moment can be obtained through the target steering moment and the target steering angle, and the steering hand moment applied to the steering wheel can be accurately determined because the target steering moment, the target steering angle and the target steering hand moment meet a certain dynamic relation.
Fourth embodiment
Based on the method for controlling the steering of the vehicle provided by the second embodiment, the embodiment of the application also provides a device for controlling the steering of the vehicle.
Referring to fig. 6, the drawing is a schematic structural diagram of an apparatus for controlling vehicle steering according to an embodiment of the present application.
The apparatus 600 provided in the embodiment of the present application may specifically include: a second acquisition unit 610 and a control unit 620.
And a second obtaining unit 610 for obtaining the target steering hand moment.
And the control unit 620 is configured to control the vehicle to steer according to the target steering hand moment if the target steering hand moment is greater than or equal to a preset threshold value.
For specific implementation of each unit of the apparatus 600, reference may be made to the description of relevant contents in the second embodiment, and details are not described here again.
Therefore, by using the device for controlling the vehicle steering provided by the embodiment of the application, whether the driver has the intention of actively controlling the vehicle steering can be judged according to the magnitude of the target steering hand moment, and when the driver wants to actively control the vehicle steering, the vehicle steering is controlled according to the target steering hand moment. The safety of the driving process is ensured.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice in the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the attached claims
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. A method of determining a steering hand torque applied to a steering wheel of an automobile, comprising:
acquiring a target steering torque of a pipe column of an automobile steering system; acquiring a target steering angle of the output shaft of the tubular column;
and determining a target steering hand torque by using the target steering torque and the target steering angle.
2. The method of claim 1, wherein determining the target steering hand torque using the target steering torque and the target steering angle comprises:
taking the target steering torque and the target steering angle as the input of a target steering hand torque estimation model, and determining the target steering hand torque by using the target steering hand torque estimation model;
the target steering hand moment estimation model is determined according to the dynamic relationship between the rotational inertia of a steering wheel and the pipe column, the target steering hand moment, the target steering angle, the steering angular velocity of the pipe column, the steering hand moment of the pipe column, the friction moment of the pipe column, the torsional rigidity of a torque sensor, the friction coefficient of the pipe column and the friction moment at the installation position of the pipe column.
3. The method of claim 1, wherein the target steering hand moment estimation model comprises:
Figure FDA0001901060360000011
wherein,
Figure FDA0001901060360000012
wherein,
Figure FDA0001901060360000013
is the steering angular velocity theta of the pipe stringswIs estimated by
Figure FDA0001901060360000014
Is composed of
Figure FDA0001901060360000015
The derivative of,
Figure FDA0001901060360000016
Is the target steering hand torque;
Figure FDA0001901060360000017
is composed of
Figure FDA0001901060360000018
A derivative of (a);
u＝θout，θoutis the target steering angle;
Figure FDA0001901060360000019
an estimate of y;
y＝Ttbwherein, TtbIs the target steering torque;
Keis a target gain parameter; the target gain parameters are y and
Figure FDA00019010603600000110
a gain of the difference of (a);
parameter(s)
Figure FDA0001901060360000021
Parameter(s)
Figure FDA0001901060360000022
Parameter C ═ Ktb0 0]The parameter D [ -K [ - ]tb]；
KtbIs the torsional stiffness of the torque sensor; j. the design is a squareswThe moment of inertia of the steering wheel and the pipe column; and b is the friction coefficient of the pipe column.
4. The method of claim 3, wherein the target gain parameter KeObtained by the following method:
obtaining torsional stiffness K of torque sensortbMoment of inertia J of steering wheel and tubular columnswAnd the friction coefficient b of the pipe string;
according to A-KeC is a Hurwitz matrix, and a target gain parameter K is determinedeThe value range of (a);
acquiring a test steering torque of the pipe column, a test steering angle of the output shaft of the pipe column and a test steering hand torque;
obtaining an estimated steering hand torque by using a test steering hand torque estimation model according to the test steering torque and the test steering angle; the test steering hand moment estimation model comprises a test gain parameter, and the value of the test gain parameter is in the value range of the target gain parameter;
and if the difference value between the test steering hand moment and the estimated steering hand moment meets a preset condition, determining the test gain parameter as the target gain parameter.
5. A method of controlling steering of a vehicle, comprising:
acquiring a target steering hand moment determined by the method according to any one of claims 1 to 4;
and if the target steering hand moment is larger than or equal to a preset threshold value, controlling the vehicle to steer according to the target steering hand moment.
6. An apparatus for determining a steering hand torque applied to a steering wheel of a vehicle, comprising:
the first acquisition unit is used for acquiring a target steering torque of a pipe column of an automobile steering system; acquiring a target steering angle of the output shaft of the tubular column;
and the determining unit is used for determining the target steering hand moment by utilizing the target steering moment and the target steering angle.
7. The apparatus according to claim 6, wherein the determining unit is specifically configured to:
taking the target steering torque and the target steering angle as the input of a target steering hand torque estimation model, and determining the target steering hand torque by using the target steering hand torque estimation model;
the target steering hand moment estimation model is determined according to the dynamic relationship between the rotational inertia of a steering wheel and the pipe column, the target steering hand moment, the target steering angle, the steering angular velocity of the pipe column, the steering hand moment of the pipe column, the friction moment of the pipe column, the torsional rigidity of a torque sensor, the friction coefficient of the pipe column and the friction moment at the installation position of the pipe column.
8. The apparatus of claim 6, wherein the target steering hand moment estimation model comprises:
Figure FDA0001901060360000031
wherein,
Figure FDA0001901060360000032
wherein,
Figure FDA0001901060360000033
is the steering angular velocity theta of the pipe stringswThe estimated value of,
Figure FDA0001901060360000034
Is composed of
Figure FDA0001901060360000035
The derivative of,
Figure FDA0001901060360000036
Is the target steering hand torque;
Figure FDA0001901060360000037
is composed of
Figure FDA0001901060360000038
A derivative of (a);
u＝θout，θoutis the target steering angle;
Figure FDA0001901060360000039
an estimate of y;
y＝Ttbwherein, TtbIs the target steering torque;
Keis a target gain parameter; the target gain parameters are y and
Figure FDA00019010603600000310
a gain of the difference of (a);
parameter(s)
Figure FDA00019010603600000311
Parameter(s)
Figure FDA00019010603600000312
Parameter C ═ Ktb0 0]The parameter D [ -K [ - ]tb]；
KtbIs the torsional stiffness of the torque sensor; j. the design is a squareswThe moment of inertia of the steering wheel and the pipe column; and b is the friction coefficient of the pipe column.
9. The apparatus of claim 8, wherein the target gain parameter is obtained by:
obtaining torsional stiffness K of torque sensortbMoment of inertia J of steering wheel and tubular columnswAnd the friction coefficient b of the pipe string;
according to A-KeC is a Hurwitz matrix, and a target gain parameter K is determinedeThe value range of (a);
acquiring a test steering torque of the pipe column, a test steering angle of the output shaft of the pipe column and a test steering hand torque;
obtaining an estimated steering hand torque by using a test steering hand torque estimation model according to the test steering torque and the test steering angle; the test steering hand moment estimation model comprises a test gain parameter, and the value of the test gain parameter is in the value range of the target gain parameter;
and if the difference value between the test steering hand moment and the estimated steering hand moment meets a preset condition, determining the test gain parameter as the target gain parameter.
10. An apparatus for controlling steering of a vehicle, comprising:
a second acquisition unit for acquiring a target steering hand moment determined by the method according to any one of claims 1 to 4;
and the control unit is used for controlling the vehicle to steer according to the target steering hand moment if the target steering hand moment is greater than or equal to a preset threshold value.
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