CN111605608A - A kind of power-assisted vehicle steering control method, device, system and storage medium - Google Patents

Abstract

The invention relates to the technical field of vehicle steering. The invention discloses a power-assisted vehicle steering control method, device, system and storage medium. The power-assisted vehicle steering control method includes the following steps: obtaining a temperature through a temperature sensor; determining a temperature state according to the temperature; obtaining current vehicle steering information; determine the power steering signal set corresponding to the temperature state, each signal of the power steering signal set corresponds to a vehicle steering information; determine the power steering signal from the power steering signal set based on the current vehicle steering information; The power steering signal controls the motor to assist the steering of the vehicle. The steering control method for an assisted vehicle provided by the present invention has the characteristics of improving the steering force of the vehicle in a low temperature environment.

Description

A kind of power-assisted vehicle steering control method, device, system and storage medium

technical field

The present invention relates to the technical field of vehicle steering, and in particular, to a steering control method, device, system and storage medium for a power-assisted vehicle.

Background technique

The automobile steering system was the first to use a purely mechanical steering system, which has a heavy steering hand and is not easy to drive. With the development of the automobile industry, customers have higher and higher requirements for the comfort and convenience of automobile driving, so the steering assist unit appears in the automobile steering system, making it difficult to drive. Its steering is smooth and light.

In general, the power steering has also been developed from hydraulic power assist and electronically controlled hydraulic power steering to the current electric power steering, making the steering system more functional, intelligent and controllable.

However, the steering hydraulic assist, electronically controlled hydraulic assist and electric assist units in the prior art all have a drawback, that is, after being placed at low temperature for a period of time, the steering hand force to start the vehicle will increase. Among them, because the mechanical and liquid low temperature fluidity of hydraulic power assist and electronically controlled hydraulic power unit cannot be overcome, so in low temperature weather, vehicles equipped with the above power steering systems need to warm up the car for a period of time before driving after starting the vehicle. . Although the electric power steering unit has no hydraulic oil, the temperature has a relatively small impact on it, but its steering system and suspension system have mechanical grease parts, and low temperature will also lead to an increase in steering hand force; especially when the ambient temperature is below zero Below 20°C, the steering hand force increases significantly after the vehicle is started.

SUMMARY OF THE INVENTION

What the present invention aims to improve is the technical problem that the vehicle in the above-mentioned background art has a large steering force in a low temperature environment. In order to solve the above technical problems, the present application discloses a steering control method for an assisted vehicle, which includes the following steps:

Obtain the temperature through the temperature sensor;

Determine the temperature state according to the temperature;

Get the current vehicle steering information;

determining a power steering signal set corresponding to the temperature state, and each signal of the power steering signal set corresponds to a piece of vehicle steering information;

determining a power steering signal from the power steering signal set based on the current vehicle steering information;

The motor is controlled to assist the steering of the vehicle based on the power steering signal.

Optionally, the temperature state includes at least a normal temperature state and a low temperature state;

The power steering signal set corresponding to the normal temperature state is the first power steering signal set;

The power steering signal set corresponding to the low temperature state is the second power steering signal set.

Optionally, the determination of the power steering signal set corresponding to the temperature state includes:

If the temperature state is the normal temperature state, determine that the power steering signal set corresponding to the normal temperature state is the first power steering signal set;

If the temperature state is a low temperature state, it is determined that the power steering signal set corresponding to the low temperature state is the second power steering signal set.

Optionally, the vehicle steering information includes vehicle speed and steering wheel torque;

The power steering signal includes a first power steering signal and a second power steering signal.

Optionally, the determination of the power steering signal from the power steering signal set based on the current vehicle steering information includes:

Determine the current steering hand torque according to the current vehicle speed and the current steering wheel torque;

A first power steering signal is determined from a first power steering signal set based on the current steering hand torque, or a second power steering signal is determined from a second power steering signal set based on the current steering hand torque.

Optionally, controlling the motor to assist the steering of the vehicle based on the power steering signal includes:

Determine the motor assist current signal according to the power steering signal;

The motor assists the steering of the vehicle by controlling the motor assist current signal.

In another aspect, the present application discloses a power-assisted vehicle steering device, comprising a temperature state determination module, a driving state determination module, a power-assisted steering signal determination module, and an opening module;

The temperature state determination module is used to determine the temperature state;

The vehicle steering information determining module is used to determine vehicle steering information;

The power steering signal determining module is configured to determine the power steering signal according to the temperature state and the vehicle steering information;

The opening module is used for controlling the electric motor to assist the steering of the vehicle based on the power steering signal.

In another aspect, the present application also discloses a power-assisted vehicle steering system, which includes a temperature sensor, an electronic control unit, a torque sensor, a steering column assembly, a motor assembly and a vehicle speed sensor; the steering column assembly is used for Transfer the steering wheel torque to the torque sensor;

The steering column assembly is connected with the torque sensor, and the torque sensor is used for transmitting the steering wheel rotation torque information to the electronic control unit;

The vehicle speed sensor is used to transmit the vehicle speed information to the electronic control unit;

The electronic control unit is provided with a temperature sensor, and the temperature sensor is used to transmit the current temperature information to the electronic control unit, and the electronic control unit is used to convert the current temperature information, the steering wheel torque information and the vehicle speed information into a motor The current signal is transmitted to the motor assembly;

The motor assembly is connected to the wheels.

Optionally, it also includes a tie rod assembly and a worm turbine assembly;

One end of the worm turbine assembly is connected with the motor assembly, and the other end of the worm turbine assembly is connected with the tie rod assembly;

One end of the tie rod assembly is connected with the wheel;

The tie rod assembly drives the worm-turbine assembly to rotate through the rotation of the motor assembly, and then rotates through the rotation of the worm-turbine assembly, thereby driving the wheels to rotate.

In another aspect, the present application also discloses a computer storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to realize the above-mentioned power-assisted vehicle Steering control method.

Adopting the above-mentioned technical scheme, the subject title provided by the application has the following beneficial effects:

The present application discloses a power-assisted vehicle steering control method, which includes the following steps: acquiring temperature through a temperature sensor; determining a temperature state according to the temperature; acquiring current vehicle steering information; determining a power-assisted steering signal set corresponding to the temperature state, the power-assisted steering signal Each signal of the set corresponds to a piece of vehicle steering information; a power-assisted steering signal is determined from the power-assisted steering signal set based on the current vehicle steering information; the motor is controlled to assist the vehicle steering based on the power-assisted steering signal. In this way, the obtained control method for assisting the steering of a vehicle can improve the technical problem that the vehicle has a large steering force in a low temperature environment.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

FIG. 1 is a flowchart of a steering control method for a power-assisted vehicle in an optional embodiment of the present application;

FIG. 2 is a flow chart of a steering control method for an assisted vehicle in another optional embodiment of the present application;

3 is a graph of a power steering signal set corresponding to the normal temperature state of the application;

4 is a graph of a power steering signal set corresponding to a low temperature state of the present application;

5 is a schematic structural diagram of an optional power-assisted vehicle steering system of the present application;

The following supplementary descriptions are provided for the accompanying drawings:

1-temperature sensor; 2-steering wheel; 3-steering column assembly; 4-torque sensor; 5-electronic control unit; 6-tie rod assembly; 7-motor assembly; 8-vehicle speed sensor; 9-worm turbine assembly into; 10-wheel; 11-rack.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of this application.

Reference herein to "one embodiment" or "an embodiment" refers to a particular feature, structure, or characteristic that may be included in at least one implementation of the present application. In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "top", "bottom", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the purpose of It is convenient to describe the application and to simplify the description, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the application. In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. Also, the terms "first," "second," etc. are used to distinguish between similar objects, and are not necessarily used to describe a particular order or precedence. It is to be understood that data so used may be interchanged under appropriate circumstances so that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein.

As shown in FIG. 1 , FIG. 1 is a flowchart of a steering control method for an assisted vehicle in an optional embodiment of the present application. The present application discloses a steering control method for an assisted vehicle, which includes the following steps:

S101: Obtain the temperature through a temperature sensor;

S102: Determine the temperature state according to the temperature;

S103: Acquire current vehicle steering information;

S104: Determine a power steering signal set corresponding to the temperature state, and each signal in the power steering signal set corresponds to a piece of vehicle steering information;

S105: Determine the power-assisted steering signal from the power-assisted steering signal set based on the current vehicle steering information;

S106: Control the motor to assist the steering of the vehicle based on the power steering signal.

However, in the prior art, in order to improve the problem of large steering force in low temperature environment, some products improve this by improving the low temperature flow performance of mechanical grease; It does not take into account that the power steering force required for steering at different temperatures is different, and that customers have different steering force requirements at different vehicle speeds.

However, a power-assisted vehicle steering control method provided by the present application obtains the temperature, which may be the internal temperature of the vehicle system or the ambient temperature as required, and determines the signals of different driving motors to assist the vehicle steering according to different temperatures and vehicle steering information. , fully consider the factors affecting the steering force of the vehicle, and improve the above-mentioned problems.

In an optional implementation manner, the temperature may be the internal temperature of the vehicle system or the ambient temperature according to actual needs.

In an optional embodiment, in step S102, the temperature state at least includes a normal temperature state and a low temperature state; the power steering signal set corresponding to the normal temperature state is the first power steering signal set; the power steering signal corresponding to the low temperature state Set is the second power steering signal set. Of course, according to actual needs, the temperature state in step S102 may also include three temperature levels, namely normal temperature state, medium and low temperature state, and low temperature state, so as to more accurately and quickly determine the power steering signals required at different temperatures. In step S105, the power steering signal includes a first power steering signal and a second power steering signal. The following is a detailed introduction based on the above-mentioned temperature conditions and power steering signals.

Specifically, as shown in FIG. 2 , FIG. 2 is a flowchart of a power-assisted vehicle steering control method in another optional embodiment of the present application; in this embodiment, the power-assisted steering signal corresponding to the temperature state is determined according to step S104 set, each signal of the power steering signal set corresponds to a vehicle steering information; determine the power steering signal from the power steering signal set based on the current vehicle steering information in step S105; control the motor assist based on the power steering signal in step S106 Vehicle steering, which can include:

S1021: if the temperature state is the normal temperature state, go to step S1031, otherwise go to step S1022;

S1031: Acquire current vehicle steering information;

S1041: Determine a first power steering signal set corresponding to the normal temperature state, each signal of the first power steering signal set corresponds to a vehicle steering information; as shown in FIG. 3, FIG. 3 is the power steering signal set corresponding to the normal temperature state of the application Graph; the graph shows each signal graph in the power steering signal set corresponding to the steering information of different vehicles, specifically, the graph is the steering hand torque-motor current relationship curve, and the graph obtained by different vehicles is also different. The same, that is, the curve is matched according to the actual vehicle.

S1051 : Determine the first power steering signal from the first power steering signal set based on the current vehicle steering information, that is, determine the current value of the motor according to the current steering hand torque correspondingly according to the curve relationship shown in FIG. 3 .

S1061: Control the motor to assist the steering of the vehicle based on the first power steering signal;

That is to say, the motor speed is controlled by controlling the current value of the motor, and the steering torque of the vehicle is controlled by the motor speed, thereby assisting the steering of the vehicle.

S1021: if the temperature state is a low temperature state, go to step S1032, otherwise go to step S1023;

S1023: Power steering is not performed by the motor;

That is, if the temperature determined by the temperature sensor is not within the normal and low temperature range, the vehicle does not require power steering.

S1032: Obtain the current vehicle steering information;

S1042: Determine a second power steering signal set corresponding to the normal temperature state, where each signal of the second power steering signal set corresponds to a piece of vehicle steering information; as shown in FIG. 4 , which is the power steering signal set corresponding to the low temperature state of the application Graph. The curve shows each signal curve in the power steering signal set corresponding to different vehicle steering information. Specifically, the curve is the steering hand torque-motor current relationship curve, and the curve obtained by different vehicles is also different. That is, the curve is matched according to the actual vehicle.

S1052: Determine the second power steering signal from the second power steering signal set based on the current vehicle steering information, that is, determine the current value of the motor according to the current steering hand torque correspondingly according to the curve relationship shown in FIG. 4 .

S1062: Control the motor to assist the steering of the vehicle based on the second power steering signal;

That is to say, the motor speed is controlled by controlling the current value of the motor, and the steering torque of the vehicle is controlled by the motor speed, thereby assisting the steering of the vehicle.

In an optional embodiment, in step S103, the vehicle steering information includes vehicle speed and steering wheel torque.

In an optional implementation manner, step S105 includes:

Determine the current steering hand torque according to the current vehicle speed and the current steering wheel torque;

A first power-assisted steering signal is determined from the first power-assisted steering signal set based on the current steering hand torque; in another optional embodiment, a second power-assisted steering signal is determined from the second power-assisted steering signal set based on the current steering hand torque turn signal.

In an optional implementation manner, step S106 includes:

Determine the motor assist current signal according to the power steering signal;

The motor assists the steering of the vehicle by controlling the motor assist current signal.

Another aspect of the present application discloses a power-assisted vehicle steering device, comprising a temperature state determination module, a driving state determination module, a power steering signal determination module and an opening module; the temperature state determination module is used to determine a temperature state; the vehicle steering an information determining module for determining vehicle steering information; the power steering signal determining module for determining a power steering signal according to the temperature state and the vehicle steering information; the opening module for controlling the motor to assist the vehicle steering based on the power steering signal .

As shown in FIG. 5, FIG. 5 is a schematic structural diagram of an optional power-assisted vehicle steering system of the present application; on the other hand, the present application also discloses a power-assisted vehicle steering system, which includes a temperature sensor 1, an electronic control unit (ECU) ) 5. Torque sensor 4, steering column assembly 3, motor assembly 7 and vehicle speed sensor 8; the steering column assembly 3 is used to transmit the rotational torque of the steering wheel 2 to the torque sensor 4;

The steering column assembly 3 is connected with the torque sensor 4, and the torque sensor 4 is used to transmit the rotational torque information of the steering wheel 2 to the electronic control unit 5; the vehicle speed sensor 8 is used to transmit the vehicle speed information to the electronic control unit 5. Unit 5, specifically, the vehicle speed sensor 8 is connected to the electronic control unit through a CAN line, the electronic control unit 5 is provided with a temperature sensor 1, the temperature sensor 1 is used to transmit the current temperature information to the electronic control unit 5, the The electronic control unit 5 is used to convert the current temperature information, the rotational torque information of the steering wheel 2 and the vehicle speed information into motor current signals and transmit them to the motor assembly 7 ; the motor assembly 7 is connected to the wheels 10 .

In an optional embodiment, the power-assisted vehicle steering system further includes a tie rod assembly 6 and a worm-turbine assembly 9; one end of the worm-turbine assembly 9 is connected to the motor assembly 7, and the worm-turbine assembly 9 has an end. The other end is connected with the pull rod assembly 6; one end of the pull rod assembly 6 is connected with the wheel 10; the pull rod assembly 6 drives the worm turbine assembly 9 to rotate through the rotation of the motor assembly 7, and then passes through the worm turbine The rotation of the assembly 9 realizes the rotation, thereby driving the wheels 10 to rotate.

In an optional embodiment, the power-assisted vehicle steering system further includes a rack 11 , one end of the rack 11 is connected to the worm turbine assembly 9 , and the other end of the rack 11 is connected to the tie rod assembly 9 .

In another aspect, the present application also discloses a computer storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to realize the above-mentioned power-assisted vehicle Steering control method.

It should be noted that: the above-mentioned order of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And the foregoing describes specific embodiments of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that in the embodiments and still achieve desirable results. Additionally, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the various embodiments may be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, as for the system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and for related parts, please refer to the partial descriptions of the method embodiments.

The above are only optional embodiments of the present application, and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application. Inside.

Claims (10)

1. A power-assisted vehicle steering control method characterized by comprising the steps of:

acquiring temperature through a temperature sensor (1);

determining a temperature state according to the temperature;

acquiring current vehicle steering information;

determining a power-assisted steering signal set corresponding to the temperature state, wherein each signal of the power-assisted steering signal set corresponds to vehicle steering information;

determining a power steering signal from a power steering signal set based on the current vehicle steering information;

controlling the motor-assisted vehicle to steer based on the power-assisted steering signal.

2. The power-assisted vehicle steering control method according to claim 1, characterized in that the temperature state includes at least a normal temperature state and a low temperature state;

the power-assisted steering signal set corresponding to the normal temperature state is a first power-assisted steering signal set;

and the power-assisted steering signal set corresponding to the low-temperature state is a second power-assisted steering signal set.

3. A power-assisted vehicle steering control method according to claim 2, wherein the determining a set of power-assisted steering signals corresponding to the temperature state comprises:

if the temperature state is a normal temperature state, determining a power-assisted steering signal set corresponding to the normal temperature state as a first power-assisted steering signal set;

and if the temperature state is a low-temperature state, determining that the power-assisted steering signal set corresponding to the low-temperature state is a second power-assisted steering signal set.

4. The power-assisted vehicle steering control method according to claim 2, characterized in that the vehicle steering information includes a vehicle speed and a steering wheel torque;

the power steering signals include a first power steering signal and a second power steering signal.

5. A power-assisted vehicle steering control method according to claim 4, wherein determining a power-assisted steering signal from a set of power-assisted steering signals based on the current vehicle steering information comprises:

determining the current steering hand moment according to the current vehicle speed and the current steering wheel torque;

a first power steering signal is determined from a first power steering signal set based on the current steering hand torque, or a second power steering signal is determined from a second power steering signal set based on the current steering hand torque.

6. The power-assisted vehicle steering control method according to claim 1, wherein the controlling of motor-assisted vehicle steering based on the power-assisted steering signal includes:

determining a motor power-assisted current signal according to the power-assisted steering signal;

and controlling the motor-assisted vehicle to steer by the motor-assisted current signal.

7. The power-assisted vehicle steering device is characterized by comprising a temperature state determining module, a driving state determining module, a power-assisted steering signal determining module and an opening module;

the temperature state determining module is used for determining a temperature state;

the vehicle steering information determining module is used for determining vehicle steering information;

the power-assisted steering signal determining module is used for determining a power-assisted steering signal according to the temperature state and the vehicle steering information;

the starting module is used for controlling the motor power-assisted vehicle to steer based on the power-assisted steering signal.

8. A power-assisted vehicle steering system is characterized by comprising a temperature sensor (1), an electronic control unit (5), a torque sensor (4), a steering column assembly (3), a motor assembly (7) and a vehicle speed sensor (8); the steering column assembly (3) is used for transmitting the rotating torque of the steering wheel (2) to the torque sensor (4);

the steering column assembly (3) is connected with the torque sensor (4), and the torque sensor (4) is used for transmitting the rotation torque information of the steering wheel (2) to the electronic control unit (5);

the vehicle speed sensor (8) is used for transmitting vehicle speed information to the electronic control unit (5);

the electronic control unit (5) is provided with a temperature sensor (1), the temperature sensor (1) is used for transmitting the current temperature information to the electronic control unit (5), and the electronic control unit (5) is used for converting the current temperature information, the steering wheel (2) rotation torque information and the vehicle speed information into a motor current signal and transmitting the motor current signal to the motor assembly (7);

the motor assembly (7) is connected with the wheels (10).

9. A power assisted vehicle steering system according to claim 8, further comprising a tie rod assembly (6) and a worm gear assembly (9);

one end of the worm and turbine assembly (9) is connected with the motor assembly (7), and the other end of the worm and turbine assembly (9) is connected with the pull rod assembly (6);

one end of the pull rod assembly (6) is connected with the wheel (10);

the pull rod assembly (6) drives the worm and turbine assembly (9) to rotate through the rotation of the motor assembly (7), and then the rotation is realized through the rotation of the worm and turbine assembly (9), so that the wheels (10) are driven to rotate.

10. A computer storage medium having at least one instruction or at least one program stored therein, the at least one instruction or the at least one program being loaded and executed by a processor to implement the power assisted vehicle steering control method of any one of claims 1-6.

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