CN113386858A - EPS corner sensor angle neutral position correction self-learning method and system and vehicle - Google Patents
EPS corner sensor angle neutral position correction self-learning method and system and vehicle Download PDFInfo
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- CN113386858A CN113386858A CN202110742688.0A CN202110742688A CN113386858A CN 113386858 A CN113386858 A CN 113386858A CN 202110742688 A CN202110742688 A CN 202110742688A CN 113386858 A CN113386858 A CN 113386858A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
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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
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses an EPS corner sensor angle neutral position correction self-learning method, a system and a vehicle, comprising the following steps: detecting the axle speeds of the front axle and the rear axle, the hand torque of the steering wheel, the vehicle speed, the wheel speeds and the vehicle speed difference of the four wheels, the variation gradient of the vehicle speed, the variation gradient of the wheel speeds of the four wheels and the rotating speed of the steering wheel, triggering the self-learning function of the rotation angle sensor of the electric power steering system if all the parameters meet the preset limit value, and then correcting according to the determined angle target value. When deviation occurs in the middle position calibration of the steering angle sensor, the invention can learn the middle position of the steering angle sensor to be in a correct state so as to ensure that the middle position of the steering angle sensor is matched with the real steering wheel steering angle of the vehicle, and avoid the phenomenon that the aligning torque is inconsistent or the steering of the vehicle is off tracking in the left-right steering process.
Description
Technical Field
The invention belongs to the technical field of control of electric power steering systems, and particularly relates to an EPS (electric power steering) angle sensor angle neutral position correction self-learning method, an EPS angle sensor angle neutral position correction self-learning system and a vehicle.
Background
In the electric power steering system, the assist torque and the active return torque are set based on information such as the angle value of the steering angle sensor and the vehicle speed, and therefore, the consistency between the angle of the steering angle sensor and the actual steering wheel angle is important. The existing calculation mode of the corner sensor is generally that the whole vehicle is assembled and is off-line, the vehicle is positioned at four wheels and is fixed by a special tool after the steering wheel is aligned, and then the zero calibration is carried out on the corner sensor in the electric power steering system, so that the angle neutral position of the corner sensor is consistent with the steering wheel neutral position. However, at an after-sale terminal, when the corner sensor in the electric power steering system needs to be calibrated again due to the situations of fault maintenance and the like, the neutral calibration deviation of the corner sensor is caused due to the fact that no proper steering wheel fixing tool is available or the operation is not standard, the neutral position of the actual steering wheel of the vehicle is inconsistent with the neutral position of the corner sensor, and therefore the aligning torque is inconsistent in the left-right steering process, or the electric power steering system provides corresponding power torque according to the neutral position angle based on the corner sensor in the straight-ahead process of the vehicle, so that the vehicle deviates from one side and is called as 'deviation'.
Therefore, it is necessary to develop a new EPS corner sensor angle median correction self-learning method, system and vehicle.
Disclosure of Invention
The invention aims to provide an EPS (electric power steering) corner sensor angle neutral position correction self-learning method, an EPS corner sensor angle neutral position correction self-learning system and a vehicle, so as to ensure that the neutral position of a corner sensor is matched with the real steering wheel corner of the vehicle.
In a first aspect, the invention provides an EPS corner sensor angle neutral position correction self-learning method, which comprises the following steps:
s1, detecting the axle speeds of the front axle and the rear axle, the hand torque of the steering wheel, the vehicle speed, the difference between the wheel speeds of the four wheels and the vehicle speed, the variation gradient of the wheel speeds of the four wheels and the rotating speed of the steering wheel;
s2, judging whether the following conditions are all satisfied:
1) the speed difference of the front shaft and the rear shaft is smaller than a first preset threshold;
2) the hand moment of the steering wheel is smaller than a second preset threshold value;
3) the vehicle speed is greater than a preset third preset threshold;
4) the difference between the wheel speeds of the four wheels and the vehicle speed is smaller than a fourth preset threshold value;
5) the vehicle speed change gradient is smaller than a fifth preset threshold;
6) the variation gradient of the wheel speeds of the four wheels is smaller than a sixth preset threshold value;
7) the rotating speed of the steering wheel is smaller than a seventh preset threshold value;
if the conditions are met, triggering a neutral position correction self-learning function of the steering angle sensor of the electric power steering system, specifically: according to the Ackerman principle, the rotation angle of a front wheel is calculated through the left and right rear wheel speeds and vehicle parameters, the rotation angle is converted into a steering wheel rotation angle theta through the whole vehicle angle transmission ratio, and the steering wheel rotation angle theta is used as a self-learning target angle in a neutral position of a rotation angle sensor of the electric power steering system;
and S3, compensating the steering wheel angle theta and the actual steering wheel angle through a low-pass filter until the actual steering wheel angle is consistent with the target angle, and finishing the self-learning process of the neutral angle of the steering angle sensor.
Alternatively, the method of calculating the steering wheel angle θ is as follows:
calculating the turning radius R:
wherein: vRL＝ω*(D1+D2)；
Wherein: vRIs the rear axle speed, omega is the rear axle angular velocity, VRLRear left wheel speed, VRRRear right wheel speed, D1 wheel track, D2 distance between the right rear wheel and the steering center O;
calculating a front wheel corner delta:
wherein: l is the wheelbase;
calculating a steering wheel angle θ:
θ＝δ*iratio；
wherein: i.e. iratioIs the transmission ratio.
Optionally, the compensation value is determined according to the following formula:
Dn＝p*Δ+(1-p)*Dn-1；
wherein: dn is a current angle compensation value, Dn-1 is a last angle compensation value, delta is a difference value between a compensation target angle and an actual steering wheel angle, and p is a compensation coefficient.
In a second aspect, the invention provides an EPS (electric power steering) corner sensor angle median correction self-learning system, which comprises a memory and a processor;
a computer readable program is stored in the memory;
the processor calls the computer readable program to execute the steps of the EPS corner sensor angle median correction self-learning method.
In a third aspect, the invention provides a vehicle, and the vehicle adopts the EPS corner sensor angle neutral position correction self-learning system.
The invention has the following advantages: in an electric power steering system (EPS) using steering wheel corners to set power-assisted torque and active aligning torque, when deviation occurs in the calibration of the middle position of a corner sensor, the middle position of the corner sensor can be learned to be in a correct state through the invention, so that the middle position of the corner sensor is matched with the real steering wheel corner of a vehicle, and the phenomenon that aligning torque is inconsistent or the phenomenon of deviation occurs in the left-right steering process of the vehicle is avoided.
Drawings
FIG. 1 is a schematic diagram of a steering system in the present embodiment;
fig. 2 is a flowchart of the present embodiment.
Detailed Description
The invention is described in the following with reference to the accompanying drawings.
As shown in fig. 1 and fig. 2, in the present embodiment, a method for correcting and self-learning an EPS rotation angle by neutral position includes the following steps:
s1, detecting the front and rear axle speed, the hand torque of the steering wheel, the vehicle speed, the difference between the four wheel speeds and the vehicle speed, the variation gradient of the four wheel speeds and the rotating speed of the steering wheel during the running process of the vehicle.
S2, judging whether the following conditions are all satisfied:
1) the speed difference of the front shaft and the rear shaft is smaller than a first preset threshold; the first preset threshold is a calibration value, for example, the first preset threshold of a certain vehicle type is 0.4kph, wherein the front axle speed is equal to the average value of the left front wheel speed and the right front wheel speed; the rear axle speed is equal to the average of the left rear wheel speed and the right rear wheel speed.
2) The hand moment of the steering wheel is smaller than a second preset threshold value; the second preset threshold is a calibration value, for example, the second preset threshold of a certain vehicle type is 1.2n.m, and the hand torque of the steering wheel is the torque of the steering wheel operated by the driver measured by the torque sensor.
3) The vehicle speed is greater than a preset third preset threshold; the third preset threshold is a calibration value, for example, the third preset threshold of a certain vehicle type is 25kph, and the vehicle speed is acquired from the CAN bus.
4) The difference between the wheel speeds of the four wheels and the vehicle speed is smaller than a fourth preset threshold value; the fourth preset threshold is a calibration value, for example, the fourth preset threshold of a certain vehicle type is 0.007 × vehicle speed, and wheel speed signals of four wheels are obtained from a CAN bus.
5) The vehicle speed change gradient is smaller than a fifth preset threshold; the fifth preset threshold is a calibration value, for example, the fifth preset threshold of a certain vehicle type is 30 kph/s.
6) The variation gradient of the wheel speeds of the four wheels is smaller than a sixth preset threshold value; the sixth preset threshold is a calibration value, for example, the sixth preset threshold of a certain vehicle type is 30 kph/s.
7) The rotating speed of the steering wheel is smaller than a seventh preset threshold value; the seventh preset threshold is a calibration value, for example, the seventh preset threshold of a certain vehicle type is 0.05rev/s, and the rotating speed of the steering wheel is provided by the electric power steering system controller.
If the conditions are met, triggering a neutral position correction self-learning function of the steering angle sensor of the electric power steering system, specifically: according to the Ackerman principle, the rotation angle of a front wheel is calculated through the left and right rear wheel speeds and vehicle parameters, the rotation angle is converted into a steering wheel rotation angle theta through the whole vehicle angle transmission ratio, and the steering wheel rotation angle theta is used as a self-learning target angle in a neutral position of a rotation angle sensor of the electric power steering system.
In this embodiment, the method of calculating the steering wheel angle θ is as follows:
calculating the turning radius R:
wherein: vRL＝ω*(D1+D2)；
Wherein: vRIs the rear axle speed, omega is the rear axle angular velocity, VRLRear left wheel speed, VRRFor rear right wheel speed, D1 is the track width, and D2 is the distance between the right rear wheel and the steering center O.
Calculating a front wheel corner delta:
wherein: l is the wheelbase.
Calculating a steering wheel angle θ:
θ＝δ*iratio；
wherein: i.e. iratioIs the transmission ratio.
And S3, compensating the steering wheel angle theta and the actual steering wheel angle through a low-pass filter until the actual steering wheel angle is consistent with the target angle, and finishing the self-learning process of the neutral angle of the steering angle sensor.
In this embodiment, the compensation value is determined according to the following formula:
Dn＝p*Δ+(1-p)*Dn-1；
wherein: dn is a current angle compensation value;
dn-1 is the last angle compensation value;
delta is the difference value between the compensation target angle and the actual steering wheel angle;
p is a compensation coefficient and takes a value of 0.0001.
In this embodiment, an EPS rotation angle sensor angle median correction self-learning system includes a memory and a processor. The memory has stored therein a computer readable program. The processor invokes the computer readable program to execute the steps of the EPS corner sensor angle median correction self-learning method according to the embodiment.
In the embodiment, a vehicle adopts the EPS corner sensor angle neutral position correction self-learning system as described in the embodiment.
Claims (5)
1. An EPS corner sensor angle neutral position correction self-learning method is characterized by comprising the following steps:
s1, detecting the axle speeds of the front axle and the rear axle, the hand torque of the steering wheel, the vehicle speed, the difference between the wheel speeds of the four wheels and the vehicle speed, the variation gradient of the wheel speeds of the four wheels and the rotating speed of the steering wheel;
s2, judging whether the following conditions are all satisfied:
1) the speed difference of the front shaft and the rear shaft is smaller than a first preset threshold;
2) the hand moment of the steering wheel is smaller than a second preset threshold value;
3) the vehicle speed is greater than a preset third preset threshold;
4) the difference between the wheel speeds of the four wheels and the vehicle speed is smaller than a fourth preset threshold value;
5) the vehicle speed change gradient is smaller than a fifth preset threshold;
6) the variation gradient of the wheel speeds of the four wheels is smaller than a sixth preset threshold value;
7) the rotating speed of the steering wheel is smaller than a seventh preset threshold value;
if the conditions are met, triggering a neutral position correction self-learning function of the steering angle sensor of the electric power steering system, specifically: according to the Ackerman principle, a front wheel steering angle delta is calculated through left and right rear wheel speeds and vehicle parameters, the front wheel steering angle delta is converted into a steering wheel steering angle theta through the whole vehicle angle transmission ratio, and the steering wheel steering angle theta is used as a self-learning target angle in a neutral position of a steering angle sensor of the electric power steering system;
and S3, compensating the steering wheel angle theta and the actual steering wheel angle through a low-pass filter until the actual steering wheel angle is consistent with the target angle, and finishing the self-learning process of the neutral angle of the steering angle sensor.
2. The EPS corner sensor angle median correction self-learning method as claimed in claim 1, wherein: the method of calculating the steering wheel angle θ is as follows:
calculating the turning radius R:
wherein: vRL＝ω*(D1+D2)；VRR＝ω*D2；
Wherein: vRIs the rear axle speed, omega is the rear axle angular velocity, VRLRear left wheel speed, VRRRear right wheel speed, D1 wheel track, D2 distance between the right rear wheel and the steering center O;
calculating a front wheel corner delta:
wherein: l is the wheelbase;
calculating a steering wheel angle θ:
θ＝δ*iratio；
wherein: i.e. iratioIs the transmission ratio.
3. The EPS corner sensor angle median correction self-learning method as claimed in claim 2, characterized in that: the compensation value is determined according to the following formula:
Dn＝p*Δ+(1-p)*Dn-1；
wherein: dn is a current angle compensation value, Dn-1 is a last angle compensation value, delta is a difference value between a compensation target angle and an actual steering wheel angle, and p is a compensation coefficient.
4. The EPS corner sensor angle median correction self-learning system comprises a memory and a processor, and is characterized in that:
a computer readable program is stored in the memory;
the processor invoking the computer readable program may perform the steps of the EPS corner sensor angle median correction self-learning method as claimed in any one of claims 1 to 3.
5. A vehicle, characterized in that: the EPS corner sensor angle median correction self-learning system is adopted according to claim 4.
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| CN202110742688.0A CN113386858A (en) | 2021-06-30 | 2021-06-30 | EPS corner sensor angle neutral position correction self-learning method and system and vehicle |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115123263A (en) * | 2022-07-07 | 2022-09-30 | 摩登汽车有限公司 | Vehicle running deviation control method, vehicle control unit and vehicle |
| CN115179936A (en) * | 2022-06-22 | 2022-10-14 | 重庆长安汽车股份有限公司 | Self-learning method and device for self-adaptive cruise of vehicle, vehicle and storage medium |
| CN115973276A (en) * | 2023-01-13 | 2023-04-18 | 一汽解放汽车有限公司 | Steering transmission mechanism and its monitoring method |
| CN116331348A (en) * | 2023-05-26 | 2023-06-27 | 上海集度汽车有限公司 | Center steering correction device, vehicle, method and computer readable storage medium |
| CN116552627A (en) * | 2023-05-16 | 2023-08-08 | 东风华神汽车有限公司 | EPS steering zero correction method, device, equipment and readable storage medium |
| CN117657289A (en) * | 2022-09-01 | 2024-03-08 | 陕西重型汽车有限公司 | Zero calibration method for electric control hydraulic steering gear of heavy vehicle |
| CN118850172A (en) * | 2024-09-25 | 2024-10-29 | 浙江吉利控股集团有限公司 | Vehicle control method, storage medium, steering system and vehicle |
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| CN111688801A (en) * | 2020-06-30 | 2020-09-22 | 安徽江淮汽车集团股份有限公司 | Steering wheel zero position self-calibration control method, device, storage medium and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115179936A (en) * | 2022-06-22 | 2022-10-14 | 重庆长安汽车股份有限公司 | Self-learning method and device for self-adaptive cruise of vehicle, vehicle and storage medium |
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| CN117657289A (en) * | 2022-09-01 | 2024-03-08 | 陕西重型汽车有限公司 | Zero calibration method for electric control hydraulic steering gear of heavy vehicle |
| CN115973276A (en) * | 2023-01-13 | 2023-04-18 | 一汽解放汽车有限公司 | Steering transmission mechanism and its monitoring method |
| CN116552627A (en) * | 2023-05-16 | 2023-08-08 | 东风华神汽车有限公司 | EPS steering zero correction method, device, equipment and readable storage medium |
| CN116331348A (en) * | 2023-05-26 | 2023-06-27 | 上海集度汽车有限公司 | Center steering correction device, vehicle, method and computer readable storage medium |
| CN118850172A (en) * | 2024-09-25 | 2024-10-29 | 浙江吉利控股集团有限公司 | Vehicle control method, storage medium, steering system and vehicle |
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