CN114572303B - Electric power steering system control method, apparatus, computer device, and storage medium - Google Patents
Electric power steering system control method, apparatus, computer device, and storage medium Download PDFInfo
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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Abstract
The present application relates to an electric power steering system control method, apparatus, computer device, storage medium, and computer program product, the method comprising: acquiring an initial steering shaft load, the initial steering shaft load being acquired when the vehicle is detected from stationary to started; under the condition that an input torque signal is detected, acquiring the vehicle speed at the current moment and the vehicle acceleration at the current moment; and comparing the absolute value of the vehicle acceleration at the current moment with a preset threshold value to obtain a comparison result, and determining the output steering torque value at the current moment according to the comparison result. Corresponding steering assistance can be provided according to different loads, and the steering system is guaranteed to have optimal steering performance and steering control feeling under different load conditions. And can input suitable current value for the steering gear according to different load working conditions, thereby reducing the waste of energy.
Description
Technical Field
The present application relates to the field of electric steering technology, and in particular, to an electric steering system control method, an electric steering system control device, a computer device, a storage medium, and a computer program product.
Background
With the development of new technologies such as Electric Power Steering (EPS), particularly, electric vehicles, more and more vehicles employ an EPS. Compared with the traditional hydraulic power steering system, the electric power steering system can realize the functions of speed-following power assistance, active centering and the like, not only can improve the steering performance of the whole vehicle, but also can enable a driver to obtain better steering operation feeling.
At present, a basic power-assisted control strategy for an electric steering system generally monitors the torque input by a driver to a steering wheel according to different vehicle speeds to control a steering device to output proper steering torque, so that the steering of the vehicle is ensured to have low-speed portability and expressway feel. However, the control strategy does not consider the influence of different loads on the steering system, especially on vehicles with larger loads, because the empty load and the full load of the vehicle are very different, the steering moment provided by the steering device is different under different loads, and the control strategy of the electric steering system cannot provide corresponding steering assistance according to different loads, so that the steering system cannot be guaranteed to have optimal steering performance and steering operation feeling under different loads.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a control method, apparatus, computer device, computer-readable storage medium, and computer program product for an electric power steering system that are suitable for use with large load variations.
In a first aspect, the present application provides a method of controlling an electric power steering system. The method comprises the following steps:
acquiring an initial steering shaft load, the initial steering shaft load being acquired when the vehicle is detected from stationary to started;
under the condition that an input torque signal is detected, acquiring the vehicle speed at the current moment and the vehicle acceleration at the current moment;
and comparing the absolute value of the vehicle acceleration at the current moment with a preset threshold value to obtain a comparison result, and determining the output steering torque value at the current moment according to the comparison result.
In one embodiment, determining the output steering torque value at the current time according to the comparison result includes:
if the absolute value of the vehicle acceleration at the current moment is smaller than a preset threshold value, determining an output steering torque value at the current moment according to the initial steering shaft load, the vehicle speed at the current moment and the input torque value;
if the absolute value of the vehicle acceleration at the current moment is not smaller than the preset threshold value, the steering shaft load at the current moment is obtained, and the output steering torque value at the current moment is determined according to the steering shaft load at the current moment, the vehicle speed at the current moment and the input torque value.
In one embodiment, determining the output steering torque value at the current time based on the initial steering shaft load, the vehicle speed at the current time, and the input torque value includes:
determining a load section where an initial steering shaft load is located, wherein the load section is obtained by dividing a section formed by a vehicle idling to a vehicle full loading, and the load section is formed by a first load value and a second load value;
determining a first steering torque value corresponding to the first load value and a second steering torque value corresponding to the second load value according to the vehicle speed and the input torque value at the current moment;
and determining the current output steering torque value according to the initial steering shaft load, the first steering torque value and the second steering torque value.
In one embodiment, determining the current output steering torque value based on the initial steering shaft load, the first steering torque value, and the second steering torque value includes:
determining a first coefficient corresponding to the initial steering shaft load according to the initial steering shaft load, the first load value and the second load value;
and determining the current output steering torque value according to the first coefficient, the first steering torque value and the second steering torque value.
In one of the embodiments, the first load value is smaller than the second load value, and accordingly, the first steering torque value is smaller than the second steering torque value; determining a current output steering torque value according to the first coefficient, the first steering torque value and the second steering torque value, including:
Calculating a difference between the second steering torque value and the first steering torque value;
calculating a steering torque increasing value according to the first coefficient and the difference value;
and taking the addition result of the first steering torque value and the steering torque increasing value as the current output steering torque value.
In one embodiment, determining the output steering torque value at the current time according to the steering shaft load at the current time, the vehicle speed at the current time and the input torque value includes:
and calculating an output steering torque value at the current moment according to the steering shaft load at the current moment, the vehicle speed at the current moment and the input torque value based on a first function, wherein the first function is determined according to a vehicle calibration test.
In a second aspect, the present application also provides an electric power steering system control apparatus. The device comprises:
the first acquisition module is used for acquiring initial steering shaft load, wherein the initial steering shaft load is acquired when the vehicle is detected to start from rest;
the second acquisition module is used for acquiring the vehicle speed at the current moment and the vehicle acceleration at the current moment under the condition that the input torque signal is detected;
the determining module is used for comparing the absolute value of the vehicle acceleration at the current moment with a preset threshold value to obtain a comparison result, and determining the output steering torque value at the current moment according to the comparison result.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor which when executing the computer program performs the steps of:
acquiring an initial steering shaft load, the initial steering shaft load being acquired when the vehicle is detected from stationary to started;
under the condition that an input torque signal is detected, acquiring the vehicle speed at the current moment and the vehicle acceleration at the current moment;
and comparing the absolute value of the vehicle acceleration at the current moment with a preset threshold value to obtain a comparison result, and determining the output steering torque value at the current moment according to the comparison result.
In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
acquiring an initial steering shaft load, the initial steering shaft load being acquired when the vehicle is detected from stationary to started;
under the condition that an input torque signal is detected, acquiring the vehicle speed at the current moment and the vehicle acceleration at the current moment;
and comparing the absolute value of the vehicle acceleration at the current moment with a preset threshold value to obtain a comparison result, and determining the output steering torque value at the current moment according to the comparison result.
In a fifth aspect, the present application also provides a computer program product. Computer program product comprising a computer program which, when executed by a processor, realizes the steps of:
acquiring an initial steering shaft load, the initial steering shaft load being acquired when the vehicle is detected from stationary to started;
under the condition that an input torque signal is detected, acquiring the vehicle speed at the current moment and the vehicle acceleration at the current moment;
and comparing the absolute value of the vehicle acceleration at the current moment with a preset threshold value to obtain a comparison result, and determining the output steering torque value at the current moment according to the comparison result.
The above-described electric power steering system control method, apparatus, computer device, storage medium, and computer program product acquire an initial steering shaft load, the initial steering shaft load being acquired when it is detected that the vehicle is stationary to started; under the condition that an input torque signal is detected, acquiring the vehicle speed at the current moment and the vehicle acceleration at the current moment; and comparing the absolute value of the vehicle acceleration at the current moment with a preset threshold value to obtain a comparison result, and determining the output steering torque value at the current moment according to the comparison result. Corresponding steering assistance can be provided according to different loads, and the steering system is guaranteed to have optimal steering performance and steering control feeling under different load conditions. And can input suitable current value for the steering gear according to different load working conditions, thereby reducing the waste of energy.
Drawings
FIG. 1 is a schematic diagram of an electric power steering system in one embodiment;
FIG. 2 is a schematic diagram of an electric power steering apparatus according to one embodiment;
FIG. 3 is a flow chart of a method of controlling an electric power steering system in one embodiment;
FIG. 4 is a flow chart of a method of controlling an electric power steering system of a commercial vehicle in one embodiment;
FIG. 5 is a flow chart of a control method of an electric power steering system according to another embodiment;
FIG. 6 is a flow chart of a method of controlling an electric power steering system in yet another embodiment;
FIG. 7 is a block diagram showing the structure of an electric power steering system control device in one embodiment;
fig. 8 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
With the development of new technologies such as electric vehicle and intelligent technologies, more and more vehicles adopt an Electric Power Steering (EPS), especially pure electric vehicles. Compared with the traditional hydraulic power steering system, the electric power steering system can realize the functions of speed-following power assistance, active centering and the like, not only can improve the steering performance of the whole vehicle, but also can enable a driver to obtain better steering operation feeling.
At present, a basic power-assisted control strategy for an electric steering system generally monitors the torque input by a driver to a steering wheel according to different vehicle speeds to control a steering device to output proper steering torque, so that the steering of the vehicle is ensured to have low-speed portability and expressway feel. However, the control strategy does not consider the influence of different loads on the steering system, especially on vehicles with larger loads, such as commercial vehicles, because the empty load and the full load of the vehicles are very different, the steering torque provided by the steering device is different under different loads, and the control strategy of the electric steering system cannot provide corresponding steering assistance according to different loads, so that the steering system cannot be guaranteed to have optimal steering performance and steering operation feeling under different load conditions. In order to improve steering performance and steering feel of a commercial vehicle adopting an electric steering system, a control strategy of the electric steering system suitable for the commercial vehicle with large load change is provided.
Fig. 1 and 2 are schematic views of an electric power steering system and a structure diagram of an electric power steering device, wherein the electric power steering system mainly comprises a steering wheel, a torque sensor, a steering transmission shaft assembly, an electric power steering device, a steering arm, a steering longitudinal pull rod, a front shaft assembly, a steering tie rod and a wheel assembly, the electric power steering device mainly comprises a steering device, a motor and a controller, and the electric power steering system is used for realizing power steering in the prior art.
The electric steering gear controller is a controller for controlling the electric steering gear motor to work and stop. The vehicle speed, signal acquisition of the input torque of the steering wheel and application of electric steering which are mentioned in all embodiments of the application have ready-made products and control strategies, and the technical scheme adopted by the invention is not described any more.
In one embodiment, as shown in fig. 3, there is provided an electric power steering system control method, which is exemplified as an application of the method to an electric power steering controller of a vehicle, comprising the steps of:
and 306, comparing the absolute value of the vehicle acceleration at the current moment with a preset threshold value to obtain a comparison result, and determining the output steering torque value at the current moment according to the comparison result.
For a vehicle with a large load, for example, a commercial vehicle is used for loading and unloading cargoes only when the vehicle is stationary, and the load changes, so that the electric steering controller only needs to acquire the steering shaft load once as the initial steering shaft load when the vehicle is started from stationary.
When the vehicle speed sensor detects a change in the vehicle speed from 0, the electric power steering controller activates the load sensor to detect an instantaneous load, and the instantaneous load may be regarded as an initial steering shaft load in consideration of a short time interval.
In addition, since the vehicle has an axle load shift during acceleration or deceleration, it is necessary to acquire the steering axle load signal in real time when the absolute value of the acceleration or deceleration of the vehicle is greater than a certain value (determined according to different demands of different vehicles).
Specifically, in the normal running process of the vehicle, the whole vehicle inputs a vehicle speed signal and a steering shaft load signal to the electric steering controller, when a driver rotates the steering wheel, the torque sensor inputs a steering wheel input torque signal to the electric steering controller, the electric steering calculates a steering torque value to be output as a target torque according to different vehicle speeds, different steering wheel input torques and different steering shaft load signals, and the steering output torque reaches the target torque by controlling the motor current, so that the steering outputs the required steering torque. Referring to fig. 4, in one embodiment, taking a commercial vehicle as an example, the commercial vehicle inputs the vehicle speed, the steering wheel input torque and the steering shaft load signal into an electric steering controller, and the controller controls a motor through calculation to enable the steering device to output different steering torques, so that the vehicle steers according to the intention of a driver.
When the absolute value of the vehicle acceleration or deceleration is greater than the preset value, the electric steering controller re-acquires the steering shaft load signal in real time, and re-calculates the target torque according to the above-described procedure.
In the above-described electric power steering system control method, an initial steering shaft load is obtained, the initial steering shaft load being obtained when the vehicle is detected from stationary to started; under the condition that an input torque signal is detected, acquiring the vehicle speed at the current moment and the vehicle acceleration at the current moment; and comparing the absolute value of the vehicle acceleration at the current moment with a preset threshold value to obtain a comparison result, and determining the output steering torque value at the current moment according to the comparison result. Corresponding steering assistance can be provided according to different loads, and the steering system is guaranteed to have optimal steering performance and steering control feeling under different load conditions. And can input suitable current value for the steering gear according to different load working conditions, thereby reducing the waste of energy.
In one embodiment, determining the output steering torque value at the current time according to the comparison result includes:
if the absolute value of the vehicle acceleration at the current moment is smaller than a preset threshold value, determining an output steering torque value at the current moment according to the initial steering shaft load, the vehicle speed at the current moment and the input torque value;
If the absolute value of the vehicle acceleration at the current moment is not smaller than the preset threshold value, the steering shaft load at the current moment is obtained, and the output steering torque value at the current moment is determined according to the steering shaft load at the current moment, the vehicle speed at the current moment and the input torque value.
It should be noted that the preset threshold is used to determine whether or not the vehicle is suddenly accelerated or decelerated, and it is understood that the driving method of the vehicle is roughly divided into front wheel driving and rear wheel driving, and when the vehicle is suddenly accelerated or decelerated, there is a shift in the axle load of the drive axle of the vehicle due to inertia, for example, one vehicle is front wheel driving, the load of the steering axle of the front wheel is reduced when the vehicle is suddenly accelerated, and the load of the steering axle is increased when the vehicle is suddenly decelerated.
Specifically, the current steering shaft load is determined according to the magnitude of the vehicle acceleration, if the absolute value of the vehicle acceleration is smaller than a preset threshold value, the initial steering shaft load is the current steering shaft load, if the absolute value of the vehicle acceleration is smaller than the preset threshold value, the current steering shaft load is acquired again through a load sensor, and finally, the output torque value is calculated according to the steering shaft load, the vehicle speed and the input torque value.
In the above-mentioned electric power steering system control method, if the absolute value of the vehicle acceleration at the present moment is smaller than the preset threshold value, the output steering torque value at the present moment is determined according to the initial steering shaft load, the vehicle speed at the present moment and the input torque value; if the absolute value of the vehicle acceleration at the current moment is not smaller than the preset threshold value, the steering shaft load at the current moment is obtained, and the output steering torque value at the current moment is determined according to the steering shaft load at the current moment, the vehicle speed at the current moment and the input torque value. Corresponding steering assistance can be provided according to different loads, and the steering system is guaranteed to have optimal steering performance and steering control feeling under different load conditions. And can input suitable current value for the steering gear according to different load working conditions, thereby reducing the waste of energy.
In one embodiment, referring to fig. 5, determining the output steering torque value at the current time based on the initial steering shaft load, the current time vehicle speed, and the input torque value includes:
Wherein, according to the vehicle attribute, divide the axial load of the drive shaft of vehicle from empty to full equally into several shares: m is m 0 、m 1 、...、m n 、m n+1 、...、m s-1 、m s S load sections are obtained, and the vehicle speed V is determined a And input steering torque M a Under the condition of (1), the steering torque value which is required to be output and corresponds to the boundary value of each load interval can be determined through a calibration test: m is M 0 、M 1 、...、M n 、M n+1 、...、M s-1 、M s . If the initial steering shaft load mE [ m ] n 、m n+1 ]And the vehicle speed is V a Input steering torque M a Then can be according to M n And M n+1 The steering torque value that the electric power steering apparatus needs to output when the steering shaft load is m is determined.
In particular, the lower limit m of the load section in which the steering shaft load is located can be directly determined n Corresponding output moment value M n As the corresponding output steering torque value when the steering shaft load is m; the upper limit m of the load zone where the steering shaft load is located can also be directly calculated n+1 Corresponding output moment value M n+1 As the corresponding output steering torque value when the steering shaft load is m; m can also be calculated by a fixed formula n And M n+1 The output steering torque value, for example, the average value, corresponding to the steering shaft load m is determined by solving.
In the control method of the electric steering system, a load section where an initial steering shaft load is located is determined, wherein the load section is obtained by dividing a section formed by a vehicle no-load section to a vehicle full-load section, and the load section is formed by a first load value and a second load value; determining a first steering torque value corresponding to the first load value and a second steering torque value corresponding to the second load value according to the vehicle speed and the input torque value at the current moment; and determining the current output steering torque value according to the initial steering shaft load, the first steering torque value and the second steering torque value. Corresponding steering assistance can be provided according to different loads, and the steering system is guaranteed to have optimal steering performance and steering control feeling under different load conditions. And can input suitable current value for the steering gear according to different load working conditions, thereby reducing the waste of energy.
In one embodiment, referring to fig. 6, determining the current output steering torque value from the initial steering shaft load, the first steering torque value, and the second steering torque value includes:
In one of the embodiments, the first load value is smaller than the second load value, and accordingly, the first steering torque value is smaller than the second steering torque value; determining a current output steering torque value according to the first coefficient, the first steering torque value and the second steering torque value, including:
calculating a difference between the second steering torque value and the first steering torque value;
calculating a steering torque increasing value according to the first coefficient and the difference value;
and taking the addition result of the first steering torque value and the steering torque increasing value as the current output steering torque value.
Linear interpolation refers to an interpolation mode in which the interpolation function is a polynomial of degree, and the interpolation error at the interpolation node is zero. Compared with other interpolation modes, such as parabolic interpolation, the linear interpolation has the characteristics of simplicity and convenience. The geometric meaning of the linear interpolation is to approximate the original function by using a straight line passing through the point A and the point B in the outline map. The linear interpolation can be used to replace the original function approximately, and can also be used to calculate the values that are not in the table look-up process. It will be appreciated that the simplest understanding of the linear difference is to determine the function value of the third point by means of two already-pointed points.
The interval [ m ] where the initial steering shaft load m is located is known through calibration tests n 、m n+1 ]Wherein m is n For the first load value, m n+1 A second load value, a first steering torque value is M n The second steering torque value is M n+1 Then the output steering torque value M at the steering shaft load M is calculated by the linear difference as follows:
in the control method of the electric steering system, a first coefficient corresponding to the initial steering shaft load is determined according to the initial steering shaft load, the first load value and the second load value; calculating a difference between the second steering torque value and the first steering torque value; calculating a steering torque increasing value according to the first coefficient and the difference value; and taking the addition result of the first steering torque value and the steering torque increasing value as the current output steering torque value. The output steering moment value corresponding to the actual load is determined through interpolation calculation, and a belief function mode is adopted in a small range of a load interval, so that a more accurate output value can be obtained.
In one embodiment, determining the output steering torque value at the current time according to the steering shaft load at the current time, the vehicle speed at the current time and the input torque value includes:
and calculating an output steering torque value at the current moment according to the steering shaft load at the current moment, the vehicle speed at the current moment and the input torque value based on a first function, wherein the first function is determined according to a vehicle calibration test.
It can be understood that in the scheme of the application, the common influence of the vehicle speed, the input torque value and the steering shaft load on the output torque value is actually expected to be reflected, so that the first function can be determined through calibration tests, and the output steering torque is determined through three dimensions (the vehicle speed, the input torque value and the steering shaft load) in the first function. Specifically, the test is continuously performed by controlling one independent variable or two independent variables to obtain innumerable groups of test results, and the first function is determined by analyzing the change trend or bringing the first function into the initial function. In addition, when the vehicle load is the initial steering shaft load, the calculation may be performed by the first function, and only a determination method considering the output torque value of the steering shaft load is provided here.
In the control method of the electric steering system, the output steering torque value at the current moment is calculated according to the steering shaft load at the current moment, the vehicle speed at the current moment and the input torque value based on the first function, and the first function is determined according to a vehicle calibration test. By determining the function in advance, the function is directly input into the electric steering controller, the function can be directly calculated when the vehicle turns, compared with an interpolation method, the method does not need to judge an interval and call the corresponding first steering torque value and second steering torque value, the determination time of the output steering torque value is greatly saved, the input steering torque can be reacted fastest according to the load of the steering shaft, and the safe steering of the vehicle is ensured.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the present application also provides an electric power steering system control apparatus for implementing the above-mentioned electric power steering system control method. The implementation of the solution provided by the device is similar to that described in the above method, so specific limitations in one or more embodiments of the electric steering system control device provided below may be referred to above as limitations of the electric steering system control method, and will not be described herein.
In one embodiment, as shown in fig. 7, there is provided an electric power steering system control apparatus including: a first acquisition module 701, a second acquisition module 702, and a determination module 703, wherein:
a first acquisition module 701 for acquiring an initial steering shaft load, the initial steering shaft load being acquired when the vehicle is detected from stationary to started;
a second obtaining module 702, configured to obtain, when an input torque signal is detected, a vehicle speed at a current time and a vehicle acceleration at the current time;
the determining module 703 is configured to compare an absolute value of the vehicle acceleration at the current time with a preset threshold value, obtain a comparison result, and determine an output steering torque value at the current time according to the comparison result.
In one embodiment, the determining module 703 is further configured to:
if the absolute value of the vehicle acceleration at the current moment is smaller than a preset threshold value, determining an output steering torque value at the current moment according to the initial steering shaft load, the vehicle speed at the current moment and the input torque value;
if the absolute value of the vehicle acceleration at the current moment is not smaller than the preset threshold value, the steering shaft load at the current moment is obtained, and the output steering torque value at the current moment is determined according to the steering shaft load at the current moment, the vehicle speed at the current moment and the input torque value.
In one embodiment, the determining module 703 is further configured to:
determining a load section where an initial steering shaft load is located, wherein the load section is obtained by dividing a section formed by a vehicle idling to a vehicle full loading, and the load section is formed by a first load value and a second load value;
determining a first steering torque value corresponding to the first load value and a second steering torque value corresponding to the second load value according to the vehicle speed and the input torque value at the current moment;
and determining the current output steering torque value according to the initial steering shaft load, the first steering torque value and the second steering torque value.
In one embodiment, the determining module 703 is further configured to:
determining a first coefficient corresponding to the initial steering shaft load according to the initial steering shaft load, the first load value and the second load value;
and determining the current output steering torque value according to the first coefficient, the first steering torque value and the second steering torque value.
In one embodiment, the first load value is smaller than the second load value, and accordingly, the determining module 703 is further configured to:
calculating a difference between the second steering torque value and the first steering torque value;
calculating a steering torque increasing value according to the first coefficient and the difference value;
And taking the addition result of the first steering torque value and the steering torque increasing value as the current output steering torque value.
In one embodiment, the determining module 703 is further configured to:
and calculating an output steering torque value at the current moment according to the steering shaft load at the current moment, the vehicle speed at the current moment and the input torque value based on a first function, wherein the first function is determined according to a vehicle calibration test.
The respective modules in the above-described electric power steering system control apparatus may be implemented in whole or in part by software, hardware, or a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a server, and the internal structure of which may be as shown in fig. 8. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used for storing calibration test result data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of controlling an electric power steering system.
It will be appreciated by those skilled in the art that the structure shown in fig. 8 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:
acquiring an initial steering shaft load, the initial steering shaft load being acquired when the vehicle is detected from stationary to started;
under the condition that an input torque signal is detected, acquiring the vehicle speed at the current moment and the vehicle acceleration at the current moment;
and comparing the absolute value of the vehicle acceleration at the current moment with a preset threshold value to obtain a comparison result, and determining the output steering torque value at the current moment according to the comparison result.
In one embodiment, the processor when executing the computer program further performs the steps of:
if the absolute value of the vehicle acceleration at the current moment is smaller than a preset threshold value, determining an output steering torque value at the current moment according to the initial steering shaft load, the vehicle speed at the current moment and the input torque value;
If the absolute value of the vehicle acceleration at the current moment is not smaller than the preset threshold value, the steering shaft load at the current moment is obtained, and the output steering torque value at the current moment is determined according to the steering shaft load at the current moment, the vehicle speed at the current moment and the input torque value.
In one embodiment, the processor when executing the computer program further performs the steps of:
determining a load section where an initial steering shaft load is located, wherein the load section is obtained by dividing a section formed by a vehicle idling to a vehicle full loading, and the load section is formed by a first load value and a second load value;
determining a first steering torque value corresponding to the first load value and a second steering torque value corresponding to the second load value according to the vehicle speed and the input torque value at the current moment;
and determining the current output steering torque value according to the initial steering shaft load, the first steering torque value and the second steering torque value.
In one embodiment, the processor when executing the computer program further performs the steps of:
determining a first coefficient corresponding to the initial steering shaft load according to the initial steering shaft load, the first load value and the second load value;
and determining the current output steering torque value according to the first coefficient, the first steering torque value and the second steering torque value.
In an embodiment, the first load value is smaller than the second load value, and accordingly the processor when executing the computer program further performs the steps of:
calculating a difference between the second steering torque value and the first steering torque value;
calculating a steering torque increasing value according to the first coefficient and the difference value;
and taking the addition result of the first steering torque value and the steering torque increasing value as the current output steering torque value.
In one embodiment, the processor when executing the computer program further performs the steps of:
and calculating an output steering torque value at the current moment according to the steering shaft load at the current moment, the vehicle speed at the current moment and the input torque value based on a first function, wherein the first function is determined according to a vehicle calibration test.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring an initial steering shaft load, the initial steering shaft load being acquired when the vehicle is detected from stationary to started;
under the condition that an input torque signal is detected, acquiring the vehicle speed at the current moment and the vehicle acceleration at the current moment;
and comparing the absolute value of the vehicle acceleration at the current moment with a preset threshold value to obtain a comparison result, and determining the output steering torque value at the current moment according to the comparison result.
In one embodiment, the computer program when executed by the processor further performs the steps of:
if the absolute value of the vehicle acceleration at the current moment is smaller than a preset threshold value, determining an output steering torque value at the current moment according to the initial steering shaft load, the vehicle speed at the current moment and the input torque value;
if the absolute value of the vehicle acceleration at the current moment is not smaller than the preset threshold value, the steering shaft load at the current moment is obtained, and the output steering torque value at the current moment is determined according to the steering shaft load at the current moment, the vehicle speed at the current moment and the input torque value.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a load section where an initial steering shaft load is located, wherein the load section is obtained by dividing a section formed by a vehicle idling to a vehicle full loading, and the load section is formed by a first load value and a second load value;
determining a first steering torque value corresponding to the first load value and a second steering torque value corresponding to the second load value according to the vehicle speed and the input torque value at the current moment;
and determining the current output steering torque value according to the initial steering shaft load, the first steering torque value and the second steering torque value.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a first coefficient corresponding to the initial steering shaft load according to the initial steering shaft load, the first load value and the second load value;
and determining the current output steering torque value according to the first coefficient, the first steering torque value and the second steering torque value.
In an embodiment, the first load value is smaller than the second load value, and accordingly the computer program when executed by the processor further performs the steps of:
calculating a difference between the second steering torque value and the first steering torque value;
calculating a steering torque increasing value according to the first coefficient and the difference value;
and taking the addition result of the first steering torque value and the steering torque increasing value as the current output steering torque value.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and calculating an output steering torque value at the current moment according to the steering shaft load at the current moment, the vehicle speed at the current moment and the input torque value based on a first function, wherein the first function is determined according to a vehicle calibration test.
In one embodiment, a computer program product is provided comprising a computer program which, when executed by a processor, performs the steps of:
Acquiring an initial steering shaft load, the initial steering shaft load being acquired when the vehicle is detected from stationary to started;
under the condition that an input torque signal is detected, acquiring the vehicle speed at the current moment and the vehicle acceleration at the current moment;
and comparing the absolute value of the vehicle acceleration at the current moment with a preset threshold value to obtain a comparison result, and determining the output steering torque value at the current moment according to the comparison result.
In one embodiment, the computer program when executed by the processor further performs the steps of:
if the absolute value of the vehicle acceleration at the current moment is smaller than a preset threshold value, determining an output steering torque value at the current moment according to the initial steering shaft load, the vehicle speed at the current moment and the input torque value;
if the absolute value of the vehicle acceleration at the current moment is not smaller than the preset threshold value, the steering shaft load at the current moment is obtained, and the output steering torque value at the current moment is determined according to the steering shaft load at the current moment, the vehicle speed at the current moment and the input torque value.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a load section where an initial steering shaft load is located, wherein the load section is obtained by dividing a section formed by a vehicle idling to a vehicle full loading, and the load section is formed by a first load value and a second load value;
Determining a first steering torque value corresponding to the first load value and a second steering torque value corresponding to the second load value according to the vehicle speed and the input torque value at the current moment;
and determining the current output steering torque value according to the initial steering shaft load, the first steering torque value and the second steering torque value.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a first coefficient corresponding to the initial steering shaft load according to the initial steering shaft load, the first load value and the second load value;
and determining the current output steering torque value according to the first coefficient, the first steering torque value and the second steering torque value.
In an embodiment, the first load value is smaller than the second load value, and accordingly the computer program when executed by the processor further performs the steps of:
calculating a difference between the second steering torque value and the first steering torque value;
calculating a steering torque increasing value according to the first coefficient and the difference value;
and taking the addition result of the first steering torque value and the steering torque increasing value as the current output steering torque value.
In one embodiment, the computer program when executed by the processor further performs the steps of:
And calculating an output steering torque value at the current moment according to the steering shaft load at the current moment, the vehicle speed at the current moment and the input torque value based on a first function, wherein the first function is determined according to a vehicle calibration test.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
Claims (10)
1. A method of controlling an electric power steering system, the method comprising:
acquiring an initial steering shaft load, the initial steering shaft load being acquired when the vehicle is detected from stationary to started;
under the condition that an input torque signal is detected, acquiring the vehicle speed at the current moment and the vehicle acceleration at the current moment;
comparing the absolute value of the vehicle acceleration at the current moment with a preset threshold value, and if the absolute value of the vehicle acceleration at the current moment is smaller than the preset threshold value, determining an output steering torque value at the current moment according to the initial steering shaft load, the vehicle speed at the current moment and the input torque value;
And if the absolute value of the vehicle acceleration at the current moment is not smaller than a preset threshold value, acquiring the steering shaft load at the current moment, and determining the output steering moment value at the current moment according to the steering shaft load at the current moment, the vehicle speed at the current moment and the input moment value.
2. The method of claim 1, wherein said determining an output steering torque value at a current time based on said initial steering shaft load, said current time vehicle speed, and said input torque value comprises:
determining a load section where the initial steering shaft load is located, wherein the load section is obtained by dividing a section formed by no-load of a vehicle to full-load of the vehicle, and the load section is formed by a first load value and a second load value;
determining a first steering torque value corresponding to the first load value and a second steering torque value corresponding to the second load value according to the vehicle speed at the current moment and the input torque value;
and determining a current output steering torque value according to the initial steering shaft load, the first steering torque value and the second steering torque value.
3. The method of claim 2, wherein said determining a current output steering torque value based on said initial steering shaft load, said first steering torque value, and said second steering torque value comprises:
Determining a first coefficient corresponding to the initial steering shaft load according to the initial steering shaft load, the first load value and the second load value;
and determining a current output steering torque value according to the first coefficient, the first steering torque value and the second steering torque value.
4. A method according to claim 3, wherein the first load value is less than the second load value, and accordingly the first steering torque value is less than the second steering torque value; the determining the current output steering torque value according to the first coefficient, the first steering torque value and the second steering torque value includes:
calculating a difference between the second steering torque value and the first steering torque value;
calculating a steering torque increasing value according to the first coefficient and the difference value;
and taking the addition result of the first steering torque value and the steering torque increasing value as a current output steering torque value.
5. The method of claim 1, wherein determining the output steering torque value at the current time based on the steering shaft load at the current time, the vehicle speed at the current time, and the input torque value comprises:
And calculating an output steering torque value at the current moment according to the steering shaft load at the current moment, the vehicle speed at the current moment and the input torque value based on a first function, wherein the first function is determined according to a vehicle calibration test.
6. An electric power steering system control apparatus, characterized by comprising:
a first acquisition module for acquiring an initial steering shaft load, the initial steering shaft load being acquired when a vehicle is detected from stationary to start;
the second acquisition module is used for acquiring the vehicle speed at the current moment and the vehicle acceleration at the current moment under the condition that the input torque signal is detected;
the determining module is used for comparing the absolute value of the vehicle acceleration at the current moment with a preset threshold value, and determining an output steering torque value at the current moment according to the initial steering shaft load, the vehicle speed at the current moment and the input torque value if the absolute value of the vehicle acceleration at the current moment is smaller than the preset threshold value; and if the absolute value of the vehicle acceleration at the current moment is not smaller than a preset threshold value, acquiring the steering shaft load at the current moment, and determining the output steering moment value at the current moment according to the steering shaft load at the current moment, the vehicle speed at the current moment and the input moment value.
7. The apparatus of claim 6, wherein the means for determining is further for:
determining a load section where the initial steering shaft load is located, wherein the load section is obtained by dividing a section formed by no-load of a vehicle to full-load of the vehicle, and the load section is formed by a first load value and a second load value;
determining a first steering torque value corresponding to the first load value and a second steering torque value corresponding to the second load value according to the vehicle speed at the current moment and the input torque value;
and determining a current output steering torque value according to the initial steering shaft load, the first steering torque value and the second steering torque value.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 5 when the computer program is executed.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 5.
10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method according to any one of claims 1 to 5.
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| JP2007302050A (en) * | 2006-05-09 | 2007-11-22 | Nsk Ltd | Electric power steering device |
| JP2008056134A (en) * | 2006-08-31 | 2008-03-13 | Jtekt Corp | Electric power steering device |
| JP4831338B2 (en) * | 2006-10-26 | 2011-12-07 | 株式会社ジェイテクト | Test system for electric power steering system |
| CN102267487B (en) * | 2011-05-11 | 2012-11-07 | 江苏大学 | Electro-hydraulic power steering system based on vehicle speed and load signal control |
| JP5975046B2 (en) * | 2014-01-23 | 2016-08-23 | 株式会社デンソー | Electric power steering control device |
| CN109911004B (en) * | 2019-03-08 | 2022-05-24 | 华南理工大学 | Aligning control method and device of electric power steering device |
| CN110606121B (en) * | 2019-08-28 | 2021-02-19 | 中国第一汽车股份有限公司 | Drive-by-wire steering road feel simulation control method |
| CN112918553B (en) * | 2021-03-12 | 2022-08-09 | 合肥工业大学 | Self-adaptive steering control method and device for vehicle on longitudinal ramp |
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