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CN114771644B - Active steering control method, device, computer equipment and storage medium - Google Patents

Active steering control method, device, computer equipment and storage medium Download PDF

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Publication number
CN114771644B
CN114771644B CN202210508589.0A CN202210508589A CN114771644B CN 114771644 B CN114771644 B CN 114771644B CN 202210508589 A CN202210508589 A CN 202210508589A CN 114771644 B CN114771644 B CN 114771644B
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China
Prior art keywords
steering wheel
angle
rotation
target
determining
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CN202210508589.0A
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CN114771644A (en
Inventor
李兴修
刘永传
雷红亮
郑燕冬
赵晓瑛
刘禹昕
姚远
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FAW Jiefang Automotive Co Ltd
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FAW Jiefang Automotive Co Ltd
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Priority to CN202210508589.0A priority Critical patent/CN114771644B/en
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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
    • 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
    • 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
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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

Abstract

The present application relates to an active steering control method, apparatus, computer device, storage medium and computer program product. The method comprises the following steps: determining a steering wheel angle threshold according to the maximum rotating speed of the steering wheel, the starting rotating speed of the steering wheel and the starting angular acceleration of the steering wheel, determining a rotating mode of the steering wheel according to the steering wheel angle threshold and the target steering wheel angle, controlling the steering wheel to rotate according to the rotating mode, and determining the steering wheel angle position at each moment; determining a target rotating speed of a motor at each moment according to the target rotating angle of the steering wheel, the initial rotating angle position of the steering wheel, the rotating speed ratio and the rotating angle position of the steering wheel at each moment; determining a motor target current at each moment according to the motor target rotating speed at each moment; and controlling the vehicle to steer according to the target current of the motor at each moment. By adopting the method, the accuracy of the active steering control of the vehicle can be improved.

Description

Active steering control method, device, computer equipment and storage medium
Technical Field
The present application relates to the field of automatic driving and assisted driving technologies, and in particular, to an active steering control method, an active steering control device, a computer device, and a storage medium.
Background
With the development of intelligent driving technology, intelligent driving control technology is also continuously developed. In the related art, the intelligent driving control technology realizes the active steering of the vehicle by controlling the current of the motor, however, the accuracy of the current active steering control technology is not high enough, and therefore, an active steering control method is urgently needed at present.
Disclosure of Invention
In view of the foregoing, it is desirable to provide an active steering control method, apparatus, computer device, computer-readable storage medium, and computer program product that enable accurate active steering.
In a first aspect, the present application provides an active steering control method. The method comprises the following steps:
Determining a steering wheel maximum rotation speed, a reduction ratio of a motor speed reducer, a steering wheel target rotation angle, a steering wheel starting rotation angle position, a steering wheel starting rotation speed and a steering wheel starting angular acceleration, wherein the steering wheel starting rotation angle position, the steering wheel starting rotation speed and the steering wheel starting angular acceleration are respectively corresponding steering wheel rotation angle positions, steering wheel rotation speeds and steering wheel accelerations when the steering wheel target rotation angle is determined;
Determining a steering wheel angle threshold according to the maximum steering wheel rotating speed, the steering wheel starting rotating speed and the steering wheel angle starting angular acceleration;
Determining a rotation mode of the steering wheel according to the steering wheel rotation angle threshold and the steering wheel target rotation angle, wherein the rotation mode comprises a triangle rotation mode and a trapezoid rotation mode;
controlling the steering wheel to rotate according to the rotation mode, and determining the steering wheel corner position at each moment;
Determining a target rotating speed of a motor at each moment according to the target rotating angle of the steering wheel, the initial rotating angle position of the steering wheel, the rotating speed ratio and the rotating angle position of the steering wheel at each moment;
Determining a motor target current at each moment according to the motor target rotating speed at each moment;
and controlling the vehicle to steer according to the target current of the motor at each moment.
In one embodiment, determining the steering wheel angle threshold from the steering wheel maximum rotational speed, the steering wheel starting rotational speed, and the steering wheel angle starting angular acceleration includes:
in equation (1), S 0 represents a steering wheel angle threshold value, ω max represents a steering wheel maximum rotation speed, ω 0 represents a steering wheel start rotation speed, and a represents a steering wheel start angular acceleration.
In one embodiment, determining the rotation mode of the steering wheel according to the steering wheel rotation angle threshold and the steering wheel target rotation angle includes:
if the target steering wheel angle is smaller than the steering wheel angle threshold, the rotation mode is a triangle rotation mode;
If the target steering wheel angle is not smaller than the steering wheel angle threshold, the rotating mode is a trapezoid rotating mode.
In one embodiment, the rotation mode is a triangle rotation mode, and the triangle rotation mode comprises that the steering wheel sequentially performs acceleration rotation and deceleration rotation; accordingly, controlling the steering wheel to rotate according to the rotation mode includes:
determining the rotation angle of the steering wheel in the process of accelerating rotation of the steering wheel according to the target rotation angle of the steering wheel, the initial rotation speed of the steering wheel and the initial angular acceleration of the steering wheel, and taking the rotation angle as a first rotation angle of the steering wheel;
the difference value obtained by subtracting the first steering wheel angle from the target steering wheel angle is used as the steering wheel rotation angle in the process of decelerating and rotating the steering wheel;
the steering wheel is controlled to rotate in sequence according to the rotating angle of the steering wheel in the acceleration rotating and deceleration rotating processes;
wherein determining the first steering wheel angle of rotation includes:
In equation (2), S 1 represents a first steering wheel angle, θ cmd represents a target steering wheel angle, ω 0 represents a steering wheel start rotational speed, and a represents a steering wheel start angular acceleration.
In one embodiment, the rotation mode is a trapezoidal rotation mode, and the trapezoidal rotation mode comprises acceleration rotation, uniform rotation and deceleration rotation of the steering wheel in sequence; accordingly, controlling the steering wheel to rotate according to the rotation mode includes:
Determining the rotation angle of the steering wheel in the process of accelerating rotation of the steering wheel according to the maximum rotation speed of the steering wheel, the starting rotation speed of the steering wheel and the starting angular acceleration of the steering wheel, and taking the rotation angle as a second steering wheel rotation angle;
Determining the rotation angle of the steering wheel in the process of decelerating and rotating the steering wheel according to the maximum rotation speed of the steering wheel and the initial angular acceleration of the steering wheel, and taking the rotation angle as the rotation angle of the third steering wheel;
Obtaining a difference value between the second steering wheel angle and the third steering wheel angle, and subtracting the difference value from the target steering wheel angle as the steering wheel rotation angle in the process of uniformly rotating the steering wheel;
The steering wheel is controlled to rotate in sequence according to the rotating angle of the steering wheel in the processes of accelerating rotation, uniform rotation and decelerating rotation;
Wherein determining the second steering wheel angle comprises:
in equation (3), S 2 represents the second steering wheel angle, ω 0 represents the steering wheel start rotational speed, ω max represents the steering wheel maximum rotational speed, and a represents the steering wheel start angular acceleration.
In one embodiment, determining the target rotation speed of the motor at each moment according to the target rotation angle of the steering wheel, the initial rotation angle position of the steering wheel, the rotation speed ratio and the rotation angle position of the steering wheel at each moment comprises:
Determining a steering wheel angle gain;
Determining a target steering wheel angle position according to the target steering wheel angle and the initial steering wheel angle position;
determining an angle difference between a target steering wheel angle position and a steering wheel angle position at each moment as a steering angle difference at the corresponding moment;
And taking the product of the rotation angle gain, the rotation speed ratio and the rotation angle difference value at each moment as the target rotation speed of the motor at the corresponding moment.
In a second aspect, the application further provides an active steering control device. The device comprises:
The first determining module is used for determining the maximum rotating speed of the steering wheel, the speed reduction ratio of the motor speed reducer, the target steering angle of the steering wheel, the starting steering angle position of the steering wheel, the starting rotating speed of the steering wheel and the starting angular acceleration of the steering wheel, wherein the starting steering angle position of the steering wheel, the starting rotating speed of the steering wheel and the starting angular acceleration of the steering wheel are respectively corresponding steering wheel rotating angle positions, steering wheel rotating speeds and steering wheel accelerations when the target steering angle of the steering wheel is determined;
The second determining module is used for determining a steering wheel angle threshold according to the maximum rotating speed of the steering wheel, the starting rotating speed of the steering wheel and the starting angular acceleration of the steering wheel angle;
The third determining module is used for determining the rotation mode of the steering wheel according to the steering wheel rotation angle threshold value and the steering wheel target rotation angle, wherein the rotation mode comprises a triangle rotation mode and a trapezoid rotation mode;
the fourth determining module is used for controlling the steering wheel to rotate according to the rotation mode and determining the steering wheel corner position at each moment;
a fifth determining module, configured to determine a target rotation speed of the motor at each moment according to the target rotation angle of the steering wheel, the initial rotation angle position of the steering wheel, the rotation speed ratio, and the rotation angle position of the steering wheel at each moment;
A sixth determining module, configured to determine a target current of the motor at each moment according to the target rotational speed of the motor at each moment;
and the control module is used for controlling the vehicle to steer according to the target current of the motor at each moment.
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:
Determining a steering wheel maximum rotation speed, a reduction ratio of a motor reducer, a steering wheel target rotation angle, a steering wheel starting rotation angle position, a steering wheel starting rotation speed and a steering wheel starting angular acceleration, wherein the steering wheel starting rotation angle position, the steering wheel starting rotation speed and the steering wheel starting angular acceleration are respectively corresponding steering wheel rotation angle positions, steering wheel rotation speeds and steering wheel accelerations when determining the steering wheel target rotation angle;
Determining a steering wheel angle threshold according to the maximum steering wheel rotating speed, the steering wheel starting rotating speed and the steering wheel angle starting angular acceleration;
Determining a rotation mode of the steering wheel according to the steering wheel rotation angle threshold and the steering wheel target rotation angle, wherein the rotation mode comprises a triangle rotation mode and a trapezoid rotation mode;
controlling the steering wheel to rotate according to the rotation mode, and determining the steering wheel corner position at each moment;
Determining a target rotating speed of a motor at each moment according to the target rotating angle of the steering wheel, the initial rotating angle position of the steering wheel, the rotating speed ratio and the rotating angle position of the steering wheel at each moment;
Determining a motor target current at each moment according to the motor target rotating speed at each moment;
and controlling the vehicle to steer according to the target current of the motor at each moment.
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:
Determining a steering wheel maximum rotation speed, a reduction ratio of a motor reducer, a steering wheel target rotation angle, a steering wheel starting rotation angle position, a steering wheel starting rotation speed and a steering wheel starting angular acceleration, wherein the steering wheel starting rotation angle position, the steering wheel starting rotation speed and the steering wheel starting angular acceleration are respectively corresponding steering wheel rotation angle positions, steering wheel rotation speeds and steering wheel accelerations when determining the steering wheel target rotation angle;
Determining a steering wheel angle threshold according to the maximum steering wheel rotating speed, the steering wheel starting rotating speed and the steering wheel angle starting angular acceleration;
Determining a rotation mode of the steering wheel according to the steering wheel rotation angle threshold and the steering wheel target rotation angle, wherein the rotation mode comprises a triangle rotation mode and a trapezoid rotation mode;
controlling the steering wheel to rotate according to the rotation mode, and determining the steering wheel corner position at each moment;
Determining a target rotating speed of a motor at each moment according to the target rotating angle of the steering wheel, the initial rotating angle position of the steering wheel, the rotating speed ratio and the rotating angle position of the steering wheel at each moment;
Determining a motor target current at each moment according to the motor target rotating speed at each moment;
and controlling the vehicle to steer according to the target current of the motor at each moment.
In a fifth aspect, the present application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of:
Determining a steering wheel maximum rotation speed, a reduction ratio of a motor reducer, a steering wheel target rotation angle, a steering wheel starting rotation angle position, a steering wheel starting rotation speed and a steering wheel starting angular acceleration, wherein the steering wheel starting rotation angle position, the steering wheel starting rotation speed and the steering wheel starting angular acceleration are respectively corresponding steering wheel rotation angle positions, steering wheel rotation speeds and steering wheel accelerations when determining the steering wheel target rotation angle;
Determining a steering wheel angle threshold according to the maximum steering wheel rotating speed, the steering wheel starting rotating speed and the steering wheel angle starting angular acceleration;
Determining a rotation mode of the steering wheel according to the steering wheel rotation angle threshold and the steering wheel target rotation angle, wherein the rotation mode comprises a triangle rotation mode and a trapezoid rotation mode;
controlling the steering wheel to rotate according to the rotation mode, and determining the steering wheel corner position at each moment;
Determining a target rotating speed of a motor at each moment according to the target rotating angle of the steering wheel, the initial rotating angle position of the steering wheel, the rotating speed ratio and the rotating angle position of the steering wheel at each moment;
Determining a motor target current at each moment according to the motor target rotating speed at each moment;
and controlling the vehicle to steer according to the target current of the motor at each moment.
The active steering control method, the device, the computer equipment, the storage medium and the computer program product determine the maximum rotating speed of the steering wheel, the reduction ratio of the motor reducer, the target steering angle of the steering wheel, the starting steering angle position of the steering wheel, the starting rotating speed of the steering wheel and the starting angular acceleration of the steering wheel; determining a steering wheel angle threshold according to the maximum steering wheel rotating speed, the steering wheel starting rotating speed and the steering wheel angle starting angular acceleration; determining a turning mode of the steering wheel according to the steering wheel turning threshold value and the steering wheel target turning angle; controlling the steering wheel to rotate according to the rotation mode, and determining the steering wheel corner position at each moment; determining a target rotating speed of a motor at each moment according to the target rotating angle of the steering wheel, the initial rotating angle position of the steering wheel, the rotating speed ratio and the rotating angle position of the steering wheel at each moment; determining a motor target current at each moment according to the motor target rotating speed at each moment; controlling the vehicle to turn according to the target current of the motor at each moment; the accuracy of the intelligent driving vehicle active steering control can be improved.
Drawings
FIG. 1 is an application environment diagram of an active steering control method in one embodiment;
FIG. 2 is a flow chart of an active steering control method according to one embodiment;
FIG. 3 is a schematic diagram of a triangle rotation in one embodiment;
FIG. 4 is a schematic view of a trapezoidal rotation mode in one embodiment;
FIG. 5 is a block diagram of an active steering control device in one embodiment;
Fig. 6 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The active steering control method provided by the embodiment of the application can be applied to an application environment shown in fig. 1. Wherein the terminal 101 communicates with the server 102 via a network. The data storage system may store data that the server 102 needs to process. The data storage system may be integrated on the server 102 or may be located on a cloud or other network server. The terminal 101 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and internet of things devices. The server 102 may be implemented as a stand-alone server or as a server cluster of multiple servers.
In one embodiment, as shown in fig. 2, an active steering control method is provided, and the method is applied to the terminal in fig. 1 for illustration, and includes the following steps:
201. Determining a steering wheel maximum rotation speed, a reduction ratio of a motor reducer, a steering wheel target rotation angle, a steering wheel starting rotation angle position, a steering wheel starting rotation speed and a steering wheel starting angular acceleration, wherein the steering wheel starting rotation angle position, the steering wheel starting rotation speed and the steering wheel starting angular acceleration are respectively corresponding steering wheel rotation angle positions, steering wheel rotation speeds and steering wheel accelerations when determining the steering wheel target rotation angle;
202. Determining a steering wheel angle threshold according to the maximum steering wheel rotating speed, the steering wheel starting rotating speed and the steering wheel angle starting angular acceleration;
203. determining a rotation mode of the steering wheel according to the steering wheel rotation angle threshold and the steering wheel target rotation angle, wherein the rotation mode comprises a triangle rotation mode and a trapezoid rotation mode;
204. Controlling the steering wheel to rotate according to the rotation mode, and determining the steering wheel corner position at each moment;
205. Determining a target rotating speed of a motor at each moment according to the target rotating angle of the steering wheel, the initial rotating angle position of the steering wheel, the rotating speed ratio and the rotating angle position of the steering wheel at each moment;
206. determining a motor target current at each moment according to the motor target rotating speed at each moment;
207. and controlling the vehicle to steer according to the target current of the motor at each moment.
In step 201, the steering wheel starting rotation speed and the steering wheel starting rotation angle position are obtained by the rotation angle sensor. In addition, the steering wheel angle position and the steering wheel rotating speed are acquired in real time by the steering angle sensor, and the steering wheel angle position and the steering wheel rotating speed at each moment are sent to a controller of the vehicle.
Specifically, if the vehicle satisfies the automatic driving condition, it is determined whether the ignition signal of the vehicle is disappeared, and if not, the controller of the vehicle waits for receiving the operation instruction of the steering wheel target angle. When the controller of the vehicle receives a running instruction of a target steering wheel angle, the steering wheel angle position, the steering wheel rotating speed and the steering wheel angular acceleration obtained by the controller at the moment are respectively used as a steering wheel starting angle position, a steering wheel starting rotating speed and a steering wheel starting angular acceleration in the active steering control process.
In step 202, the steering wheel angle thresholds corresponding to different moments may be different, and the steering wheel angle thresholds may be changed according to the steering wheel starting rotation speed and the steering wheel angle starting angular acceleration.
In step 204, the steering wheel angle position at each moment is measured by the angle sensor.
Specifically, the controller can calculate the motor target current at the corresponding moment according to the motor target rotating speed at each moment, and the controller controls the vehicle to actively steer according to the motor target current at each moment. The steering wheel starts to rotate from the initial steering wheel angle position, and when the steering wheel rotating angle is larger than the target steering wheel angle, and the difference value between the steering wheel rotating angle and the target steering wheel angle is not smaller than a preset angle threshold value, the steering wheel rotating speed is 0.
For example, at time T, the target steering wheel angle is 20 °, the starting steering wheel angle is 30 °, and the preset angle threshold is 1 °; the steering wheel starts to rotate from the steering wheel starting rotation angle position of 30 degrees, and when the steering wheel rotates at an angle of 21 degrees, the steering wheel rotating speed is 0.
According to the method provided by the embodiment of the invention, the motor target rotating speed at each moment can be calculated by determining the maximum rotating speed of the steering wheel, the speed reduction ratio of the motor speed reducer, the target rotating angle of the steering wheel, the starting rotating angle position of the steering wheel, the starting rotating speed of the steering wheel and the starting angular acceleration of the steering wheel, and the motor target current at each moment is calculated according to the motor target rotating speed at each moment, so that the controller controls the vehicle to steer according to the motor target current at each moment.
In combination with the foregoing embodiments, in one embodiment, determining the steering wheel angle threshold from the steering wheel maximum rotational speed, the steering wheel starting rotational speed, and the steering wheel angle starting angular acceleration includes:
in equation (4), S 0 represents a steering wheel angle threshold value, ω max represents a steering wheel maximum rotation speed, ω 0 represents a steering wheel start rotation speed, and a represents a steering wheel start angular acceleration.
In particular, the maximum steering wheel speed of the vehicle is constant, while the steering wheel start speed and the steering wheel angle start angular acceleration at different times are varied, and thus the steering wheel angle threshold is also varied, and the steering wheel angle threshold at different times may be different.
According to the method provided by the embodiment of the invention, the steering wheel angle threshold value can be determined through the maximum rotating speed of the steering wheel, the starting rotating speed of the steering wheel and the starting angular acceleration of the steering wheel angle.
In combination with the foregoing embodiments, in one embodiment, determining a turning mode of the steering wheel according to the steering wheel angle threshold and the steering wheel target angle includes:
301. If the target steering wheel angle is smaller than the steering wheel angle threshold, the rotation mode is a triangle rotation mode;
302. if the target steering wheel angle is not smaller than the steering wheel angle threshold, the rotating mode is a trapezoid rotating mode.
Specifically, the triangular rotation mode is suitable for steering control with a smaller target steering angle of the steering wheel, and the trapezoidal rotation mode is suitable for steering control with a smaller target steering angle of the steering wheel. The steering wheel angle threshold in step 301 is a criterion for determining the target steering wheel angle, and the criterion may be different under different conditions.
According to the method provided by the embodiment of the invention, the application range of the active steering control of the vehicle is wider by setting the steering wheel angle threshold value, and special scenes such as large turning angles and high loads of commercial vehicles can be met, so that the accuracy of vehicle control can be improved.
In combination with the foregoing embodiments, in one embodiment, the rotation mode is a triangle rotation mode, and the triangle rotation mode includes that the steering wheel sequentially performs acceleration rotation and deceleration rotation; accordingly, controlling the steering wheel to rotate according to the rotation mode includes:
401. Determining the rotation angle of the steering wheel in the process of accelerating rotation of the steering wheel according to the target rotation angle of the steering wheel, the initial rotation speed of the steering wheel and the initial angular acceleration of the steering wheel, and taking the rotation angle as a first rotation angle of the steering wheel;
402. The difference value obtained by subtracting the first steering wheel angle from the target steering wheel angle is used as the steering wheel rotation angle in the process of decelerating and rotating the steering wheel;
403. The steering wheel is controlled to rotate in sequence according to the rotating angle of the steering wheel in the acceleration rotating and deceleration rotating processes;
wherein determining the first steering wheel angle of rotation includes:
in equation (5), S 1 represents a first steering wheel angle, θ cmd represents a target steering wheel angle, ω 0 represents a steering wheel start rotational speed, and a represents a steering wheel start angular acceleration.
The triangle rotation mode is shown in fig. 3, ω max is the steering wheel maximum rotation speed, ω 0 is the steering wheel starting rotation speed, S 1 is the steering wheel rotation angle during the steering wheel rotation speed increasing process, and S 2 is the steering wheel rotation angle during the steering wheel rotation speed decreasing process.
Specifically, when the steering wheel rotates according to the triangle rotation mode, the rotation speed of the steering wheel is increased firstly and then reduced until the rotation speed of the steering wheel is reduced to 0. In the process of increasing the rotation speed of the steering wheel, the rotation angle of the steering wheel is the rotation angle of the first steering wheel in the step 401; in the process of reducing the rotating speed of the steering wheel, the rotating angle of the steering wheel is the difference value between the target steering wheel angle and the first steering wheel angle.
For example, when the controller receives the target steering angle L, it calculates the steering angles corresponding to the steering wheel rotation speeds during the acceleration rotation and the deceleration rotation, respectively, which are L 1 and L 2, where l=l 1+L2. In the rotating process of the steering wheel, the controller calculates a difference value X 1 between the steering wheel turning angle position and the steering wheel starting turning angle position at each moment, and if X 1 is smaller than L 1, the rotating speed of the steering wheel is continuously increased; if X 1 is not less than L 1, the steering wheel speed begins to slow down until the steering wheel speed is reduced to 0.
According to the method provided by the embodiment of the invention, according to the target steering angle of the steering wheel, the initial rotating speed of the steering wheel and the initial angular acceleration of the steering wheel, the corresponding rotating angles of the steering wheel in the acceleration rotating process and the deceleration rotating process of the steering wheel can be determined, so that the controller controls the vehicle to steer according to the corresponding rotating angles of the steering wheel in the acceleration rotating process and the deceleration rotating process of the steering wheel, and the accurate control of the active steering of the vehicle is realized.
In combination with the foregoing embodiments, in one embodiment, the rotation mode is a trapezoidal rotation mode, where the trapezoidal rotation mode includes that the steering wheel sequentially performs acceleration rotation, uniform rotation, and deceleration rotation; accordingly, controlling the steering wheel to rotate according to the rotation mode includes:
501. Determining the rotation angle of the steering wheel in the process of accelerating rotation of the steering wheel according to the maximum rotation speed of the steering wheel, the starting rotation speed of the steering wheel and the starting angular acceleration of the steering wheel, and taking the rotation angle as a second steering wheel rotation angle;
502. determining the rotation angle of the steering wheel in the process of decelerating and rotating the steering wheel according to the maximum rotation speed of the steering wheel and the initial angular acceleration of the steering wheel, and taking the rotation angle as the rotation angle of the third steering wheel;
503. Obtaining a difference value between the second steering wheel angle and the third steering wheel angle, and subtracting the difference value from the target steering wheel angle as the steering wheel rotation angle in the process of uniformly rotating the steering wheel;
504. The steering wheel is controlled to rotate in sequence according to the rotating angle of the steering wheel in the processes of accelerating rotation, uniform rotation and decelerating rotation;
Wherein determining the second steering wheel angle comprises:
In equation (6), S 2 represents the second steering wheel angle, ω 0 represents the steering wheel start rotational speed, ω max represents the steering wheel maximum rotational speed, and a represents the steering wheel start angular acceleration.
In the step 502, according to the maximum rotation speed of the steering wheel and the initial angular acceleration of the steering wheel, the rotation angle of the steering wheel in the process of decelerating and rotating the steering wheel is determined as a third steering wheel rotation angle, where determining the third steering wheel rotation angle includes:
In equation (7), S 3 represents the third steering wheel angle, ω max represents the steering wheel maximum rotation speed, and a represents the steering wheel initial angular acceleration.
The trapezoid rotation mode is shown in fig. 4, ω max is the maximum rotation speed of the steering wheel, ω 0 is the starting rotation speed of the steering wheel, S 1 is the rotation angle of the steering wheel during acceleration, S 2 is the rotation angle of the steering wheel during uniform speed, and S 3 is the rotation angle of the steering wheel during deceleration.
Specifically, when the steering wheel rotates according to the trapezoid rotation mode, the rotation speed of the steering wheel is increased firstly, when the rotation speed of the steering wheel reaches the maximum rotation speed of the steering wheel, the steering wheel maintains the maximum rotation speed of the steering wheel to start rotating at a constant speed, and finally the rotation speed of the steering wheel is gradually reduced from the maximum rotation speed of the steering wheel until the rotation speed of the steering wheel is reduced to 0. In the process of increasing the rotation speed of the steering wheel, the rotation angle of the steering wheel is the second steering wheel rotation angle in the step 501; in the process of uniform rotation of the steering wheel, the rotation angle of the steering wheel is the rotation angle of the third steering wheel in the step 502; in the process of the decelerating rotation of the steering wheel, the rotating angle of the steering wheel is the difference value between the target steering wheel angle and the second steering wheel angle and the third steering wheel angle.
For example, when the controller receives the target steering angle M, it calculates the steering angles corresponding to the steering wheel rotation speeds during the acceleration rotation and the deceleration rotation, which are M 1、M2 and M 3, respectively, where m=m 1+M2+M3. In the rotating process of the steering wheel, the controller calculates a difference value Y 1 between the steering wheel turning angle position and the steering wheel starting turning angle position at each moment, and when Y 1 is smaller than M 1, the rotating speed of the steering wheel is continuously increased; when Y 1 is not less than M 1 and is less than M 1+M2, the rotating speed of the steering wheel is kept unchanged; when Y 1 is not less than M 1+M2 and is less than M, the steering wheel rotation gradually decreases until the steering wheel rotation speed decreases to 0.
According to the method provided by the embodiment of the invention, the steering wheel rotation angles respectively corresponding to the steering wheel rotation speed in the acceleration rotation process, the constant rotation process and the deceleration rotation process can be determined according to the maximum steering wheel rotation speed, the steering wheel starting angular acceleration and the steering wheel starting angular acceleration, so that the controller controls the vehicle to steer according to the steering wheel rotation angles respectively corresponding to the steering wheel in the acceleration rotation process, the constant rotation process and the deceleration rotation process.
In combination with the foregoing embodiments, in one embodiment, determining the target rotational speed of the motor at each moment according to the target steering wheel angle, the starting steering wheel angle position, the rotational speed ratio, and the steering wheel angle position at each moment includes:
601. determining a steering wheel angle gain;
602. Determining a target steering wheel angle position according to the target steering wheel angle and the initial steering wheel angle position;
603. determining an angle difference between a target steering wheel angle position and a steering wheel angle position at each moment as a steering angle difference at the corresponding moment;
604. And taking the product of the rotation angle gain, the rotation speed ratio and the rotation angle difference value at each moment as the target rotation speed of the motor at the corresponding moment.
Specifically, the target steering wheel angle is summed with the starting steering wheel angle position to determine the target steering wheel angle position. In the active steering control mode, the controller performs corner servo control on the motor, and the corner servo control on the motor is realized by performing motion servo control on the motor, wherein the corner servo control on the motor sequentially comprises a motor current ring, a motor speed ring and a steering wheel corner position ring from inside to outside. The upper control strategy in the active steering mode mainly comprises a motor speed ring and a steering wheel angle position ring. The steering wheel angle position ring means that the controller can acquire the steering wheel angle position in real time, and compares the steering wheel angle position acquired in real time with the steering wheel target angle position, so that the steering wheel angle position gradually approaches the steering wheel target angle position.
According to the method provided by the embodiment of the invention, the motor current ring, the motor speed ring and the steering wheel corner position ring are used for controlling the steering wheel to actively steer, so that the accuracy of the vehicle to actively steer can be improved.
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 application also provides an active steering control device for realizing the above-mentioned active steering control method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation in the embodiments of the active steering control device or devices provided below may be referred to the limitation of the active steering control method hereinabove, and will not be repeated here.
In one embodiment, as shown in fig. 5, there is provided an active steering control device comprising: a first determination module 501, a second determination module 502, a third determination module 503, a fourth determination module 504, a fifth determination module 505, a sixth determination module 506, and a control module 507, wherein:
A first determining module 501, configured to determine a steering wheel maximum rotation speed, a reduction ratio of a motor reducer, a steering wheel target rotation angle, a steering wheel start rotation angle position, a steering wheel start rotation speed, and a steering wheel start angular acceleration, where the steering wheel start rotation angle position, the steering wheel start rotation speed, and the steering wheel start angular acceleration are respectively a steering wheel rotation angle position, a steering wheel rotation speed, and a steering wheel acceleration that correspond to when determining the steering wheel target rotation angle;
a second determining module 502, configured to determine a steering wheel angle threshold according to a steering wheel maximum rotation speed, a steering wheel starting rotation speed, and a steering wheel angle starting angular acceleration;
A third determining module 503, configured to determine a rotation mode of the steering wheel according to the steering wheel rotation angle threshold and the steering wheel target rotation angle, where the rotation mode includes a triangle rotation mode and a trapezoid rotation mode;
A fourth determining module 504, configured to control the steering wheel to rotate according to the rotation mode, and determine a steering wheel angle position at each moment;
A fifth determining module 505, configured to determine a target rotation speed of the motor at each moment according to the target rotation angle of the steering wheel, the initial rotation angle position of the steering wheel, the rotation speed ratio, and the rotation angle position of the steering wheel at each moment;
a sixth determining module 506, configured to determine a motor target current at each moment according to the motor target rotation speed at each moment;
the control module 507 is used for controlling the vehicle to turn according to the target current of the motor at each moment.
In one embodiment, the second determining module 502 includes:
a first determination submodule for determining a steering wheel angle threshold, comprising:
In equation (8), S 0 represents a steering wheel angle threshold value, ω max represents a steering wheel maximum rotation speed, ω 0 represents a steering wheel start rotation speed, and a represents a steering wheel start angular acceleration.
In one embodiment, the third determining module 503 includes:
The judging submodule is used for judging whether the target steering wheel angle is smaller than a steering wheel angle threshold value or not; if the target steering wheel angle is smaller than the steering wheel angle threshold, the rotation mode is a triangle rotation mode; if the target steering wheel angle is not smaller than the steering wheel angle threshold, the rotating mode is a trapezoid rotating mode.
In one embodiment, the fourth determination module 504 includes:
the second determining submodule is used for determining the rotating angle of the steering wheel in the process of accelerating rotation of the steering wheel according to the target rotating angle of the steering wheel, the initial rotating speed of the steering wheel and the initial angular acceleration of the steering wheel, and taking the rotating angle of the steering wheel as the rotating angle of the first steering wheel;
The first operation submodule is used for subtracting the steering wheel angle from the target steering wheel angle and taking the difference obtained by subtracting the first steering wheel angle from the target steering wheel angle as the steering wheel rotation angle in the process of decelerating and rotating the steering wheel;
the first control submodule is used for sequentially controlling the steering wheel to rotate according to the rotating angle of the steering wheel in the acceleration rotating and deceleration rotating processes;
wherein determining the first steering wheel angle of rotation includes:
In equation (9), S 1 represents a first steering wheel angle, θ cmd represents a target steering wheel angle, ω 0 represents a steering wheel start rotational speed, and a represents a steering wheel start angular acceleration.
In one embodiment, the fourth determination module 504 further comprises:
the third determining submodule is used for determining the rotation angle of the steering wheel in the process of accelerating rotation of the steering wheel according to the maximum rotation speed of the steering wheel, the starting rotation speed of the steering wheel and the starting angular acceleration of the steering wheel, and taking the rotation angle of the steering wheel as the rotation angle of the second steering wheel;
The fourth determining submodule is used for determining the rotating angle of the steering wheel in the process of decelerating and rotating the steering wheel according to the maximum rotating speed of the steering wheel and the initial angular acceleration of the steering wheel and taking the rotating angle of the steering wheel as the rotating angle of the third steering wheel;
The acquisition submodule is used for acquiring a difference value between the steering angle of the second steering wheel and the steering angle of the third steering wheel, and subtracting the difference value from the target steering angle of the steering wheel to be used as the steering wheel rotation angle in the process of uniformly rotating the steering wheel;
The second control submodule is used for sequentially controlling the steering wheel to rotate according to the rotating angle of the steering wheel in the processes of accelerating rotation, uniform rotation and decelerating rotation;
Wherein determining the second steering wheel angle comprises:
In equation (10), S 2 represents the second steering wheel angle, ω 0 represents the steering wheel start rotational speed, ω max represents the steering wheel maximum rotational speed, and a represents the steering wheel start angular acceleration.
In one embodiment, the fifth determining module 505 includes:
a fifth determining sub-module for determining a steering wheel angle gain;
a sixth determining submodule, configured to determine a target steering wheel corner position according to the target steering wheel corner angle and the starting steering wheel corner position;
a seventh determining submodule, configured to determine an angle difference between the target steering wheel angle position and the steering wheel angle position at each time as a steering angle difference at the corresponding time;
and the second operation submodule is used for taking the product of the rotation angle gain, the rotation speed ratio and the rotation angle difference value at each moment as the motor target rotation speed at the corresponding moment.
The above-described respective modules in the active steering 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 terminal, and the internal structure of which may be as shown in fig. 6. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device 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 and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement an active steering control method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in FIG. 6 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the 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:
Determining a steering wheel maximum rotation speed, a reduction ratio of a motor reducer, a steering wheel target rotation angle, a steering wheel starting rotation angle position, a steering wheel starting rotation speed and a steering wheel starting angular acceleration, wherein the steering wheel starting rotation angle position, the steering wheel starting rotation speed and the steering wheel starting angular acceleration are respectively corresponding steering wheel rotation angle positions, steering wheel rotation speeds and steering wheel accelerations when determining the steering wheel target rotation angle;
Determining a steering wheel angle threshold according to the maximum steering wheel rotating speed, the steering wheel starting rotating speed and the steering wheel angle starting angular acceleration;
Determining a rotation mode of the steering wheel according to the steering wheel rotation angle threshold and the steering wheel target rotation angle, wherein the rotation mode comprises a triangle rotation mode and a trapezoid rotation mode;
controlling the steering wheel to rotate according to the rotation mode, and determining the steering wheel corner position at each moment;
Determining a target rotating speed of a motor at each moment according to the target rotating angle of the steering wheel, the initial rotating angle position of the steering wheel, the rotating speed ratio and the rotating angle position of the steering wheel at each moment;
Determining a motor target current at each moment according to the motor target rotating speed at each moment;
and controlling the vehicle to steer according to the target current of the motor at each moment.
In one embodiment, the processor when executing the computer program further performs the steps of:
Determining a steering wheel angle threshold from a steering wheel maximum rotational speed, a steering wheel starting rotational speed, and a steering wheel angle starting angular acceleration, comprising:
In equation (11), S 0 represents a steering wheel angle threshold value, ω max represents a steering wheel maximum rotation speed, ω 0 represents a steering wheel start rotation speed, and a represents a steering wheel start angular acceleration.
In one embodiment, the processor when executing the computer program further performs the steps of:
if the target steering wheel angle is smaller than the steering wheel angle threshold, the rotation mode is a triangle rotation mode;
If the target steering wheel angle is not smaller than the steering wheel angle threshold, the rotating mode is a trapezoid rotating mode.
In one embodiment, the processor when executing the computer program further performs the steps of:
determining the rotation angle of the steering wheel in the process of accelerating rotation of the steering wheel according to the target rotation angle of the steering wheel, the initial rotation speed of the steering wheel and the initial angular acceleration of the steering wheel, and taking the rotation angle as a first rotation angle of the steering wheel;
the difference value obtained by subtracting the first steering wheel angle from the target steering wheel angle is used as the steering wheel rotation angle in the process of decelerating and rotating the steering wheel;
the steering wheel is controlled to rotate in sequence according to the rotating angle of the steering wheel in the acceleration rotating and deceleration rotating processes;
wherein determining the first steering wheel angle of rotation includes:
in equation (1), S 1 represents a first steering wheel angle, θ cmd represents a target steering wheel angle, ω 0 represents a steering wheel start rotational speed, and a represents a steering wheel start angular acceleration.
In one embodiment, the processor when executing the computer program further performs the steps of:
Determining the rotation angle of the steering wheel in the process of accelerating rotation of the steering wheel according to the maximum rotation speed of the steering wheel, the starting rotation speed of the steering wheel and the starting angular acceleration of the steering wheel, and taking the rotation angle as a second steering wheel rotation angle;
Determining the rotation angle of the steering wheel in the process of decelerating and rotating the steering wheel according to the maximum rotation speed of the steering wheel and the initial angular acceleration of the steering wheel, and taking the rotation angle as the rotation angle of the third steering wheel;
Obtaining a difference value between the second steering wheel angle and the third steering wheel angle, and subtracting the difference value from the target steering wheel angle as the steering wheel rotation angle in the process of uniformly rotating the steering wheel;
The steering wheel is controlled to rotate in sequence according to the rotating angle of the steering wheel in the processes of accelerating rotation, uniform rotation and decelerating rotation;
Wherein determining the second steering wheel angle comprises:
In equation (13), S 2 represents the second steering wheel angle, ω 0 represents the steering wheel start rotational speed, ω max represents the steering wheel maximum rotational speed, and a represents the steering wheel start angular acceleration.
In one embodiment, the processor when executing the computer program further performs the steps of:
Determining a steering wheel angle gain;
Determining a target steering wheel angle position according to the target steering wheel angle and the initial steering wheel angle position;
determining an angle difference between a target steering wheel angle position and a steering wheel angle position at each moment as a steering angle difference at the corresponding moment;
And taking the product of the rotation angle gain, the rotation speed ratio and the rotation angle difference value at each moment as the target rotation speed of the motor at the corresponding moment.
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:
Determining a steering wheel maximum rotation speed, a reduction ratio of a motor reducer, a steering wheel target rotation angle, a steering wheel starting rotation angle position, a steering wheel starting rotation speed and a steering wheel starting angular acceleration, wherein the steering wheel starting rotation angle position, the steering wheel starting rotation speed and the steering wheel starting angular acceleration are respectively corresponding steering wheel rotation angle positions, steering wheel rotation speeds and steering wheel accelerations when determining the steering wheel target rotation angle;
Determining a steering wheel angle threshold according to the maximum steering wheel rotating speed, the steering wheel starting rotating speed and the steering wheel angle starting angular acceleration;
Determining a rotation mode of the steering wheel according to the steering wheel rotation angle threshold and the steering wheel target rotation angle, wherein the rotation mode comprises a triangle rotation mode and a trapezoid rotation mode;
controlling the steering wheel to rotate according to the rotation mode, and determining the steering wheel corner position at each moment;
Determining a target rotating speed of a motor at each moment according to the target rotating angle of the steering wheel, the initial rotating angle position of the steering wheel, the rotating speed ratio and the rotating angle position of the steering wheel at each moment;
Determining a motor target current at each moment according to the motor target rotating speed at each moment;
and controlling the vehicle to steer according to the target current of the motor at each moment.
In one embodiment, the computer program when executed by the processor further performs the steps of:
Determining a steering wheel angle threshold from a steering wheel maximum rotational speed, a steering wheel starting rotational speed, and a steering wheel angle starting angular acceleration, comprising:
In equation (14), S 0 represents a steering wheel angle threshold value, ω max represents a steering wheel maximum rotation speed, ω 0 represents a steering wheel start rotation speed, and a represents a steering wheel start angular acceleration.
In one embodiment, the computer program when executed by the processor further performs the steps of:
if the target steering wheel angle is smaller than the steering wheel angle threshold, the rotation mode is a triangle rotation mode;
If the target steering wheel angle is not smaller than the steering wheel angle threshold, the rotating mode is a trapezoid rotating mode.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining the rotation angle of the steering wheel in the process of accelerating rotation of the steering wheel according to the target rotation angle of the steering wheel, the initial rotation speed of the steering wheel and the initial angular acceleration of the steering wheel, and taking the rotation angle as a first rotation angle of the steering wheel;
the difference value obtained by subtracting the first steering wheel angle from the target steering wheel angle is used as the steering wheel rotation angle in the process of decelerating and rotating the steering wheel;
the steering wheel is controlled to rotate in sequence according to the rotating angle of the steering wheel in the acceleration rotating and deceleration rotating processes;
wherein determining the first steering wheel angle of rotation includes:
In equation (15), S 1 represents a first steering wheel angle, θ cmd represents a target steering wheel angle, ω 0 represents a steering wheel start rotational speed, and a represents a steering wheel start angular acceleration.
In one embodiment, the computer program when executed by the processor further performs the steps of:
Determining the rotation angle of the steering wheel in the process of accelerating rotation of the steering wheel according to the maximum rotation speed of the steering wheel, the starting rotation speed of the steering wheel and the starting angular acceleration of the steering wheel, and taking the rotation angle as a second steering wheel rotation angle;
Determining the rotation angle of the steering wheel in the process of decelerating and rotating the steering wheel according to the maximum rotation speed of the steering wheel and the initial angular acceleration of the steering wheel, and taking the rotation angle as the rotation angle of the third steering wheel;
Obtaining a difference value between the second steering wheel angle and the third steering wheel angle, and subtracting the difference value from the target steering wheel angle as the steering wheel rotation angle in the process of uniformly rotating the steering wheel;
The steering wheel is controlled to rotate in sequence according to the rotating angle of the steering wheel in the processes of accelerating rotation, uniform rotation and decelerating rotation;
Wherein determining the second steering wheel angle comprises:
In equation (16), S 2 represents the second steering wheel angle, ω 0 represents the steering wheel start rotational speed, ω max represents the steering wheel maximum rotational speed, and a represents the steering wheel start angular acceleration.
In one embodiment, the computer program when executed by the processor further performs the steps of:
Determining a steering wheel angle gain;
Determining a target steering wheel angle position according to the target steering wheel angle and the initial steering wheel angle position;
determining an angle difference between a target steering wheel angle position and a steering wheel angle position at each moment as a steering angle difference at the corresponding moment;
And taking the product of the rotation angle gain, the rotation speed ratio and the rotation angle difference value at each moment as the target rotation speed of the motor at the corresponding moment.
In one embodiment, a computer program product is provided comprising a computer program which, when executed by a processor, performs the steps of:
Determining a steering wheel maximum rotation speed, a reduction ratio of a motor reducer, a steering wheel target rotation angle, a steering wheel starting rotation angle position, a steering wheel starting rotation speed and a steering wheel starting angular acceleration, wherein the steering wheel starting rotation angle position, the steering wheel starting rotation speed and the steering wheel starting angular acceleration are respectively corresponding steering wheel rotation angle positions, steering wheel rotation speeds and steering wheel accelerations when determining the steering wheel target rotation angle;
Determining a steering wheel angle threshold according to the maximum steering wheel rotating speed, the steering wheel starting rotating speed and the steering wheel angle starting angular acceleration;
Determining a rotation mode of the steering wheel according to the steering wheel rotation angle threshold and the steering wheel target rotation angle, wherein the rotation mode comprises a triangle rotation mode and a trapezoid rotation mode;
controlling the steering wheel to rotate according to the rotation mode, and determining the steering wheel corner position at each moment;
Determining a target rotating speed of a motor at each moment according to the target rotating angle of the steering wheel, the initial rotating angle position of the steering wheel, the rotating speed ratio and the rotating angle position of the steering wheel at each moment;
Determining a motor target current at each moment according to the motor target rotating speed at each moment;
and controlling the vehicle to steer according to the target current of the motor at each moment.
In one embodiment, the computer program when executed by the processor further performs the steps of:
Determining a steering wheel angle threshold from a steering wheel maximum rotational speed, a steering wheel starting rotational speed, and a steering wheel angle starting angular acceleration, comprising:
In equation (17), S 0 represents a steering wheel angle threshold value, ω max represents a steering wheel maximum rotation speed, ω 0 represents a steering wheel start rotation speed, and a represents a steering wheel start angular acceleration.
In one embodiment, the computer program when executed by the processor further performs the steps of:
if the target steering wheel angle is smaller than the steering wheel angle threshold, the rotation mode is a triangle rotation mode;
If the target steering wheel angle is not smaller than the steering wheel angle threshold, the rotating mode is a trapezoid rotating mode.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining the rotation angle of the steering wheel in the process of accelerating rotation of the steering wheel according to the target rotation angle of the steering wheel, the initial rotation speed of the steering wheel and the initial angular acceleration of the steering wheel, and taking the rotation angle as a first rotation angle of the steering wheel;
the difference value obtained by subtracting the first steering wheel angle from the target steering wheel angle is used as the steering wheel rotation angle in the process of decelerating and rotating the steering wheel;
the steering wheel is controlled to rotate in sequence according to the rotating angle of the steering wheel in the acceleration rotating and deceleration rotating processes;
wherein determining the first steering wheel angle of rotation includes:
In equation (18), S 1 represents a first steering wheel angle, θ cmd represents a target steering wheel angle, ω 0 represents a steering wheel start rotational speed, and a represents a steering wheel start angular acceleration.
In one embodiment, the computer program when executed by the processor further performs the steps of:
Determining the rotation angle of the steering wheel in the process of accelerating rotation of the steering wheel according to the maximum rotation speed of the steering wheel, the starting rotation speed of the steering wheel and the starting angular acceleration of the steering wheel, and taking the rotation angle as a second steering wheel rotation angle;
Determining the rotation angle of the steering wheel in the process of decelerating and rotating the steering wheel according to the maximum rotation speed of the steering wheel and the initial angular acceleration of the steering wheel, and taking the rotation angle as the rotation angle of the third steering wheel;
Obtaining a difference value between the second steering wheel angle and the third steering wheel angle, and subtracting the difference value from the target steering wheel angle as the steering wheel rotation angle in the process of uniformly rotating the steering wheel;
The steering wheel is controlled to rotate in sequence according to the rotating angle of the steering wheel in the processes of accelerating rotation, uniform rotation and decelerating rotation;
Wherein determining the second steering wheel angle comprises:
In the formula (19), S 2 represents the second steering wheel angle, ω 0 represents the steering wheel start rotational speed, ω max represents the steering wheel maximum rotational speed, and a represents the steering wheel start angular acceleration.
In one embodiment, the computer program when executed by the processor further performs the steps of:
Determining a steering wheel angle gain;
Determining a target steering wheel angle position according to the target steering wheel angle and the initial steering wheel angle position;
determining an angle difference between a target steering wheel angle position and a steering wheel angle position at each moment as a steering angle difference at the corresponding moment;
And taking the product of the rotation angle gain, the rotation speed ratio and the rotation angle difference value at each moment as the target rotation speed of the motor at the corresponding moment.
The user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or sufficiently authorized by each party.
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 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), magneto-resistive 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 various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not 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 foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims (9)

1. An active steering control method, the method comprising:
Determining a steering wheel maximum rotation speed, a reduction ratio of a motor speed reducer, a steering wheel target rotation angle, a steering wheel starting rotation angle position, a steering wheel starting rotation speed and a steering wheel starting angular acceleration, wherein the steering wheel starting rotation angle position, the steering wheel starting rotation speed and the steering wheel starting angular acceleration are respectively corresponding steering wheel rotation angle positions, steering wheel rotation speeds and steering wheel accelerations when the steering wheel target rotation angle is determined;
determining a steering wheel angle threshold according to the steering wheel maximum rotation speed, the steering wheel initial rotation speed and the steering wheel angle initial angular acceleration;
If the target steering wheel angle is smaller than the steering wheel angle threshold, the steering wheel is rotated in a triangular mode, and if the target steering wheel angle is not smaller than the steering wheel angle threshold, the steering wheel is rotated in a trapezoidal mode; the triangle rotation mode comprises that the steering wheel sequentially performs acceleration rotation and deceleration rotation; the trapezoid rotation mode comprises that a steering wheel sequentially performs acceleration rotation, uniform rotation and deceleration rotation;
controlling the steering wheel to rotate according to the rotation mode, and determining the steering wheel corner position at each moment;
Determining a target rotating speed of a motor at each moment according to the target rotating angle of the steering wheel, the initial rotating angle position of the steering wheel, the rotating speed ratio and the rotating angle position of the steering wheel at each moment;
Determining a motor target current at each moment according to the motor target rotating speed at each moment;
and controlling the vehicle to steer according to the target current of the motor at each moment.
2. The method of claim 1, wherein the determining a steering wheel angle threshold from the steering wheel maximum rotational speed, the steering wheel start rotational speed, and the steering wheel angle start angular acceleration comprises:
；
Wherein S 0 represents the steering wheel angle threshold, Indicating the maximum rotational speed of the steering wheel,Indicating the steering wheel starting rotational speed and a indicating the steering wheel starting angular acceleration.
3. The method of claim 1, wherein the rotation is a triangle rotation; correspondingly, the steering wheel is controlled to rotate according to the rotation mode, and the method comprises the following steps:
Determining the rotation angle of the steering wheel in the process of accelerating rotation of the steering wheel as a first steering wheel rotation angle according to the target rotation angle of the steering wheel, the initial rotation speed of the steering wheel and the initial angular acceleration of the steering wheel;
the difference value obtained by subtracting the first steering wheel angle from the target steering wheel angle is used as the steering wheel rotation angle in the process of decelerating and rotating the steering wheel;
the steering wheel is controlled to rotate in sequence according to the rotating angle of the steering wheel in the acceleration rotating and deceleration rotating processes;
wherein determining the first steering wheel angle of rotation comprises:
；
wherein S 1 represents the first steering wheel angle, Indicating the target steering wheel angle of rotation,Indicating the starting rotational speed of the steering wheel,Indicating the steering wheel start angular acceleration.
4. The method of claim 1, wherein the rotation is a trapezoidal rotation; correspondingly, the steering wheel is controlled to rotate according to the rotation mode, and the method comprises the following steps:
determining the rotation angle of the steering wheel in the process of accelerating rotation of the steering wheel according to the maximum rotation speed of the steering wheel, the initial rotation speed of the steering wheel and the initial angular acceleration of the steering wheel, and taking the rotation angle as a second steering wheel rotation angle;
Determining the rotation angle of the steering wheel in the process of decelerating and rotating the steering wheel according to the maximum rotation speed of the steering wheel and the initial angular acceleration of the steering wheel, and taking the rotation angle as the rotation angle of a third steering wheel;
Obtaining a difference value between the second steering wheel angle and the third steering wheel angle, and subtracting the difference value from the target steering wheel angle to be used as the steering wheel rotation angle in the process of uniform rotation of the steering wheel;
The steering wheel is controlled to rotate in sequence according to the rotating angle of the steering wheel in the processes of accelerating rotation, uniform rotation and decelerating rotation;
Wherein determining the second steering wheel angle of rotation comprises:
；
Wherein S 2 represents the second steering wheel angle, Indicating the starting rotational speed of the steering wheel,Indicating the maximum rotational speed of the steering wheel,Indicating the steering wheel start angular acceleration.
5. The method of claim 4, wherein determining the motor target speed at each time based on the steering wheel target angle, the steering wheel start angle position, the speed ratio, and the steering wheel angle position at each time comprises:
Determining a steering wheel angle gain;
Determining a steering wheel target corner position according to the steering wheel target corner angle and the steering wheel initial corner position;
Determining an angle difference between the target steering wheel angle position and the steering wheel angle position at each moment as a steering angle difference at the corresponding moment;
And taking the product of the rotation angle gain, the rotation speed ratio and the rotation angle difference value at each moment as the target rotation speed of the motor at the corresponding moment.
6. An active steering control device, the device comprising:
The first determining module is used for determining the maximum rotating speed of the steering wheel, the speed reduction ratio of the motor speed reducer, the target steering angle of the steering wheel, the starting steering angle position of the steering wheel, the starting rotating speed of the steering wheel and the starting angular acceleration of the steering wheel, wherein the starting steering angle position of the steering wheel, the starting rotating speed of the steering wheel and the starting angular acceleration of the steering wheel are respectively corresponding steering wheel rotating angle position, steering wheel rotating speed and steering wheel acceleration when the target steering angle of the steering wheel is determined;
The second determining module is used for determining a steering wheel angle threshold according to the maximum steering wheel rotating speed, the initial steering wheel rotating speed and the initial steering wheel angle acceleration;
the third determining module is used for determining a rotation mode of the steering wheel according to the steering wheel rotation angle threshold value and the steering wheel target rotation angle, wherein the rotation mode comprises a triangle rotation mode and a trapezoid rotation mode;
The fourth determining module is used for controlling the steering wheel to rotate according to the rotation mode and determining the steering wheel corner position at each moment;
a fifth determining module, configured to determine a target rotation speed of the motor at each moment according to the target rotation angle of the steering wheel, the initial rotation angle position of the steering wheel, the rotation speed ratio, and the rotation angle position of the steering wheel at each moment;
A sixth determining module, configured to determine a target current of the motor at each moment according to the target rotational speed of the motor at each moment;
The control module is used for controlling the vehicle to turn according to the target current of the motor at each moment;
The third determining module comprises a judging sub-module;
the judging submodule is used for judging that if the target steering wheel angle is smaller than the steering wheel angle threshold, the steering wheel is rotated in a triangular mode, and if the target steering wheel angle is not smaller than the steering wheel angle threshold, the steering wheel is rotated in a trapezoid mode; the triangle rotation mode comprises that the steering wheel sequentially performs acceleration rotation and deceleration rotation; the trapezoid rotation mode comprises that the steering wheel sequentially rotates in an accelerating mode, rotates at a uniform speed and rotates in a decelerating mode.
7. 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.
8. 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.
9. 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.
CN202210508589.0A 2022-05-11 2022-05-11 Active steering control method, device, computer equipment and storage medium Active CN114771644B (en)

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