CN115805991B - Vehicle deviation compensation control method, device, terminal and storage medium - Google Patents
Vehicle deviation compensation control method, device, terminal and storage medium Download PDFInfo
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Abstract
The invention discloses a vehicle deviation compensation control method, a device, a terminal and a storage medium, which belong to the technical field of automobile control and comprise a terminal, a steering power-assisted control module and an EPS power-assisted motor which are electrically connected in sequence, wherein: the terminal is used for acquiring the current vehicle related information, acquiring corresponding compensation moment according to the execution of a corresponding deviation compensation strategy and sending the corresponding compensation moment to the steering power-assisted control module; the steering power-assisted control module is used for acquiring corresponding compensation torque sent by the terminal and sending corresponding execution instructions to the EPS power-assisted motor; the EPS power-assisted motor is used for acquiring corresponding execution instructions sent by the steering power-assisted control module and executing corresponding operations. The control method for solving the vehicle deviation problem comprises the steps of obtaining the current vehicle related information and executing the corresponding deviation compensation strategy to obtain the corresponding compensation moment and sending the corresponding compensation moment to the steering power-assisted control module.
Description
Technical Field
The invention discloses a vehicle deviation compensation control method, a device, a terminal and a storage medium, and belongs to the technical field of automobile control.
Background
The vehicle deviation is one of common faults in the use of the automobile, the vehicle straight running deviation is represented by that a driver places a steering wheel at a middle position when the vehicle is in straight running, the running direction of the automobile deviates from the longitudinal center line of the steering wheel, and the driver needs to apply an additional correcting force on the steering wheel to keep the vehicle in straight running, so that the driver is tired in operation, and a certain risk is caused to running safety.
The existing similar and common scheme is that after the deviation problem is identified based on the vehicle, the electric power steering system is identified and confirmed for a certain time, and the deviation compensation moment is provided according to the judgment result. The scheme is relatively simple, and because the time for identifying and confirming the vehicle deviation condition is long, the vehicle deviation condition can not be timely and effectively adjusted when the external environment changes, and the vehicle deviation condition can not be pertinently corresponding according to different working conditions of the vehicle, so that after-sales users experience the problems of deviation compensation hysteresis, poor user experience, hard handfeel and the like when suffering from the problems of slope-following road surfaces, short-time/long-time crosswind interference, deviation caused by factors of the suspension, and the like.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a vehicle deviation compensation control method, a device, a terminal and a storage medium.
The technical scheme of the invention is as follows:
According to a first aspect of an embodiment of the present invention, there is provided a vehicle deviation compensation control system, including a terminal, a steering assist control module, and an EPS assist motor electrically connected in sequence, wherein:
The terminal is used for acquiring the current vehicle related information, acquiring corresponding compensation moment according to the execution of a corresponding deviation compensation strategy and sending the corresponding compensation moment to the steering power-assisted control module;
the steering power-assisted control module is used for acquiring corresponding compensation torque sent by the terminal and sending corresponding execution instructions to the EPS power-assisted motor;
The EPS power-assisted motor is used for acquiring corresponding execution instructions sent by the steering power-assisted control module and executing corresponding operations, and the execution of the corresponding operations comprises: the deviation compensation is inserted at time t, and the compensation moment reaches the target compensation moment at t+2 seconds.
According to a second aspect of an embodiment of the present invention, there is provided a vehicle deviation compensation control method applied to the vehicle deviation compensation control system of the first aspect, including:
acquiring current vehicle related information and judging whether the current vehicle related information is in a vehicle deviation value range;
If yes, acquiring duration time of vehicle deviation, and executing a deviation compensation strategy according to the duration time of the vehicle deviation, wherein the executing the deviation compensation strategy comprises the following steps: a short-time deviation compensation strategy and a long-time deviation compensation strategy;
And acquiring the compensated current vehicle related information again, judging whether the current vehicle related information is in the vehicle deviation value range, and if so, continuing to execute the deviation compensation strategy until the current vehicle related information is not in the vehicle deviation value range.
Preferably, the current vehicle-related information includes at least: current vehicle speed, current left/right front wheel speed, current steering wheel angle, current steering wheel speed, and current steering wheel torque.
Preferably, the deviation compensation strategy is executed according to the duration of the vehicle deviation, including:
executing the short-time deviation compensation strategy when the duration of the vehicle deviation is [ T1, T2);
Executing the long-term deviation compensation strategy when the duration of the vehicle deviation is [ T2, T3 ];
Wherein, T1, T2 and T3 are all calibrated according to the actual vehicle condition, and T1< T2< T3.
Preferably, the short-time deviation compensation strategy includes:
and obtaining a short-time compensation moment according to the steering wheel moment through a formula (1):
Tcs＝S1×SWT (1)
Wherein: tcs is a short-time compensation torque, S1 is a short-time compensation gain coefficient, and SWT is a current steering wheel torque;
and sending the short-time compensation torque to a steering power control module, wherein the application direction of the short-time compensation torque is the same as the steering wheel torque direction.
Preferably, the long-term deviation compensation strategy includes:
obtaining a long-term compensation moment according to the steering wheel moment through a formula (2):
Tcl＝S2×SWT (2)
Wherein: tcl is long-term compensation moment, S2 is long-term compensation gain coefficient, SWT is current steering wheel moment;
judging whether the short-time compensation moment exceeds a short-time set threshold value or not:
If yes, no compensation moment is provided, and an alarm signal is reported to the whole vehicle;
If not, executing the next step;
and sending the long-time compensation torque to a steering power control module, wherein the application direction of the short-time compensation torque is the same as the torque direction of the steering wheel.
Preferably, the method further comprises:
when the current vehicle related information is acquired and is judged not to be in the vehicle deviation value range, the vehicle is not deviated and the current vehicle related information is acquired again and is judged;
And acquiring the compensated current vehicle related information again and judging that the current vehicle related information is not in the range of the vehicle deviation value range, and then, exiting the execution of the deviation compensation strategy to acquire the current vehicle related information again for judging again.
According to a third aspect of the embodiment of the present invention, there is provided a vehicle deviation compensation control device, characterized by comprising:
the automatic preprocessing module is used for acquiring the current vehicle related information and judging whether the current vehicle related information is in the range of the vehicle deviation value range or not;
The automatic processing module is used for acquiring the duration time of the vehicle deviation if the vehicle deviation is detected, and executing the deviation compensation strategy according to the duration time of the vehicle deviation, wherein the executing the deviation compensation strategy comprises the following steps: a short-time deviation compensation strategy and a long-time deviation compensation strategy;
and the automatic post-processing module is used for acquiring the compensated current vehicle related information again and judging whether the current vehicle related information is in the vehicle deviation value range, if so, continuing to execute the deviation compensation strategy until the current vehicle related information is not in the vehicle deviation value range.
According to a fourth aspect of an embodiment of the present invention, there is provided a terminal including:
One or more processors;
A memory for storing the one or more processor-executable instructions;
wherein the one or more processors are configured to:
The method according to the first aspect of the embodiment of the invention is performed.
According to a fifth aspect of embodiments of the present invention, there is provided a non-transitory computer readable storage medium, which when executed by a processor of a terminal, enables the terminal to perform the method according to the first aspect of embodiments of the present invention.
According to a sixth aspect of embodiments of the present invention, there is provided an application program product for causing a terminal to carry out the method according to the first aspect of embodiments of the present invention when the application program product is run at the terminal.
The invention has the beneficial effects that:
The patent provides a vehicle deviation compensation control method, a device, a terminal and a storage medium, wherein whether the vehicle deviation value range is within the vehicle deviation value range is judged by acquiring the current vehicle related information; if yes, acquiring the duration time of vehicle deviation, and executing a deviation compensation strategy according to the duration time of vehicle deviation to obtain a compensation moment; and acquiring the compensated current vehicle related information again and judging whether the current vehicle related information is in the vehicle deviation value range, if so, continuing to execute the deviation compensation strategy until the deviation compensation strategy is not in the vehicle deviation value range, setting a threshold limit range for the compensation moment, and when the compensation moment exceeds the threshold upper limit, not providing the compensation moment by the deviation compensation module in order to avoid unexpected negative influence of the compensation moment on the vehicle, and effectively controlling the system safety.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.
Drawings
FIG. 1 is a block diagram illustrating a vehicle deviation compensation control system according to an exemplary embodiment;
FIG. 2 is a schematic illustration of moment slow intervention during intervention of a yaw compensation function in a vehicle yaw compensation control system, according to an exemplary embodiment;
FIG. 3 is a schematic illustration of a slow torque drop when the run-out compensation function exits in a vehicle run-out compensation control system according to an exemplary embodiment;
FIG. 4 is a flowchart illustrating a vehicle deviation compensation control method according to an exemplary embodiment;
FIG. 5 is a schematic block diagram illustrating a vehicle deviation compensation control device according to an exemplary embodiment;
fig. 6 is a schematic block diagram of a terminal structure according to an exemplary embodiment.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1
Fig. 1 is a block diagram of a vehicle deviation compensation control system according to an exemplary embodiment, including a terminal, a steering assist control module, and an EPS assist motor electrically connected in sequence, wherein:
the terminal is used for acquiring the current vehicle related information, acquiring corresponding compensation moment according to the execution of the corresponding deviation compensation strategy and transmitting the corresponding compensation moment to the steering power-assisted control module;
The steering power-assisted control module is used for acquiring corresponding compensation torque sent by the terminal and sending corresponding execution instructions to the EPS power-assisted motor;
The EPS power-assisted motor is used for acquiring corresponding execution instructions sent by the steering power-assisted control module and executing corresponding operations, and the execution of the corresponding operations comprises: the off-tracking compensation intervenes at time t and the compensation torque reaches the target compensation torque at t+2 seconds, as shown in fig. 2-3.
Example two
Fig. 4 is a flowchart illustrating a vehicle deviation compensation control method for use in a terminal according to an exemplary embodiment, the method comprising the steps of:
step 101, obtaining current vehicle related information and judging whether the current vehicle related information is in a vehicle deviation value range, wherein the specific content is as follows:
And executing a vehicle deviation compensation program, and firstly acquiring the current vehicle related information. Wherein, the current vehicle related information at least comprises: current vehicle speed, current left/right front wheel speed, current steering wheel angle, current steering wheel speed, and current steering wheel torque.
After the current vehicle related information is obtained, whether the current vehicle related information is in a vehicle deviation value range or not is judged, namely whether the starting condition of a deviation compensation strategy is met or not is judged, the current vehicle speed VS [ X1, X2], the current left/right front wheel speed difference I FWSL-FWSR [ epsilon [ D1, D2], the current steering wheel rotating angle SWA [ Y1, Y2], the current steering wheel rotating speed SWS [ Z1, Z2] and the current steering wheel moment SWT [ E1, E2] are judged, the parameter ranges can be calibrated according to the actual vehicle condition, if the current vehicle speed, the current left/right front wheel speed, the current steering wheel rotating angle, the current steering wheel rotating speed and the current steering wheel moment all meet the value range, the vehicle is judged to be in a deviation state, and otherwise the vehicle is not deviated and the current vehicle related information is acquired again and judged.
One embodiment of which: and when the current vehicle speed VS epsilon [50kph,180kph ] & current left and right front wheel speed difference |FWS_L-FWS_R|epsilon [0rpm,1rpm ] & current steering wheel rotation angle SWA epsilon [ -3deg,3deg ] & current steering wheel rotation speed SWS epsilon [0deg/s,10deg/s ] & current steering wheel moment SWT epsilon [0.2Nm,2Nm ] are satisfied, judging that the vehicle is in a deviation state.
Step 102, if yes, acquiring duration time of vehicle deviation, and executing a deviation compensation strategy according to the duration time of vehicle deviation, wherein the specific content is as follows:
when the current vehicle-related information satisfies the condition in step 101, determining that the vehicle is in a deviation state, and then obtaining duration of vehicle deviation, and executing a deviation compensation strategy according to the duration of vehicle deviation, including:
Executing a short-time deviation compensation strategy when the duration of the vehicle deviation is [ T1, T2);
Executing a long-term deviation compensation strategy when the duration of the vehicle deviation is [ T2, T3 ];
Wherein, T1, T2 and T3 are all calibrated according to the actual vehicle condition, and T1< T2< T3.
One embodiment of which:
duration T.epsilon.5 s,10 s), the short-time deviation compensation strategy is executed, and the short-time deviation compensation strategy is executed when duration T.epsilon.10 s,30 s).
Executing the deviation compensation strategy includes: short-time deviation compensation strategy and long-time deviation compensation strategy. A short run-out compensation strategy comprising:
and obtaining a short-time compensation moment according to the steering wheel moment through a formula (1):
Tcs＝S1×SWT (1)
Wherein: tcs is a short-time compensation torque, S1 is a short-time compensation gain coefficient, and SWT is a current steering wheel torque;
and sending the short-time compensation torque to a steering power control module, wherein the application direction of the short-time compensation torque is the same as the steering wheel torque direction.
A long run deviation compensation strategy comprising:
obtaining a long-term compensation moment according to the steering wheel moment through a formula (2):
Tcl＝S2×SWT (2)
Wherein: tcl is long-term compensation moment, S2 is long-term compensation gain coefficient, SWT is current steering wheel moment;
judging whether the short-time compensation moment exceeds a short-time set threshold Tcmax or not:
if yes, in order to avoid unexpected transverse control of the vehicle, no compensation moment is provided, an alarm signal is reported to the whole vehicle, and a serious problem may occur at the moment of the vehicle, so that the vehicle needs to enter a store for further investigation and maintenance;
If not, executing the next step;
and sending the long-time compensation torque to a steering power control module, wherein the application direction of the short-time compensation torque is the same as the torque direction of the steering wheel.
And step 103, acquiring the compensated current vehicle related information again, judging whether the current vehicle related information is in the vehicle deviation value range, and if so, continuing to execute the deviation compensation strategy until the current vehicle related information is not in the vehicle deviation value range.
And acquiring the compensated current vehicle related information again and judging that the current vehicle related information is not in the range of the vehicle deviation value range, and then, exiting the execution of the deviation compensation strategy to acquire the current vehicle related information again for judging again.
Example III
Fig. 5 is a block diagram showing a vehicle deviation compensation control device according to an exemplary embodiment, the device including:
the automated preprocessing module 210 is configured to acquire current vehicle related information and determine whether the current vehicle related information is within a vehicle deviation value range;
The automatic processing module 220 is configured to obtain a duration of the vehicle deviation if the vehicle deviation is detected, and execute a deviation compensation strategy according to the duration of the vehicle deviation, where executing the deviation compensation strategy includes: a short-time deviation compensation strategy and a long-time deviation compensation strategy;
And the automatic post-processing module 230 is configured to acquire the compensated current vehicle related information again and determine whether the current vehicle related information is within a vehicle deviation value range, if so, continue to execute the deviation compensation strategy until the current vehicle related information is not within the vehicle deviation value range.
Example IV
Fig. 6 is a block diagram of a terminal according to an embodiment of the present application, and the terminal may be a terminal according to the above embodiment. The terminal 300 may be another name such as a vehicle controller.
In general, the terminal 300 includes: a processor 301 and a memory 302.
Processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 301 may be implemented in at least one hardware form of DSP (DIGITAL SIGNAL Processing), FPGA (Field-Programmable gate array), PLA (Programmable Logic Array ). Processor 301 may also include a main processor, which is a processor for processing data in an awake state, also referred to as a CPU (Central Processing Unit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 301 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. In some embodiments, the processor 301 may also include an AI (ARTIFICIAL INTELLIGENCE ) processor for processing computing operations related to machine learning.
Memory 302 may include one or more computer-readable storage media, which may be tangible and non-transitory. Memory 302 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 302 is used to store at least one instruction for execution by processor 301 to implement a vehicle deviation compensation control method provided in the present application.
In some embodiments, the terminal 300 may further optionally include: peripheral interface 303, peripheral interface 303 may be used to connect at least one Input/Output (I/O) related peripheral device to processor 301 and memory 302. In some embodiments, processor 301, memory 302, and peripheral interface 303 are integrated on the same chip or circuit board; in some other embodiments, either or both of the processor 301, the memory 302, and the peripheral interface 303 may be implemented on separate chips or circuit boards, which is not limited in this embodiment.
The Radio Frequency circuit 304 is configured to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuitry 304 communicates with a communication network and other communication devices via electromagnetic signals. The radio frequency circuit 304 converts an electrical signal into an electromagnetic signal for transmission, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 304 includes: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, subscriber identity module cards, and so forth. The radio frequency circuitry 304 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: the world wide web, metropolitan area networks, intranets, generation mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (WIRELESS FIDELITY ) networks. In some embodiments, the radio frequency circuit 304 may further include NFC (NEAR FIELD Communication) related circuits, which is not limited by the present application.
Example five
In an exemplary embodiment, there is also provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a vehicle deviation compensation control method as provided by all the inventive embodiments of the present application.
Any combination of one or more computer readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Example six
In an exemplary embodiment, an application program product is also provided, comprising one or more instructions executable by the processor 301 of the above device to perform a vehicle deviation compensation control method as described above.
Although embodiments of the invention have been disclosed above, they are not limited to the use listed in the specification and embodiments. It can be applied to various fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. Therefore, the invention is not to be limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (5)
1. The vehicle deviation compensation control method is applied to a vehicle deviation compensation control system, and the vehicle deviation compensation control system comprises a terminal, a steering power-assisted control module and an EPS power-assisted motor which are electrically connected in sequence, wherein:
The terminal is used for acquiring the current vehicle related information, acquiring corresponding compensation moment according to the execution of a corresponding deviation compensation strategy and sending the corresponding compensation moment to the steering power-assisted control module;
the steering power-assisted control module is used for acquiring corresponding compensation torque sent by the terminal and sending corresponding execution instructions to the EPS power-assisted motor;
the EPS power-assisted motor is used for acquiring corresponding execution instructions sent by the steering power-assisted control module and executing corresponding operations, and the execution of the corresponding operations comprises: the off tracking compensation intervenes at time t, and the compensation moment reaches the target compensation moment at t+2 seconds, and is characterized by comprising:
acquiring current vehicle related information and judging whether the current vehicle related information is in a vehicle deviation value range;
If yes, acquiring duration time of vehicle deviation, and executing a deviation compensation strategy according to the duration time of the vehicle deviation, wherein the executing the deviation compensation strategy comprises the following steps: a short-time deviation compensation strategy and a long-time deviation compensation strategy;
And acquiring the compensated current vehicle related information again, judging whether the current vehicle related information is in a vehicle deviation value range, if so, continuing to execute the deviation compensation strategy until the current vehicle related information is not in the vehicle deviation value range, wherein the current vehicle related information at least comprises: current vehicle speed, current left/right front wheel speed, current steering wheel angle, current steering wheel rotational speed and current steering wheel torque;
executing a deviation compensation strategy according to the duration of the vehicle deviation, comprising:
executing the short-time deviation compensation strategy when the duration of the vehicle deviation is [ T1, T2);
Executing the long-term deviation compensation strategy when the duration of the vehicle deviation is [ T2, T3 ];
wherein, T1, T2 and T3 are calibrated according to the actual vehicle condition, and T1< T2< T3;
the short-time deviation compensation strategy comprises the following steps:
and obtaining a short-time compensation moment according to the steering wheel moment through a formula (1):
Tcs=S1×SWT （1）
Wherein: tcs is a short-time compensation torque, S1 is a short-time compensation gain coefficient, and SWT is a current steering wheel torque;
The short-time compensation torque is sent to a steering power-assisted control module, and the application direction of the short-time compensation torque is the same as the torque direction of a steering wheel;
the long-term deviation compensation strategy comprises the following steps:
obtaining a long-term compensation moment according to the steering wheel moment through a formula (2):
Tcl=S2×SWT （2）
Wherein: tcl is long-term compensation moment, S2 is long-term compensation gain coefficient, SWT is current steering wheel moment;
judging whether the short-time compensation moment exceeds a short-time set threshold value or not:
If yes, no compensation moment is provided, and an alarm signal is reported to the whole vehicle;
If not, executing the next step;
and sending the long-time compensation torque to a steering power control module, wherein the application direction of the short-time compensation torque is the same as the torque direction of the steering wheel.
2. The vehicle deviation compensation control method according to claim 1, characterized by further comprising:
when the current vehicle related information is acquired and is judged not to be in the vehicle deviation value range, the vehicle is not deviated and the current vehicle related information is acquired again and is judged;
And acquiring the compensated current vehicle related information again and judging that the current vehicle related information is not in the range of the vehicle deviation value range, and then, exiting the execution of the deviation compensation strategy to acquire the current vehicle related information again for judging again.
3. A vehicle deviation compensation control device, characterized by comprising:
the automatic preprocessing module is used for acquiring the current vehicle related information and judging whether the current vehicle related information is in the range of the vehicle deviation value range or not;
The automatic processing module is used for acquiring the duration time of the vehicle deviation if the vehicle deviation is detected, and executing the deviation compensation strategy according to the duration time of the vehicle deviation, wherein the executing the deviation compensation strategy comprises the following steps: a short-time deviation compensation strategy and a long-time deviation compensation strategy;
the automatic post-processing module is used for acquiring the compensated current vehicle related information again and judging whether the current vehicle related information is in the vehicle deviation value range, if so, continuing to execute the deviation compensation strategy until the current vehicle related information is not in the vehicle deviation value range;
The current vehicle-related information includes at least: current vehicle speed, current left/right front wheel speed, current steering wheel angle, current steering wheel rotational speed and current steering wheel torque;
executing a deviation compensation strategy according to the duration of the vehicle deviation, comprising:
executing the short-time deviation compensation strategy when the duration of the vehicle deviation is [ T1, T2);
Executing the long-term deviation compensation strategy when the duration of the vehicle deviation is [ T2, T3 ];
wherein, T1, T2 and T3 are calibrated according to the actual vehicle condition, and T1< T2< T3;
the short-time deviation compensation strategy comprises the following steps:
and obtaining a short-time compensation moment according to the steering wheel moment through a formula (1):
Tcs=S1×SWT （1）
Wherein: tcs is a short-time compensation torque, S1 is a short-time compensation gain coefficient, and SWT is a current steering wheel torque;
The short-time compensation torque is sent to a steering power-assisted control module, and the application direction of the short-time compensation torque is the same as the torque direction of a steering wheel;
the long-term deviation compensation strategy comprises the following steps:
obtaining a long-term compensation moment according to the steering wheel moment through a formula (2):
Tcl=S2×SWT （2）
Wherein: tcl is long-term compensation moment, S2 is long-term compensation gain coefficient, SWT is current steering wheel moment;
judging whether the short-time compensation moment exceeds a short-time set threshold value or not:
If yes, no compensation moment is provided, and an alarm signal is reported to the whole vehicle;
If not, executing the next step;
and sending the long-time compensation torque to a steering power control module, wherein the application direction of the short-time compensation torque is the same as the torque direction of the steering wheel.
4. A terminal, comprising:
One or more processors;
A memory for storing the one or more processor-executable instructions;
wherein the one or more processors are configured to:
the vehicle deviation compensation control method according to claim 1 or 2 is performed.
5. A non-transitory computer readable storage medium, characterized in that instructions in the storage medium, when executed by a processor of a terminal, enable the terminal to perform the vehicle deviation compensation control method of claim 1 or 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211513404.1A CN115805991B (en) | 2022-11-29 | 2022-11-29 | Vehicle deviation compensation control method, device, terminal and storage medium |
Applications Claiming Priority (1)
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