CN117262005A - Steer-by-wire control method and device - Google Patents
Steer-by-wire control method and device Download PDFInfo
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- CN117262005A CN117262005A CN202210663461.1A CN202210663461A CN117262005A CN 117262005 A CN117262005 A CN 117262005A CN 202210663461 A CN202210663461 A CN 202210663461A CN 117262005 A CN117262005 A CN 117262005A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
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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
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
- B62D5/005—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback
- B62D5/006—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback power actuated
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The application provides a steering-by-wire control method and a steering-by-wire control device, which are applied to a steering-by-wire system, and acquire a power-assisted torque provided by a steering motor when a steering actuator assembly is in a fault state; the power-assisted moment is determined according to the maximum current provided by the steering motor; obtaining the maximum steering wheel hand torque according to the power-assisted torque and the first corresponding relation; the first corresponding relation is a corresponding relation among steering wheel hand torque, power-assisted torque and vehicle speed in the electric power-assisted steering system; obtaining a maximum steering wheel angle according to the maximum steering wheel hand torque and the second corresponding relation, and limiting the steering wheel according to the maximum steering wheel angle; the second corresponding relation is the corresponding relation among the hand torque of the steering wheel, the angle of the steering wheel and the speed of the vehicle in the wire control steering system. And determining the maximum rotation angle of the steering wheel according to the maximum power torque provided by the steering motor, and limiting the steering wheel at the position so that the steering wheel rotation angle is still consistent with the expected wheel rotation angle.
Description
Technical Field
The present disclosure relates to the field of vehicles, and in particular, to a steer-by-wire control method and apparatus.
Background
Automotive steering systems are an extremely important component of an automobile and can be used to change or maintain the direction of travel of the automobile. At present, the automobile steering system still takes electric power steering (Electric Power Steering, EPS) as a main part, and the safety problem that the steering wheel angle is inconsistent with the expected wheel angle is solved because of the mechanical connection of the steering wheel and the steering actuator through an intermediate shaft.
The advantages of the modular structure and the transmission ratio of the Steering-By-Wire system (SBS) can be changed at will, and the like, so that a wide space is brought for improving the vehicle performance, and the Steering-By-Wire system gradually becomes a trend of future development, so that the safety problem in the failure mode of the Steering-By-Wire system is needed to be solved. At present, the research on the steer-by-wire system is mainly focused on two aspects of mechanical structure design and software control strategies, the research on a fault processing method is less, and particularly, when the steering angle of a driver is inconsistent with the expected steering angle of a wheel, safety accidents are easy to cause.
Disclosure of Invention
In view of the foregoing, it is an object of the present application to provide a steer-by-wire control method and apparatus that ensures that the steering wheel angle is consistent with the desired wheel angle. The specific scheme is as follows:
in a first aspect, the present application provides a steer-by-wire control method, applied to a steer-by-wire system, including:
when the on-line steering actuator assembly is in a fault state, acquiring a power-assisted moment provided by a steering motor at a target vehicle speed; the assist torque is determined based on a maximum current provided by the steering motor;
obtaining the maximum steering wheel hand torque according to the power-assisted torque and the first corresponding relation; the first corresponding relation is a corresponding relation among steering wheel hand torque, power-assisted torque and vehicle speed in the electric power-assisted steering system;
obtaining a maximum steering wheel angle according to the maximum steering wheel hand moment and the second corresponding relation, and limiting the steering wheel according to the maximum steering wheel angle; the second corresponding relation is a corresponding relation among steering wheel hand torque, steering wheel angle and vehicle speed in the steer-by-wire system.
Optionally, the second corresponding relation is obtained according to the third corresponding relation and the fourth corresponding relation; the third corresponding relation is a corresponding relation among steering wheel hand torque, rack force and vehicle speed in the steer-by-wire system, and the fourth corresponding relation is a corresponding relation among steering wheel angle, rack force and vehicle speed.
Optionally, the third correspondence is determined according to the first correspondence.
Optionally, after the maximum steering wheel angle is obtained according to the maximum steering wheel hand torque and the second correspondence, the method further includes:
at the maximum steering wheel angle, the steering wheel simulator assembly is controlled to output a resistance torque of 10-100 N.m.
Optionally, the method further comprises:
and when the on-line steering actuator assembly is in a fault state, sending the fault state to the CAN network.
In a second aspect, an embodiment of the present application further provides a steer-by-wire control device, applied to a steer-by-wire system, including:
the acquisition unit is used for acquiring the power-assisted moment provided by the steering motor when the steering actuator assembly is in a fault state; the assist torque is determined based on a maximum current provided by the steering motor;
the first determining unit is used for obtaining the maximum steering wheel hand torque according to the power-assisted torque and the first corresponding relation; the first corresponding relation is a corresponding relation among steering wheel hand torque, power-assisted torque and vehicle speed in the electric power-assisted steering system;
the second determining unit is used for obtaining a maximum steering wheel angle according to the maximum steering wheel hand moment and a second corresponding relation so as to limit the steering wheel according to the maximum steering wheel angle; the second corresponding relation is a corresponding relation among steering wheel hand torque, steering wheel angle and vehicle speed in the steer-by-wire system.
Optionally, the second determining unit is configured to:
obtaining a second corresponding relation according to the third corresponding relation and the fourth corresponding relation; the third corresponding relation is a corresponding relation among steering wheel hand torque, rack force and vehicle speed in the steer-by-wire system, and the fourth corresponding relation is a corresponding relation among steering wheel angle, rack force and vehicle speed.
Optionally, the third correspondence is determined according to the first correspondence.
Optionally, the apparatus further comprises:
and the output unit is used for controlling the steering wheel simulator assembly to output the resistance torque of 10-100N.m at the maximum steering wheel angle.
Optionally, the apparatus further comprises:
and the prompt unit is used for sending the fault state to the CAN network when the steer-by-wire actuator assembly is in the fault state.
The embodiment of the application provides a steering-by-wire control method and a steering-by-wire control device, which are applied to a steering-by-wire system, and acquire a power-assisted moment provided by a steering motor when a steering actuator assembly is in a fault state; the power-assisted moment is determined according to the maximum current provided by the steering motor; then, obtaining the maximum steering wheel hand torque according to the boosting torque and the first corresponding relation; the first corresponding relation is a corresponding relation among steering wheel hand torque, power-assisted torque and vehicle speed in the electric power-assisted steering system; finally, obtaining a maximum steering wheel angle according to the maximum steering wheel hand torque and the second corresponding relation, and limiting the steering wheel according to the maximum steering wheel angle; the second corresponding relation is the corresponding relation among the hand torque of the steering wheel, the angle of the steering wheel and the speed of the vehicle in the wire control steering system. Therefore, when one or more branches fail to cause insufficient power assistance of the steering motor, the steering actuator assembly determines the maximum rotation angle of the steering wheel according to the maximum power assistance torque provided by the steering motor, limits the steering wheel at the position, ensures that the steering wheel angle does not exceed the position, ensures that the steering wheel angle still keeps high consistency with the expected wheel angle, fills the blank of the existing fault treatment method of the steering-by-wire system, and ensures the safety and reliability of the steering-by-wire system.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a steer-by-wire system;
fig. 2 is a schematic flow chart of a steer-by-wire control method according to an embodiment of the present application;
fig. 3 is a Boost curve of EPS provided in the embodiments of the present application;
FIG. 4 is a graph showing the relationship between steering wheel angle, rack force and vehicle speed provided in an embodiment of the present application;
fig. 5 is a block diagram of a steer-by-wire control device according to an embodiment of the present application.
Detailed Description
In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present application is not limited to the specific embodiments disclosed below.
As described in the background art, with the steer-by-wire system, there may be a case where the steering angle of the driver does not coincide with the expected wheel angle, which is liable to cause a safety accident. Referring to fig. 1, which is a schematic structural diagram of a steer-by-wire system, the steer-by-wire system includes a steering wheel simulator assembly, a steering actuator assembly, and a main controller, wherein a simulator control unit is used for controlling the steering wheel simulator assembly, and is controlled by the main controller, and CAN be connected to a CAN network, and the main function of the steering wheel simulator assembly is to convert the steering intention of a driver (by measuring the steering wheel angle) into a digital signal, and transmit the digital signal to the main controller. The actuator control unit is used for controlling the steering actuator assembly, is controlled by the main controller and CAN be connected to the CAN network, and the steering actuator assembly has the functions of receiving the command of the main controller, controlling the steering wheels to rotate through the steering motor controller and realizing the steering intention of a driver.
The inventor finds that for a steer-by-wire actuator assembly of a dual or multiple redundant structure, the possibility of failure of one or more branches exists, and when the steering actuator assembly enters a failure Operation mode (Fail Operation), the power assistance provided by a steering motor is only 3/4 or 1/2 of that provided under normal working conditions. Under the condition, because the assistance capability provided by the system is insufficient, and the steering wheel simulator assembly and the steering actuator assembly are not mechanically connected, the situation that the steering wheel is turned by a certain angle easily occurs, and the actuator assembly is not actually turned by a corresponding angle, namely the rack does not reach a corresponding position, and the situation that the steering wheel angle of a driver is larger than the expected wheel angle occurs, so that safety accidents are easily caused.
Based on the technical problems, the embodiment of the application provides a steer-by-wire control method and a device, which are applied to a steer-by-wire system, and acquire a power-assisted torque provided by a steering motor when a steering actuator assembly is in a fault state; the power-assisted moment is determined according to the maximum current provided by the steering motor; then, obtaining the maximum steering wheel hand torque according to the boosting torque and the first corresponding relation; the first corresponding relation is a corresponding relation among steering wheel hand torque, power-assisted torque and vehicle speed in the electric power-assisted steering system; finally, obtaining a maximum steering wheel angle according to the maximum steering wheel hand torque and the second corresponding relation, and limiting the steering wheel according to the maximum steering wheel angle; the second corresponding relation is the corresponding relation among the hand torque of the steering wheel, the angle of the steering wheel and the speed of the vehicle in the wire control steering system. Therefore, when one or more branches fail to cause insufficient power assistance of the steering motor, the steering actuator assembly determines the maximum rotation angle of the steering wheel according to the maximum power assistance torque provided by the steering motor, limits the steering wheel at the position, ensures that the steering wheel angle does not exceed the position, ensures that the steering wheel angle still keeps high consistency with the expected wheel angle, fills the blank of the existing fault treatment method of the steering-by-wire system, and ensures the safety and reliability of the steering-by-wire system.
For easy understanding, a steering-by-wire control method and apparatus according to embodiments of the present application are described in detail below with reference to the accompanying drawings.
Referring to fig. 2, a schematic flow chart of a steer-by-wire control method according to an embodiment of the present application is shown, and the method may include the following steps.
S101, when the on-line steering actuator assembly is in a fault state, the power-assisted moment provided by the steering motor at the target vehicle speed is obtained.
In the embodiment of the application, when the steering actuator assembly of the steer-by-wire system has an electrical fault on a certain branch, the steer-by-wire system enters a Fail Operation working mode, and the power-assisted torque provided by the steering motor at the target vehicle speed can be obtained, wherein the power-assisted torque is determined according to the maximum current provided by the steering motor. In particular, simulationThe controller control unit calculates the maximum power torque T provided by the steering motor according to the maximum current provided by the steering motor in the fault mode fmax . In general, the maximum assist torque in the failure mode is 50% of the maximum assist torque in the normal state.
S102, obtaining the maximum steering wheel hand torque according to the power assisting torque and the first corresponding relation.
In the embodiment of the present application, there is a first correspondence relationship in the electric power steering system EPS, that is, a correspondence relationship between a steering wheel hand torque, a power assisting torque, and a vehicle speed, and the first correspondence relationship is also applicable to the steer-by-wire system SBS, in which the steering wheel hand torque is generated by the driver's hands acting on the steering wheel. Therefore, according to the correspondence between the steering wheel hand torque and the assist torque at the target vehicle speed, the steering wheel hand torque can be determined from the assist torque, and since the assist torque is the maximum value, the steering wheel hand torque is also the maximum value. The first correspondence relationship is a correspondence relationship between a steering wheel hand torque, a power assisting torque and a vehicle speed in the electric power steering system, and can be recorded as a Boost curve.
Referring to fig. 3, a Boost curve of an EPS according to an embodiment of the present application is shown, wherein an abscissa represents a steering wheel hand torque, a unit is N.m, an ordinate represents a power-assisted torque provided by a steering motor, a unit is N.m, curves one to six represent corresponding relations between the steering wheel hand torque and the power-assisted torque at different vehicle speeds, and v 1 ＝0m/s，v 2 ＝10m/s，v 3 ＝30m/s，v 4 ＝50m/s，v 5 ＝80m/s，v 6 More than or equal to 100m/s, the curve is flatter along with the increase of the vehicle speed, so that the high sensitivity of steering can be ensured at low speed, and the safety of steering can be ensured at high speed; in addition, at the same vehicle speed, the hand torque of the steering wheel and the power assisting torque are positively correlated. It can be understood that the value of the vehicle speed can be calibrated and changed according to different vehicles, and the maximum steering wheel hand moment T which can be achieved by the steering wheel hand force can be reversely deduced according to the Boost curve handmax 。
And S103, obtaining a maximum steering wheel angle according to the maximum steering wheel hand torque and the second corresponding relation, so as to limit the steering wheel according to the maximum steering wheel angle.
In the embodiment of the present application, the second correspondence is a correspondence between a steering wheel hand torque, a steering wheel angle, and a vehicle speed in the steer-by-wire system. Specifically, the actuator control unit may invoke a "steering wheel hand torque-steering wheel angle-vehicle speed" relationship, according to T handmax And the vehicle speed, calculate the maximum angle alpha that the steering wheel can reach fmax And sent to the CAN network. At the target vehicle speed v i The relationship between the steering wheel hand torque and the steering wheel angle is:
α i ＝g i (T hand )v＝v i
wherein T is hand I=1, 2,3,4,5,6, v for steering wheel hand torque 1 ＝0m/s，v 2 ＝10m/s，v 3 ＝30m/s，v 4 ＝50m/s，v 5 ＝80m/s，v 6 The speed value is more than or equal to 100m/s, and the speed value can be calibrated and changed according to different vehicles.
In the embodiment of the present application, the second correspondence is obtained according to the third correspondence and the fourth correspondence. The third corresponding relation is the corresponding relation among the steering wheel hand moment, the rack force and the vehicle speed in the wire control steering system, the third corresponding relation is determined according to the first corresponding relation, the fourth corresponding relation is the corresponding relation among the steering wheel angle, the rack force and the vehicle speed, and the corresponding relation among the steering wheel hand moment, the steering wheel angle and the vehicle speed can be determined.
Specifically, the steering motor in SBS system provides a boosting torque T SBS Can be according to the assistance torque T provided by the steering motor in the EPS system EPS And determining that the third corresponding relation can be determined according to the first corresponding relation. Since the steering wheel hand torque of the steer-by-wire system cannot be superimposed on the EPS assist torque, for a steer-by-wire system where the assist torque provided by the motor requires an increase in the steering wheel hand torque, it can be expressed by the following equation:
T SBS ＝T EPS +T hand /i
wherein T is SBS The power-assisted moment provided by a steering motor at a certain vehicle speed v by SBS is represented; t (T) EPS The power-assisted moment provided by the steering motor when the EPS is at a certain vehicle speed v is represented; t (T) hand Indicating the hand torque of the steering wheel when the EPS is at a certain vehicle speed v; i represents the reduction ratio of the motor reduction mechanism of SBS.
In the embodiment of the present application, since SBS still has the requirement of steering wheel feel, this function is accomplished by the steering wheel simulator assembly, so there is still a Boost cut similar to that shown in fig. 3. The difference between the SBS curve and the EPS curve is the change in the ordinate, which is represented by T EPS Replaced by T SBS . In addition, although the calibration results of different vehicle types are different, the logic relationship is the same.
In the embodiment of the application, the assist torque T provided by the steering motor SBS And rack force F i The ordinate of Boost measure can be expressed as a rack force in a proportional manner, so that a third corresponding relationship can be determined according to the first corresponding relationship, namely, the corresponding relationship among the steering wheel hand torque, the rack force and the vehicle speed in the on-line steering system is determined according to the corresponding relationship among the steering wheel hand torque, the power assisting torque and the vehicle speed in the electric power steering system. At different vehicle speeds v, steering wheel hand torque T hand And rack force F i The correspondence between them can be expressed by the following equation:
F i ＝f i (T hand )v＝v i
wherein i=1, 2,3,4,5,6, v 1 ＝0m/s，v 2 ＝10m/s，v 3 ＝30m/s，v 4 ＝50m/s，v 5 ＝80m/s，v 6 The speed value is more than or equal to 100m/s, and the speed value can be calibrated and changed according to different vehicles.
In the embodiment of the present application, the fourth correspondence is a correspondence between a steering wheel angle, a rack force, and a vehicle speed. Because the steering can be leftwards and rightwards, the steering machine is correspondingly provided with a left pull rod and a right pull rod, namely, left rack force and right rack force can be provided, the left rack force and the right rack force are overlapped, the total rack force can be obtained,referring to fig. 4, a graph of a relationship between a steering wheel angle and a rack force when a vehicle speed is 0 is provided in an embodiment of the present application, wherein an abscissa represents a steering wheel angle in degrees, and an ordinate represents a rack force in kN. As the vehicle speed increases, the rack force decreases at the same steering wheel angle. So the steering wheel angle alpha and the rack force F at different speeds i The equation can be expressed as follows:
F i ＝k i (α)v＝v i
wherein i=1, 2,3,4,5,6, v 1 ＝0m/s，v 2 ＝10m/s，v 3 ＝30m/s，v 4 ＝50m/s，v 5 ＝80m/s，v 6 And the speed is more than or equal to 100m/s, and the speed can be calibrated and changed according to different projects.
In the embodiment of the application, the maximum steering wheel angle is obtained according to the maximum steering wheel hand torque and the second corresponding relation, so that the steering wheel is limited according to the maximum steering wheel angle. Specifically, the control unit of the steering wheel simulator assembly receives the position information maximum steering wheel angle alpha from the CAN network fmax And fault information, performing software hard limiting on the position to ensure that the steering wheel angle which can be rotated by the driver does not exceed the calculated limit position.
In the embodiment of the application, after the maximum steering wheel angle is obtained according to the maximum steering wheel hand torque and the second corresponding relation, the steering wheel simulator assembly can be controlled to output a resistance torque of 10-100N.m at the maximum steering wheel angle. The software hard limiting method can be that the steering wheel simulator assembly is set to output the maximum current at the position, so that the steering wheel simulator assembly generates the maximum resistance moment, and the resistance moment can be 50N.m or 80N.m, so that the hand moment of an adult in extreme cases is ensured not to exceed the resistance moment which can be provided by the steering wheel simulator assembly.
In the embodiment of the application, when the wire control steering actuator assembly is in a fault state, the fault state CAN be sent to the CAN network, namely, the fault state bit is sent to the CAN network.
In the embodiment of the application, the actuator assembly of the steer-by-wire system is generally of a redundant structure, and when one or more branches of the actuator assembly fail to cause insufficient steering assistance, the steering wheel angle and the expected wheel angle are ensured to be still kept to be consistent, so that the method is simple, the practicability is high, the safety of drivers and passengers is ensured, and the driving experience is improved.
The embodiment of the application provides a steering-by-wire control method, which is applied to a steering-by-wire system, and is used for acquiring the power-assisted torque provided by a steering motor when a steering actuator assembly is in a fault state; the power-assisted moment is determined according to the maximum current provided by the steering motor; then, obtaining the maximum steering wheel hand torque according to the boosting torque and the first corresponding relation; the first corresponding relation is a corresponding relation among steering wheel hand torque, power-assisted torque and vehicle speed in the electric power-assisted steering system; finally, obtaining a maximum steering wheel angle according to the maximum steering wheel hand torque and the second corresponding relation, and limiting the steering wheel according to the maximum steering wheel angle; the second corresponding relation is the corresponding relation among the hand torque of the steering wheel, the angle of the steering wheel and the speed of the vehicle in the wire control steering system. Therefore, when one or more branches fail to cause insufficient power assistance of the steering motor, the steering actuator assembly determines the maximum rotation angle of the steering wheel according to the maximum power assistance torque provided by the steering motor, limits the steering wheel at the position, ensures that the steering wheel angle does not exceed the position, ensures that the steering wheel angle still keeps high consistency with the expected wheel angle, fills the blank of the existing fault treatment method of the steering-by-wire system, and ensures the safety and reliability of the steering-by-wire system.
Based on the above steer-by-wire control method, the embodiment of the present application further provides a steer-by-wire control device, and referring to fig. 5, which is a structural block diagram of the steer-by-wire control device provided in the embodiment of the present application, the device may include:
an acquisition unit 100 for acquiring a power assisting torque provided by the steering motor at a target vehicle speed when the steer-by-wire actuator assembly is in a failure state; the assist torque is determined based on a maximum current provided by the steering motor;
a first determining unit 200, configured to obtain a maximum steering wheel hand torque according to the assistance torque and the first correspondence; the first corresponding relation is a corresponding relation among steering wheel hand torque, power-assisted torque and vehicle speed in the electric power-assisted steering system;
a second determining unit 300, configured to obtain a maximum steering wheel angle according to the maximum steering wheel hand torque and the second correspondence, so as to limit the steering wheel according to the maximum steering wheel angle; the second corresponding relation is a corresponding relation among steering wheel hand torque, steering wheel angle and vehicle speed in the steer-by-wire system.
Optionally, the second determining unit is configured to:
obtaining a second corresponding relation according to the third corresponding relation and the fourth corresponding relation; the third corresponding relation is a corresponding relation among steering wheel hand torque, rack force and vehicle speed in the steer-by-wire system, and the fourth corresponding relation is a corresponding relation among steering wheel angle, rack force and vehicle speed.
Optionally, the third correspondence is determined according to the first correspondence.
Optionally, the apparatus further comprises:
and the output unit is used for controlling the steering wheel simulator assembly to output the resistance torque of 10-100N.m at the maximum steering wheel angle.
Optionally, the apparatus further comprises:
and the prompt unit is used for sending the fault state to the CAN network when the steer-by-wire actuator assembly is in the fault state.
The embodiment of the application provides a steer-by-wire control device which is applied to a steer-by-wire system, and an acquisition unit which is used for acquiring a power-assisted torque provided by a steering motor when a steering actuator assembly is in a fault state; the assist torque is determined based on a maximum current provided by the steering motor; the first determining unit is used for obtaining the maximum steering wheel hand torque according to the power-assisted torque and the first corresponding relation; the first corresponding relation is a corresponding relation among steering wheel hand torque, power-assisted torque and vehicle speed in the electric power-assisted steering system; the second determining unit is used for obtaining a maximum steering wheel angle according to the maximum steering wheel hand moment and a second corresponding relation so as to limit the steering wheel according to the maximum steering wheel angle; the second corresponding relation is a corresponding relation among steering wheel hand torque, steering wheel angle and vehicle speed in the steer-by-wire system. Therefore, when one or more branches fail to cause insufficient power assistance of the steering motor, the steering actuator assembly determines the maximum rotation angle of the steering wheel according to the maximum power assistance torque provided by the steering motor, limits the steering wheel at the position, ensures that the steering wheel angle does not exceed the position, ensures that the steering wheel angle still keeps high consistency with the expected wheel angle, fills the blank of the existing fault treatment method of the steering-by-wire system, and ensures the safety and reliability of the steering-by-wire system.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
The foregoing is merely a preferred embodiment of the present application, and although the present application has been disclosed in the preferred embodiment, it is not intended to limit the present application. Any person skilled in the art may make many possible variations and modifications to the technical solution of the present application, or modify equivalent embodiments, using the methods and technical contents disclosed above, without departing from the scope of the technical solution of the present application. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present application, which do not depart from the content of the technical solution of the present application, still fall within the scope of the technical solution of the present application.
Claims (10)
1. A steer-by-wire control method, characterized by being applied to a steer-by-wire system, comprising:
when the on-line steering actuator assembly is in a fault state, acquiring a power-assisted moment provided by a steering motor at a target vehicle speed; the assist torque is determined based on a maximum current provided by the steering motor;
obtaining the maximum steering wheel hand torque according to the power-assisted torque and the first corresponding relation; the first corresponding relation is a corresponding relation among steering wheel hand torque, power-assisted torque and vehicle speed in the electric power-assisted steering system;
obtaining a maximum steering wheel angle according to the maximum steering wheel hand moment and the second corresponding relation, and limiting the steering wheel according to the maximum steering wheel angle; the second corresponding relation is a corresponding relation among steering wheel hand torque, steering wheel angle and vehicle speed in the steer-by-wire system.
2. The method of claim 1, wherein the second correspondence is derived from a third correspondence and a fourth correspondence; the third corresponding relation is a corresponding relation among steering wheel hand torque, rack force and vehicle speed in the steer-by-wire system, and the fourth corresponding relation is a corresponding relation among steering wheel angle, rack force and vehicle speed.
3. The method of claim 2, wherein the third correspondence is determined from the first correspondence.
4. The method of claim 1, wherein after the deriving a maximum steering wheel angle from the maximum steering wheel hand torque and the second correspondence, the method further comprises:
at the maximum steering wheel angle, the steering wheel simulator assembly is controlled to output a resistance torque of 10-100 N.m.
5. The method according to any one of claims 1-4, further comprising:
and when the on-line steering actuator assembly is in a fault state, sending the fault state to the CAN network.
6. A steer-by-wire control apparatus, characterized by being applied to a steer-by-wire system, comprising:
the acquisition unit is used for acquiring the power-assisted moment provided by the steering motor when the steering actuator assembly is in a fault state; the assist torque is determined based on a maximum current provided by the steering motor;
the first determining unit is used for obtaining the maximum steering wheel hand torque according to the power-assisted torque and the first corresponding relation; the first corresponding relation is a corresponding relation among steering wheel hand torque, power-assisted torque and vehicle speed in the electric power-assisted steering system;
the second determining unit is used for obtaining a maximum steering wheel angle according to the maximum steering wheel hand moment and a second corresponding relation so as to limit the steering wheel according to the maximum steering wheel angle; the second corresponding relation is a corresponding relation among steering wheel hand torque, steering wheel angle and vehicle speed in the steer-by-wire system.
7. The apparatus according to claim 6, wherein the second determining unit is configured to:
obtaining a second corresponding relation according to the third corresponding relation and the fourth corresponding relation; the third corresponding relation is a corresponding relation among steering wheel hand torque, rack force and vehicle speed in the steer-by-wire system, and the fourth corresponding relation is a corresponding relation among steering wheel angle, rack force and vehicle speed.
8. The apparatus of claim 7, wherein the third correspondence is determined from the first correspondence.
9. The apparatus of claim 6, wherein the apparatus further comprises:
and the output unit is used for controlling the steering wheel simulator assembly to output the resistance torque of 10-100N.m at the maximum steering wheel angle.
10. The apparatus according to any one of claims 6-9, characterized in that the apparatus further comprises:
and the prompt unit is used for sending the fault state to the CAN network when the steer-by-wire actuator assembly is in the fault state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210663461.1A CN117262005A (en) | 2022-06-13 | 2022-06-13 | Steer-by-wire control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210663461.1A CN117262005A (en) | 2022-06-13 | 2022-06-13 | Steer-by-wire control method and device |
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| Publication Number | Publication Date |
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| CN117262005A true CN117262005A (en) | 2023-12-22 |
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|---|---|---|---|
| CN202210663461.1A Pending CN117262005A (en) | 2022-06-13 | 2022-06-13 | Steer-by-wire control method and device |
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| Country | Link |
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| CN (1) | CN117262005A (en) |
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