CN117885806A - Torque compensation method and device based on steering information of steering wheel - Google Patents
Torque compensation method and device based on steering information of steering wheel Download PDFInfo
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- CN117885806A CN117885806A CN202311731640.5A CN202311731640A CN117885806A CN 117885806 A CN117885806 A CN 117885806A CN 202311731640 A CN202311731640 A CN 202311731640A CN 117885806 A CN117885806 A CN 117885806A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- 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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
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Abstract
The invention discloses a torque compensation method and a device based on steering information of a steering wheel, belonging to the technical field of automobile electronic control, wherein the method comprises the following steps: filtering the current steering angle in the current steering wheel steering information at the current moment to obtain a filtered steering angle; determining a steering angle sign, a first steering angle speed and a first steering angle acceleration according to the filtered steering angle; determining target steering wheel steering information according to the steering angle sign, the first steering angle speed and the first steering angle acceleration; the target steering wheel steering information comprises target steering angular speed and target steering angular acceleration; and carrying out torque compensation on the electronic hydraulic power-assisted steering system according to the steering information of the target steering wheel to obtain a torque compensation value of the electronic hydraulic power-assisted steering system. The invention improves the accuracy of the subsequent torque compensation value, thereby improving the torque compensation effect on the electronic hydraulic power steering system.
Description
Technical Field
The invention relates to the technical field of automobile electronic control, in particular to a torque compensation method and device based on steering information of a steering wheel.
Background
With the rapid development of the automotive industry and related manufacturing industries, automotive steering systems have evolved from the very beginning mechanical steering systems to the currently commonly used electronically controlled steering systems. As one of electronically controlled steering systems, an electro-hydraulic power steering system is widely used because of its characteristics of outputting a small torque at a high speed and outputting a large torque at a low speed. However, an electric booster pump in an electric hydraulic power assisted steering system generally requires that the engine provide power, i.e. the electric hydraulic power assisted steering system has a certain torque consumption for the vehicle engine when working.
In order to solve the above problems, most of the existing torque compensation methods determine a torque compensation value of an electro-hydraulic power steering system only from the angle of the whole power system or the angle of road surface and vehicle state information, and the torque compensation effect is poor.
Disclosure of Invention
The invention provides a torque compensation method and a device based on steering information of a steering wheel, which are used for improving the torque compensation effect on an electronic hydraulic power-assisted steering system.
According to an aspect of the present invention, there is provided a torque compensation method based on steering information of a steering wheel, the method comprising:
filtering the current steering angle in the current steering wheel steering information at the current moment to obtain a filtered steering angle;
Determining a steering angle sign, a first steering angle speed and a first steering angle acceleration according to the filtered steering angle;
determining target steering wheel steering information according to the steering angle sign, the first steering angle speed and the first steering angle acceleration; the target steering wheel steering information comprises target steering angular speed and target steering angular acceleration;
and carrying out torque compensation on the electronic hydraulic power-assisted steering system according to the steering information of the target steering wheel to obtain a torque compensation value of the electronic hydraulic power-assisted steering system.
According to another aspect of the present invention, there is provided a torque compensation device based on steering information of a steering wheel, the device comprising:
the filtering steering angle determining module is used for filtering the current steering angle in the current steering wheel steering information at the current moment to obtain a filtering steering angle;
the steering angle information determining module is used for determining a steering angle sign, a first steering angular speed and a first steering angular acceleration according to the filtered steering angle;
the target steering information determining module is used for determining target steering wheel steering information according to the steering angle sign, the first steering angular speed and the first steering angular acceleration; the target steering wheel steering information comprises target steering angular speed and target steering angular acceleration;
And the torque compensation value determining module is used for carrying out torque compensation on the electronic hydraulic power-assisted steering system according to the steering information of the target steering wheel to obtain a torque compensation value of the electronic hydraulic power-assisted steering system.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of torque compensation based on steering wheel information of any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a method of torque compensation based on steering wheel information according to any one of the embodiments of the present invention.
According to the technical scheme, the filtering steering angle is obtained by filtering the current steering angle in the current steering wheel steering information at the current moment; determining a steering angle sign, a first steering angle speed and a first steering angle acceleration according to the filtered steering angle; determining target steering wheel steering information according to the steering angle sign, the first steering angle speed and the first steering angle acceleration; the target steering wheel steering information comprises target steering angular speed and target steering angular acceleration; and carrying out torque compensation on the electronic hydraulic power-assisted steering system according to the steering information of the target steering wheel to obtain a torque compensation value of the electronic hydraulic power-assisted steering system. According to the technical scheme, the current steering angle in the current steering wheel steering information at the current moment is subjected to fine processing of the data such as filtering and symbols, so that the current steering wheel steering information at the current moment is more accurate, the accuracy of the follow-up torque compensation value is further improved, and the torque compensation effect of the electronic hydraulic power steering system is further improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a torque compensation method based on steering wheel information according to a first embodiment of the present invention;
FIG. 2 is a flow chart of a torque compensation method based on steering information provided in accordance with a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a torque compensation device based on steering information of a steering wheel according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device implementing a torque compensation method based on steering information according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "target," "current," "history," "first," and "second," and the like in the description and claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In addition, in the technical scheme of the invention, the related processes of collection, storage, use, processing, transmission, provision, disclosure and the like of the current steering wheel steering information at the current moment, the historical steering angular speed at the historical moment, the historical steering angular acceleration at the historical moment and the like all meet the requirements of related laws and regulations, and the prior art is not violated.
Example 1
Fig. 1 is a flowchart of a torque compensation method based on steering information of a steering wheel according to an embodiment of the present invention, where the method may be implemented by a torque compensation device based on steering information of a steering wheel, and the device may be implemented in hardware and/or software, and may be configured in an electronic device, which may be a vehicle. As shown in fig. 1, the method includes:
s101, filtering the current steering angle in the current steering wheel steering information at the current moment to obtain a filtered steering angle.
The current steering information refers to steering information of the vehicle, which is acquired from the vehicle CAN (control unit area network, controller Area Network) line at the current time. Optionally, the current steering wheel steering information may further include a current steering angular velocity and a current steering wheel rotation direction. The current steering angle refers to the steering angle of the steering wheel of the vehicle at the current moment. The current steering angular velocity refers to the angular velocity of the vehicle at the time of steering at the current time. The current steering wheel rotation direction refers to the rotation direction of the vehicle steering wheel at the current moment. The filtered steering angle refers to the steering angle of the steering wheel obtained by filtering the current steering angle.
Specifically, the current steering angle in the current steering wheel steering information at the current moment can be filtered through a vehicle filter to obtain a filtered steering angle. Alternatively, the type of vehicle filter may be determined based on actual business requirements.
S102, determining a steering angle sign, a first steering angular speed and a first steering angular acceleration according to the filtered steering angle.
The steering angle symbol is a symbol for reflecting the acquisition mode of the filtered steering angle, for example, if the filtered steering angle is obtained through a left steering wheel, the steering angle symbol is-1; if the filtered steering angle is obtained by right turning the steering wheel, the steering angle sign is 1. The first steering angular velocity refers to an angular velocity of the vehicle at the time of steering at the present moment obtained from the filtered steering angle. The first steering angular acceleration refers to an angular acceleration of the vehicle at the time of steering at the present moment obtained from the filtered steering angle.
Optionally, the filtered steering angle may be compared with an angle threshold to obtain an angle comparison result; and determining a steering angle sign according to the angle comparison result.
The angle threshold may be preset according to an actual service requirement, for example, the angle threshold may be 0 degrees, which is not specifically limited in the embodiment of the present invention.
Specifically, comparing the filtered steering angle with an angle threshold value to obtain an angle comparison result; if the angle comparison result shows that the filtered steering angle is larger than the angle threshold value, determining that the steering angle sign is 1; and if the angle comparison result is that the filtered steering angle is smaller than the angle threshold value, determining that the steering angle sign is-1.
Optionally, derivative may be performed on the filtered steering angle to obtain a first steering angular velocity; and differentiating and deriving the first steering angular velocity to obtain the first steering angular acceleration.
S103, determining target steering wheel steering information according to the steering angle sign, the first steering angular speed and the first steering angular acceleration; the target steering wheel steering information includes a target steering angular velocity and a target steering angular acceleration.
The target steering wheel steering information refers to steering wheel steering information obtained by processing the current steering wheel steering information. The target steering angular velocity refers to the actual angular velocity of the vehicle when steering at the current moment; accordingly, the target steering angular acceleration refers to the actual angular acceleration of the vehicle at the current time when steering.
Specifically, the steering angle symbol, the first steering angle speed and the first steering angle acceleration may be input into a steering wheel steering information correction model, and the target steering wheel steering information may be obtained after the processing of the steering wheel steering information correction model. The steering wheel steering information correction model can be preset according to actual service requirements, and the embodiment of the invention is not particularly limited.
And S104, performing torque compensation on the electronic hydraulic power-assisted steering system according to the steering information of the target steering wheel to obtain a torque compensation value of the electronic hydraulic power-assisted steering system.
The electronic hydraulic power-assisted steering system has most of the advantages of a mechanical steering system, meanwhile, the energy consumption is reduced, the response is more sensitive, the steering power-assisted magnitude can be automatically adjusted according to parameters such as steering angle, vehicle speed and the like, and the electronic hydraulic power-assisted steering system is more humanized. The torque compensation value is a value obtained by compensating a torque error of the vehicle engine output during the torque of the vehicle engine output.
Specifically, the torque compensation can be performed on the electronic hydraulic power-assisted steering system according to the target steering angular speed and the target steering angular acceleration in the target steering wheel steering information, so as to obtain a torque compensation value of the electronic hydraulic power-assisted steering system.
For example, a torque compensation value, in which the steering wheel rotation direction is consistent with the current steering wheel rotation direction and the steering angular velocity is consistent with the target steering angular velocity, may be extracted from a preset system torque compensation value table as an initial torque compensation value according to the current steering wheel rotation direction and the target steering angular velocity; extracting a target torque correction factor corresponding to the target steering angular acceleration from a preset torque correction factor table according to the target steering angular acceleration; and taking the product between the initial torque compensation value and the target torque correction factor as the torque compensation value of the electro-hydraulic power steering system. Wherein the current steering wheel rotation direction may be one of a clockwise rotation and a counterclockwise rotation.
The preset system torque compensation value table refers to a data table in which the steering wheel rotation direction, the steering angular velocity and the torque compensation value are stored in association. The preset torque correction factor table is a data table in which steering angular acceleration and torque correction factors are stored in association with each other.
According to the technical scheme, the current steering angle in the current steering wheel steering information at the current moment is subjected to filtering processing to obtain a filtering steering angle; determining a steering angle sign, a first steering angle speed and a first steering angle acceleration according to the filtered steering angle; determining target steering wheel steering information according to the steering angle sign, the first steering angle speed and the first steering angle acceleration; the target steering wheel steering information comprises target steering angular speed and target steering angular acceleration; and carrying out torque compensation on the electronic hydraulic power-assisted steering system according to the steering information of the target steering wheel to obtain a torque compensation value of the electronic hydraulic power-assisted steering system. According to the technical scheme, the current steering angle in the current steering wheel steering information at the current moment is subjected to fine processing of the data such as filtering and symbols, so that the current steering wheel steering information at the current moment is more accurate, the accuracy of the follow-up torque compensation value is further improved, and the torque compensation effect of the electronic hydraulic power steering system is further improved.
Example two
Fig. 2 is a flowchart of a torque compensation method based on steering information of a steering wheel according to a second embodiment of the present invention, and the present embodiment further optimizes "determining target steering information of a steering wheel according to a steering angle symbol, a first steering angle speed, and a first steering angle acceleration" based on the above embodiment, thereby providing an alternative embodiment. In the embodiments of the present invention, parts not described in detail may be referred to for related expressions of other embodiments. As shown in fig. 2, the method includes:
s201, filtering the current steering angle in the current steering wheel steering information at the current moment to obtain a filtered steering angle.
S202, determining a steering angle sign, a first steering angular speed and a first steering angular acceleration according to the filtered steering angle.
S203, respectively carrying out smoothing processing on the first steering angular velocity and the first steering angular acceleration to obtain a smooth steering angular velocity and a smooth steering angular acceleration.
The smooth steering angular velocity refers to a steering angular velocity obtained by smoothing the first steering angular velocity. Correspondingly, the smooth steering angular acceleration refers to steering angular acceleration obtained by smoothing the first steering angular acceleration.
Specifically, the first steering angular velocity and the first steering angular acceleration may be input into a smoothing model, and the smoothing model is used to process the first steering angular velocity and the first steering angular acceleration to obtain a smoothed steering angular velocity and a smoothed steering angular acceleration. The smoothing model may be preset according to actual service requirements, which is not specifically limited in the embodiment of the present invention.
Alternatively, the historical steering angular velocity at the historical moment may be obtained; determining a maximum steering angular velocity and a minimum steering angular velocity according to the first steering angular velocity and the historical steering angular velocity; and determining the smooth steering angular velocity according to the maximum steering angular velocity and the minimum steering angular velocity.
The historical time refers to a time before the current time. The historical steering angular velocity refers to the angular velocity of the vehicle at the time of steering at the historical moment; optionally, the number of historical steering angular velocities is greater than or equal to one. The first steering angular velocity refers to an angular velocity of the vehicle at the time of steering at the present moment obtained from the filtered steering angle.
Exemplary, if the current time is n, n is a positive integer, the historical steering angular velocity omega at the time of n-1 is obtained n-1 The first steering angular velocity omega n And omega n-1 The larger of them is the maximum steering angular velocity; the first steering angular velocity omega n And omega n-1 The smaller of them, as the minimum steering angular velocity; an average value of the maximum steering angular velocity and the minimum steering angular velocity is calculated, and the average value is used as the smooth steering angular velocity.
Exemplary, if the current time is n, n is a positive integer, the historical steering angular velocity omega at the time of n-1 is obtained n-1 And a historical steering angular velocity omega at time n-2 n-2 The method comprises the steps of carrying out a first treatment on the surface of the From the first steering angular velocity omega n 、ω n-1 And omega n-2 Extracting the maximum value and the minimum value of the three as the maximum steering angular velocity and the minimum steering angular velocity respectivelyAngular velocity; an average value of the maximum steering angular velocity and the minimum steering angular velocity is calculated, and the average value is used as the smooth steering angular velocity.
Exemplary, if the current time is n, n is a positive integer, the historical steering angular velocity omega at the time of n-1 is obtained n-1 Historical steering angular velocity ω at time n-2 n-2 And a historical steering angular velocity omega at time n-3 n-3 The method comprises the steps of carrying out a first treatment on the surface of the From the first steering angular velocity omega n 、ω n-1 、ω n-2 And omega n-3 The maximum value and the minimum value in the four are extracted and respectively used as the maximum steering angular velocity and the minimum steering angular velocity; an average value of the maximum steering angular velocity and the minimum steering angular velocity is calculated, and the average value is used as the smooth steering angular velocity.
Alternatively, the historical steering angular acceleration at the historical moment may be obtained; determining a maximum steering angular acceleration and a minimum steering angular acceleration according to the first steering angular acceleration and the historical steering angular acceleration; and determining the smooth steering angular acceleration according to the maximum steering angular acceleration and the minimum steering angular acceleration.
The historical steering angular acceleration refers to the angular acceleration of the vehicle when steering at the historical moment; optionally, the number of historical steering angular accelerations is greater than or equal to one. The first steering angular acceleration refers to an angular acceleration of the vehicle at the time of steering at the present moment obtained from the filtered steering angle.
Exemplary, if the current time is n, n is a positive integer, the historical steering angular acceleration beta at the time of n-1 is obtained n-1 Will first steering angular acceleration beta n And beta n-1 The larger of them is the maximum steering angle acceleration; by turning the first steering angle acceleration beta n And beta n-1 The smaller of them is the minimum steering angular acceleration; an average value of the maximum steering angle acceleration and the minimum steering angle acceleration is calculated, and the average value is used as the smooth steering angle acceleration.
Exemplary, if the current time is n, n is a positive integer, the historical steering angular acceleration beta at the time of n-1 is obtained n-1 And a historical steering angular acceleration beta at time n-2 n-2 The method comprises the steps of carrying out a first treatment on the surface of the From first steering angular acceleration beta n 、β n-1 And beta n-2 Extracting the maximum value and the minimum value from the three values to respectively serve as the maximum steering angular acceleration and the minimum steering angular acceleration; an average value of the maximum steering angle acceleration and the minimum steering angle acceleration is calculated, and the average value is used as the smooth steering angle acceleration.
Exemplary, if the current time is n, n is a positive integer, the historical steering angular acceleration beta at the time of n-1 is obtained n-1 Historical steering angular acceleration beta at time n-2 n-2 And a historical steering angular acceleration beta at time n-3 n-3 The method comprises the steps of carrying out a first treatment on the surface of the From first steering angular acceleration beta n 、β n-1 、β n-2 And beta n-3 Extracting maximum and minimum values from the four values to serve as maximum steering angular acceleration and minimum steering angular acceleration respectively; an average value of the maximum steering angle acceleration and the minimum steering angle acceleration is calculated, and the average value is used as the smooth steering angle acceleration.
S204, determining the steering information of the target steering wheel according to the steering angle sign, the smooth steering angular speed and the smooth steering angular acceleration.
Specifically, determining a target steering angular velocity in target steering wheel steering information according to the steering angular symbol and the smooth steering angular velocity; and determining the target steering angle acceleration in the target steering wheel steering information according to the steering angle sign and the smooth steering angle acceleration.
Alternatively, the candidate steering angular velocity and the candidate steering angular acceleration may be determined from the steering angle sign, the smoothed steering angular velocity, and the smoothed steering angular acceleration; comparing the candidate steering angular speed with a steering angular speed threshold value to obtain a first comparison result; comparing the candidate steering angular acceleration with a steering angular acceleration threshold value to obtain a second comparison result; determining a target steering angular speed in the target steering wheel steering information according to the current vehicle acceleration at the current moment and a first comparison result; and determining the target steering angle acceleration in the target steering wheel steering information according to the current vehicle acceleration and the second comparison result.
The candidate steering angular velocity refers to a steering angular velocity that can be selected. Accordingly, the candidate steering angular acceleration refers to a steering angular acceleration that can be selected. The steering angular velocity threshold value and the steering angular acceleration threshold value may each be set in advance according to the characteristics of the vehicle engine. The current vehicle acceleration refers to the acceleration of the vehicle at the current time.
Specifically, the product between the steering angle sign and the absolute value of the smoothed steering angle velocity is taken as the candidate steering angle velocity, that is:
ω 1 ＝A×|ω 2 |
wherein omega 1 Is the candidate steering angular velocity, A is the steering angular sign, omega 2 To smooth steering angular velocity.
Then, the product between the steering angle sign and the absolute value of the smoothed steering angle acceleration is taken as the candidate steering angle acceleration, that is:
β 1 ＝A×|β 2 |
wherein beta is 1 Is candidate steering angle acceleration, A is a steering angle sign, beta 2 To smooth steering angle acceleration.
Then, comparing the candidate steering angular speed with a steering angular speed threshold value to obtain a first comparison result; comparing the candidate steering angular acceleration with a steering angular acceleration threshold value to obtain a second comparison result; comparing the current vehicle acceleration at the current moment with an acceleration threshold value to obtain a third comparison result; if the third comparison result is that the current vehicle acceleration is greater than or equal to the acceleration threshold value and the first comparison result is that the candidate steering angular velocity is greater than or equal to the steering angular velocity threshold value, the candidate steering angular velocity is used as the target steering angular velocity in the target steering wheel steering information; and if the third comparison result is that the current vehicle acceleration is greater than or equal to the acceleration threshold value and the first comparison result is that the candidate steering angular velocity is smaller than the steering angular velocity threshold value, the steering angular velocity threshold value is used as the target steering angular velocity in the steering information of the target steering wheel. And if the third comparison result is that the current vehicle acceleration is smaller than the acceleration threshold value, taking the absolute value of the smooth steering angular velocity as the target steering angular velocity in the target steering wheel steering information. The acceleration threshold value may be set in advance according to the characteristics of the vehicle engine.
Similarly, if the third comparison result is that the current vehicle acceleration is greater than or equal to the acceleration threshold value and the second comparison result is that the candidate steering angle acceleration is greater than or equal to the steering angle acceleration threshold value, the candidate steering angle acceleration is used as the target steering angle acceleration in the target steering wheel steering information; if the third comparison result is that the current vehicle acceleration is larger than or equal to the acceleration threshold value and the second comparison result is that the candidate steering angle acceleration is smaller than the steering angle acceleration threshold value, the steering angle acceleration threshold value is used as the target steering angle acceleration in the steering information of the target steering wheel; and if the third comparison result is that the current vehicle acceleration is smaller than the acceleration threshold value, taking the absolute value of the smooth steering angle acceleration as the target steering angle speed in the target steering wheel steering information.
It can be understood that according to the comparison result of the current vehicle acceleration and the vehicle acceleration threshold value, different determination target steering wheel steering information is determined, so that the situation that a vehicle driver cannot steer in time due to too slow steering wheel is effectively avoided; and detecting whether the candidate steering angular velocity and the candidate steering angular acceleration cause wheel locking or not based on the steering angular velocity threshold and the steering angular acceleration threshold, and if yes (namely, the candidate steering angular velocity is smaller than the steering angular velocity threshold or the candidate steering angular acceleration is smaller than the steering angular acceleration threshold), taking the steering angular velocity threshold as the target steering angular velocity in the target steering wheel steering information, taking the steering angular acceleration threshold as the target steering angular acceleration in the target steering wheel steering information, effectively avoiding the occurrence of wheel locking in the braking process of the vehicle, improving the steering stability of the vehicle, and further enhancing the steering control capability of the vehicle.
And S205, performing torque compensation on the electronic hydraulic power-assisted steering system according to the steering information of the target steering wheel to obtain a torque compensation value of the electronic hydraulic power-assisted steering system.
According to the technical scheme, the first steering angular velocity and the first steering angular acceleration are subjected to smoothing processing to obtain the smooth steering angular velocity and the smooth steering angular acceleration; and then, based on the steering angle sign, the smooth steering angle speed and the smooth steering angle acceleration, determining the steering information of the target steering wheel, avoiding the occurrence of the situation that a vehicle driver cannot steer in time due to too slow steering wheel, avoiding the occurrence of wheel locking of the vehicle in the braking process, and improving the steering stability of the vehicle, thereby enhancing the steering control capability of the vehicle.
Example III
Fig. 3 is a schematic structural diagram of a torque compensation device based on steering information of a steering wheel according to a third embodiment of the present invention, where the present embodiment is applicable to a situation of performing torque compensation on an electro-hydraulic power steering system, and the device may be implemented in a hardware and/or software form, and may be configured in an electronic device, which may be a vehicle. As shown in fig. 3, the apparatus includes:
The filtering steering angle determining module 301 is configured to perform filtering processing on a current steering angle in current steering wheel steering information at a current moment to obtain a filtering steering angle;
the corner information determining module 302 is configured to determine a steering angle sign, a first steering angular velocity, and a first steering angular acceleration according to the filtered steering angle;
a target steering information determining module 303, configured to determine target steering information of the steering wheel according to the steering angle symbol, the first steering angular velocity, and the first steering angular acceleration; the target steering wheel steering information comprises target steering angular speed and target steering angular acceleration;
the torque compensation value determining module 304 is configured to perform torque compensation on the electro-hydraulic power steering system according to the target steering information, so as to obtain a torque compensation value of the electro-hydraulic power steering system.
According to the technical scheme, the filtering steering angle is obtained by filtering the current steering angle in the current steering wheel steering information at the current moment; determining a steering angle sign, a first steering angle speed and a first steering angle acceleration according to the filtered steering angle; determining target steering wheel steering information according to the steering angle sign, the first steering angle speed and the first steering angle acceleration; the target steering wheel steering information comprises target steering angular speed and target steering angular acceleration; and carrying out torque compensation on the electronic hydraulic power-assisted steering system according to the steering information of the target steering wheel to obtain a torque compensation value of the electronic hydraulic power-assisted steering system. According to the technical scheme, the current steering angle in the current steering wheel steering information at the current moment is subjected to fine processing of the data such as filtering and symbols, so that the current steering wheel steering information at the current moment is more accurate, the accuracy of the follow-up torque compensation value is further improved, and the torque compensation effect of the electronic hydraulic power steering system is further improved.
Optionally, the rotation angle information determining module 302 includes a steering angle symbol determining unit, which is specifically configured to:
comparing the filtered steering angle with an angle threshold value to obtain an angle comparison result;
and determining a steering angle sign according to the angle comparison result.
Optionally, the rotation angle information determining module 302 includes a speed information determining unit, which is specifically configured to:
performing differential derivation on the filtered steering angle to obtain a first steering angular speed;
and differentiating and deriving the first steering angular velocity to obtain the first steering angular acceleration.
Optionally, the target steering information determining module 303 includes:
the smooth speed information determining unit is used for respectively carrying out smooth processing on the first steering angular speed and the first steering angular acceleration to obtain a smooth steering angular speed and a smooth steering angular acceleration;
and the target steering information determining unit is used for determining the target steering wheel steering information according to the steering angle sign, the smooth steering angular speed and the smooth steering angular acceleration.
Optionally, the smooth speed information determining unit includes a smooth steering angular speed determining subunit, specifically configured to:
Acquiring a historical steering angular speed at a historical moment;
determining a maximum steering angular velocity and a minimum steering angular velocity according to the first steering angular velocity and the historical steering angular velocity;
and determining the smooth steering angular velocity according to the maximum steering angular velocity and the minimum steering angular velocity.
Optionally, the smooth speed information determining unit includes a smooth steering angular acceleration determining subunit, specifically configured to:
acquiring historical steering angular acceleration at a historical moment;
determining a maximum steering angular acceleration and a minimum steering angular acceleration according to the first steering angular acceleration and the historical steering angular acceleration;
and determining the smooth steering angular acceleration according to the maximum steering angular acceleration and the minimum steering angular acceleration.
Optionally, the target steering information determining unit is specifically configured to:
determining a candidate steering angular velocity and a candidate steering angular acceleration according to the steering angular sign, the smooth steering angular velocity and the smooth steering angular acceleration;
comparing the candidate steering angular speed with a steering angular speed threshold value to obtain a first comparison result;
comparing the candidate steering angular acceleration with a steering angular acceleration threshold value to obtain a second comparison result;
Determining a target steering angular speed in the target steering wheel steering information according to the current vehicle acceleration at the current moment and a first comparison result;
and determining the target steering angle acceleration in the target steering wheel steering information according to the current vehicle acceleration and the second comparison result.
The torque compensation device based on the steering wheel steering information provided by the embodiment of the invention can execute the torque compensation method based on the steering wheel steering information provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the torque compensation methods based on the steering wheel steering information.
Example IV
Fig. 4 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM12 and the RAM13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a torque compensation method based on steering wheel information.
In some embodiments, the torque compensation method based on the steering wheel information may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM12 and/or the communication unit 19. When the computer program is loaded into RAM13 and executed by processor 11, one or more steps of the torque compensation method based on steering wheel information described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform a torque compensation method based on the steering wheel information in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on 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.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method of torque compensation based on steering wheel information, comprising:
filtering the current steering angle in the current steering wheel steering information at the current moment to obtain a filtered steering angle;
determining a steering angle sign, a first steering angle speed and a first steering angle acceleration according to the filtered steering angle;
determining target steering wheel steering information according to the steering angle symbol, the first steering angular speed and the first steering angular acceleration; the target steering wheel steering information comprises a target steering angular speed and a target steering angular acceleration;
And according to the steering information of the target steering wheel, performing torque compensation on the electronic hydraulic power-assisted steering system to obtain a torque compensation value of the electronic hydraulic power-assisted steering system.
2. The method of claim 1, wherein determining a steering angle sign from the filtered steering angle comprises:
comparing the filtered steering angle with an angle threshold value to obtain an angle comparison result;
and determining a steering angle sign according to the angle comparison result.
3. The method of claim 1, wherein determining a first steering angular velocity and a first steering angular acceleration from the filtered steering angle comprises:
performing differential derivation on the filtering steering angle to obtain a first steering angular speed;
and differentiating and deriving the first steering angular velocity to obtain the first steering angular acceleration.
4. The method of claim 1, wherein the determining target steering wheel steering information based on the steering angle sign, the first steering angle speed, and the first steering angle acceleration comprises:
respectively carrying out smoothing treatment on the first steering angular velocity and the first steering angular acceleration to obtain a smooth steering angular velocity and a smooth steering angular acceleration;
And determining target steering wheel steering information according to the steering angle sign, the smooth steering angle speed and the smooth steering angle acceleration.
5. The method of claim 4, wherein smoothing the first steering angular velocity to obtain a smoothed steering angular velocity comprises:
acquiring a historical steering angular speed at a historical moment;
determining a maximum steering angular velocity and a minimum steering angular velocity according to the first steering angular velocity and the historical steering angular velocity;
and determining a smooth steering angular speed according to the maximum steering angular speed and the minimum steering angular speed.
6. The method of claim 4, wherein smoothing the first steering angular acceleration to obtain a smoothed steering angular velocity and a smoothed steering angular acceleration comprises:
acquiring historical steering angular acceleration at a historical moment;
determining a maximum steering angle acceleration and a minimum steering angle acceleration according to the first steering angle acceleration and the historical steering angle acceleration;
and determining smooth steering angular acceleration according to the maximum steering angular acceleration and the minimum steering angular acceleration.
7. The method of claim 4, wherein the determining target steering wheel steering information based on the steering angle sign, the smoothed steering angle velocity, and the smoothed steering angle acceleration comprises:
Determining a candidate steering angular velocity and a candidate steering angular acceleration according to the steering angular symbol, the smooth steering angular velocity and the smooth steering angular acceleration;
comparing the candidate steering angular speed with a steering angular speed threshold value to obtain a first comparison result;
comparing the candidate steering angular acceleration with a steering angular acceleration threshold value to obtain a second comparison result;
determining a target steering angular speed in target steering wheel steering information according to the current vehicle acceleration at the current moment and the first comparison result;
and determining the target steering angle acceleration in the target steering wheel steering information according to the current vehicle acceleration and the second comparison result.
8. A torque compensation device based on steering wheel steering information, comprising:
the filtering steering angle determining module is used for filtering the current steering angle in the current steering wheel steering information at the current moment to obtain a filtering steering angle;
the corner information determining module is used for determining a steering angle sign, a first steering angular speed and a first steering angular acceleration according to the filtered steering angle;
the target steering information determining module is used for determining target steering wheel steering information according to the steering angle sign, the first steering angular speed and the first steering angular acceleration; the target steering wheel steering information comprises a target steering angular speed and a target steering angular acceleration;
And the torque compensation value determining module is used for carrying out torque compensation on the electronic hydraulic power-assisted steering system according to the target steering wheel steering information to obtain a torque compensation value of the electronic hydraulic power-assisted steering system.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of torque compensation based on steering wheel information of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to implement the method of torque compensation based on steering wheel information of any one of claims 1-7 when executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311731640.5A CN117885806A (en) | 2023-12-15 | 2023-12-15 | Torque compensation method and device based on steering information of steering wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311731640.5A CN117885806A (en) | 2023-12-15 | 2023-12-15 | Torque compensation method and device based on steering information of steering wheel |
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| CN117885806A true CN117885806A (en) | 2024-04-16 |
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| CN202311731640.5A Pending CN117885806A (en) | 2023-12-15 | 2023-12-15 | Torque compensation method and device based on steering information of steering wheel |
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| Country | Link |
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| CN (1) | CN117885806A (en) |
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2023
- 2023-12-15 CN CN202311731640.5A patent/CN117885806A/en active Pending
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