CN117922682A - Vehicle steer-by-wire control method, system, electronic equipment, vehicle and medium - Google Patents
Vehicle steer-by-wire control method, system, electronic equipment, vehicle and medium Download PDFInfo
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- CN117922682A CN117922682A CN202311736595.2A CN202311736595A CN117922682A CN 117922682 A CN117922682 A CN 117922682A CN 202311736595 A CN202311736595 A CN 202311736595A CN 117922682 A CN117922682 A CN 117922682A
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- 238000000034 method Methods 0.000 title claims abstract description 70
- 238000013016 damping Methods 0.000 claims abstract description 105
- 238000012545 processing Methods 0.000 claims abstract description 13
- 230000004927 fusion Effects 0.000 claims description 45
- 238000012937 correction Methods 0.000 claims description 44
- 238000007499 fusion processing Methods 0.000 claims description 11
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- 230000006870 function Effects 0.000 description 19
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- 238000012795 verification Methods 0.000 description 9
- 238000004364 calculation method Methods 0.000 description 8
- 230000008859 change Effects 0.000 description 6
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0466—Controlling the motor for returning the steering wheel to neutral position
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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
- B62D6/007—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits adjustable by the driver, e.g. sport mode
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The application discloses a vehicle steer-by-wire control method, a system, electronic equipment, a vehicle and a medium. The method comprises the following steps: acquiring state information of a driver and a vehicle; the state information comprises vehicle speed, steering wheel rotating speed and vehicle damping coefficient; carrying out decision processing on the state information through a steer-by-wire active return state decision to obtain an active return state flag bit; if the active alignment state flag bit is the active alignment start state flag bit, determining an active alignment moment according to the state information; determining a vehicle damping moment according to the vehicle speed, the steering wheel rotating speed and the vehicle damping coefficient; determining an active righting target torque according to the active righting torque and the vehicle damping torque; and driving and controlling the motor according to the active return target torque to finish the steering of the vehicle. The embodiment of the application can realize accurate control on the steering of the vehicle and improve the accuracy of active alignment control. The method can be widely applied to the technical field of intelligent automobiles.
Description
Technical Field
The invention relates to the technical field of intelligent automobiles, in particular to a vehicle steer-by-wire control method, a system, electronic equipment, a vehicle and a medium.
Background
For the steer-by-wire system, since the mechanical connection of the intermediate shaft is canceled between the road feel simulator and the steer-by-wire actuator, the steer-by-wire system cannot be corrected according to the characteristics of the vehicle. In the related art, the active alignment control of the steering device is often performed through the motion parameters of the mechanical connection device, and the mode cannot adapt to the steer-by-wire system and cannot improve the active alignment accuracy of the steer-by-wire system.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art to a certain extent.
Therefore, the invention aims to provide a high-accuracy vehicle steer-by-wire control method, a high-accuracy vehicle steer-by-wire control system, an electronic device, a vehicle and a medium.
In order to achieve the technical purpose, the technical scheme adopted by the embodiment of the invention comprises the following steps:
in one aspect, an embodiment of the present invention provides a vehicle steer-by-wire control method, including the steps of:
The vehicle steer-by-wire control method of the embodiment of the application comprises the following steps: acquiring state information of a driver and a vehicle; the state information comprises vehicle speed, steering wheel rotating speed and vehicle damping coefficient; carrying out decision processing on the state information through a steer-by-wire active return state decision to obtain an active return state flag bit; if the active correction state flag bit is the active correction starting state flag bit, determining an active correction moment according to the state information; determining a vehicle damping moment according to the vehicle speed, the steering wheel rotating speed and the vehicle damping coefficient; determining an active righting target torque according to the active righting torque and the vehicle damping torque; and driving and controlling the motor according to the active return target torque to finish the steering of the vehicle. According to the embodiment of the application, the active alignment state zone bit is determined according to the state information of the driver and the vehicle, so that whether an active alignment control process is started or not is determined. Then, the embodiment of the application determines the active aligning moment through the state information; determining an active return target torque by combining a vehicle damping system; and finally, driving and controlling the motor by actively correcting the target torque to finish the steering of the vehicle. According to the embodiment of the application, the active alignment target torque is determined by combining the state information of the driver and the vehicle damping coefficient, so that the accurate control on the steering of the vehicle can be realized, and the accuracy of the active alignment control is improved.
In addition, the vehicle steer-by-wire control method according to the above embodiment of the present invention may further have the following additional technical features:
Further, according to the vehicle steer-by-wire control method of the embodiment of the present invention, the state information further includes a steering wheel torque and a steering wheel corner, the state information is subjected to decision processing by a steer-by-wire active return state decision, and an active return state flag bit is obtained, including:
determining a steering wheel state according to the steering wheel torque, the steering wheel angle and the steering wheel rotational speed;
Determining a driving operation state according to the steering wheel torque, the steering wheel angle and the steering wheel rotating speed;
And determining an active return state zone bit according to the steering wheel state and the driving operation state.
Further, in one embodiment of the present invention, the determining the steering wheel state according to the steering wheel torque, the steering wheel angle, and the steering wheel rotational speed includes:
verifying the steering wheel torque and determining a torque zone bit;
Checking the steering wheel angle to determine an angle marker;
Checking the rotating speed of the steering wheel and determining a rotating speed marker bit;
Differential fusion is carried out on the rotating speed of the steering wheel, the angular speed of the steering wheel is determined, the angular speed of the steering wheel is checked, and an angular speed zone bit is determined;
and determining the state of the steering wheel according to the torque zone bit, the rotation angle zone bit, the rotation speed zone bit and the angular speed zone bit.
Further, in one embodiment of the present invention, the state information includes a steering wheel angle, and the determining the active aligning moment according to the state information includes the steps of:
Acquiring an active alignment target angle;
determining an active correcting rotating speed according to the active correcting target angle and the steering wheel angle;
And determining the active correcting moment according to the active correcting rotating speed and the rotating speed of the steering wheel.
Further, in an embodiment of the present invention, the determining the active return rotational speed according to the active return target angle and the steering wheel angle includes:
Determining an active return angle difference according to the difference between the active return target angle and the steering wheel angle;
performing difference direction judgment on the active correction angle difference value to obtain an active correction request direction;
determining an active correcting request rotating speed according to the active correcting rotating angle difference value and a preset rotating speed threshold value;
and carrying out rotation speed fusion on the active correction request direction and the active correction request rotation speed to obtain the active correction rotation speed.
Further, in an embodiment of the present invention, the determining the active correction torque according to the active correction rotational speed and the steering wheel rotational speed includes:
Determining an active return rotation speed difference value according to the difference between the active return rotation speed and the rotation speed of the steering wheel;
Proportional fusion is carried out on the active positive return rotating speed difference value, and a first fusion torque is determined;
Performing differential fusion on the active positive return rotational speed difference value to determine a second fusion torque;
And performing torque fusion processing on the first fusion torque and the second fusion torque to determine an active aligning torque.
Further, in an embodiment of the present invention, the vehicle damping coefficient includes an active damping coefficient and a constant damping coefficient, and the determining the active return target torque according to the active return torque and the vehicle damping torque includes:
determining an active damping moment according to the vehicle speed, the steering wheel rotating speed and the active damping coefficient;
Determining a constant damping moment according to the vehicle speed, the steering wheel rotating speed and the constant damping coefficient;
And determining the active correcting target torque according to the active correcting torque, the active damping torque and the constant damping torque.
In another aspect, an embodiment of the present invention provides a vehicle steer-by-wire control system, including:
the acquisition module is used for acquiring state information of a driver and a vehicle; the state information comprises vehicle speed, steering wheel rotating speed and vehicle damping coefficient;
The mark determining module is used for carrying out decision processing on the state information through a steering-by-wire active return state decision to obtain an active return state mark bit;
The correction moment determining module is used for determining the active correction moment according to the state information if the active correction state flag bit is started;
the damping moment determining module is used for determining a vehicle damping moment according to the vehicle speed, the steering wheel rotating speed and the vehicle damping coefficient;
The target torque determining module is used for determining an active correcting target torque according to the active correcting torque and the vehicle damping torque;
And the steering module is used for driving and controlling the motor according to the active return target torque to finish the steering of the vehicle.
In another aspect, an embodiment of the present invention provides an electronic device, including:
At least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement the vehicle steer-by-wire control method described above.
On the other hand, the embodiment of the invention provides a vehicle, which comprises the vehicle steer-by-wire control system or the electronic equipment.
In another aspect, an embodiment of the present invention provides a storage medium in which a processor-executable program is stored, which when executed by a processor, is configured to implement the above-described vehicle steer-by-wire control method.
The embodiment of the application provides a vehicle steer-by-wire control method, which comprises the following steps: acquiring state information of a driver and a vehicle; the state information comprises vehicle speed, steering wheel rotating speed and vehicle damping coefficient; carrying out decision processing on the state information through a steer-by-wire active return state decision to obtain an active return state flag bit; if the active correction state flag bit is the active correction starting state flag bit, determining an active correction moment according to the state information; determining a vehicle damping moment according to the vehicle speed, the steering wheel rotating speed and the vehicle damping coefficient; determining an active righting target torque according to the active righting torque and the vehicle damping torque; and driving and controlling the motor according to the active return target torque to finish the steering of the vehicle. According to the embodiment of the application, the active alignment state zone bit is determined according to the state information of the driver and the vehicle, so that whether an active alignment control process is started or not is determined. Then, the embodiment of the application determines the active aligning moment through the state information; determining an active return target torque by combining a vehicle damping system; and finally, driving and controlling the motor by actively correcting the target torque to finish the steering of the vehicle. According to the embodiment of the application, the active alignment target torque is determined by combining the state information of the driver and the vehicle damping coefficient, so that the accurate control on the steering of the vehicle can be realized, and the accuracy of the active alignment control is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description is made with reference to the accompanying drawings of the embodiments of the present invention or the related technical solutions in the prior art, and it should be understood that the drawings in the following description are only for convenience and clarity of describing some embodiments in the technical solutions of the present invention, and other drawings may be obtained according to these drawings without the need of inventive labor for those skilled in the art.
FIG. 1 is a schematic flow chart of an embodiment of a vehicle steer-by-wire control method provided by the present invention;
FIG. 2 is a flow chart of another embodiment of a steer-by-wire control method for a vehicle according to the present invention;
FIG. 3 is a flowchart illustrating an embodiment of a determination process of an active return status flag according to the present invention;
FIG. 4 is a schematic flow chart of an embodiment of a determining process of a direction plate according to the present invention;
FIG. 5 is a flow chart of an embodiment of a determination process of an active correction torque provided by the present invention;
FIG. 6 is a flowchart illustrating an embodiment of a determination process of an active return rotational speed according to the present invention;
FIG. 7 is a flowchart illustrating another embodiment of a determination process of an active restoring moment according to the present invention;
FIG. 8 is a schematic diagram illustrating a configuration of an embodiment of a steer-by-wire control system for a vehicle according to the present invention;
Fig. 9 is a schematic structural diagram of an embodiment of an electronic device provided by the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention. The step numbers in the following embodiments are set for convenience of illustration only, and the order between the steps is not limited in any way, and the execution order of the steps in the embodiments may be adaptively adjusted according to the understanding of those skilled in the art.
It should be noted that the terms "first," "second," and the like in the description and the 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.
For the steer-by-wire system, because the mechanical connection of the intermediate shaft is canceled between the road feel simulator and the steer-by-wire actuator, the steer-by-wire system cannot be straightened according to the characteristics of the vehicle, and an active straightening control algorithm is required to be designed to realize the active straightening characteristic of steer-by-wire, so that the steer-by-wire function is correctly realized, and the steer-by-wire system has good straightening characteristic.
The vehicle steer-by-wire control method, system, electronic device, vehicle, and medium according to the embodiments of the present invention will be described in detail below with reference to the accompanying drawings, and first the vehicle steer-by-wire control method according to the embodiments of the present invention will be described with reference to the accompanying drawings.
Referring to fig. 1, a vehicle steer-by-wire control method is provided in an embodiment of the present invention, and the vehicle steer-by-wire control method in the embodiment of the present invention may be applied to a terminal, a server, software running in the terminal or the server, and the like. The terminal may be, but is not limited to, a tablet computer, a notebook computer, a desktop computer, etc. The server may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDNs, basic cloud computing services such as big data and artificial intelligent platforms. The vehicle steer-by-wire control method in the embodiment of the invention mainly comprises the following steps:
S100: acquiring state information of a driver and a vehicle; the state information comprises vehicle speed, steering wheel rotating speed and vehicle damping coefficient;
In some possible implementations, the state information in the embodiments of the present application may be obtained by a state observer, and the state observer collects the state information of the vehicle and the state information of the driver. It can be understood that the vehicle state information is obtained more conveniently and rapidly by the state observer mode, and all the required state information can be obtained rapidly only by one access. Wherein the state observer may be deployed on the vehicle in the form of a software module. Of course, the status information may also be obtained by various types of sensors. The embodiment of the application does not limit the specific acquisition mode of the state information. In some embodiments, the status information in the present application includes, but is not limited to, vehicle speed, steering wheel torque, steering wheel angle, and vehicle damping coefficient. Those skilled in the art can set the specific contents of the state information according to the actual needs, the use of the vehicle, and the type of the vehicle, and the present application is not particularly limited. It should be noted that, in the embodiment of the present application, the state information may be state information representing a vehicle state, may also be state information representing a driving operation state, or may also be state information representing a vehicle state and a driving operation state. Specifically, the embodiment of the application carries out subsequent vehicle steer-by-wire control through the state information of the driver and the vehicle, can fully consider the states of the vehicle and the driver, carries out judgment whether to actively return according to the states of the vehicle and the driver, improves the accuracy of the judgment of the active return, and further improves the accuracy of the vehicle steer-by-wire control.
S200: carrying out decision processing on the state information through the drive-by-wire steering active return state decision to obtain an active return state flag bit;
In some possible implementations, the embodiment of the application judges whether the vehicle needs to perform the active return operation according to the state information. It can be understood that the steer-by-wire active return state decision in the embodiment of the present application may be a decision in a form of a table, and the table lookup operation is performed according to the acquired state information to obtain the active return state flag bit. The drive-by-wire steering active return state decision in the embodiment of the application can also be a curve form decision, and logic judgment is carried out according to the curve through the acquired state information to obtain the active return state flag bit. The drive-by-wire steering active return state decision in the embodiment of the application can also be a decision in the form of a formula, and the active return state flag bit is obtained by carrying out formula calculation through the acquired state information. Of course, as the technology advances, those skilled in the art may determine the specific form of the steer-by-wire active return state decision in other feasible manners, and the present application is not limited in detail. In some possible embodiments, referring to fig. 2, the present application may determine the active return status flag by a logical relationship between steering wheel torque, steering wheel angle, and steering wheel speed. The embodiment of the application firstly judges whether the active return operation is needed, then executes the steering control of the vehicle, and improves the control accuracy.
S300: if the active alignment state flag bit is on, determining an active alignment moment according to the state information;
In some possible implementations, the embodiment of the present application may indicate whether to start active centering by assigning the active centering status flag bit to 0 or 1. For example, if the active return status flag bit is 1, active return is turned on; if the active return status flag bit is 0, the active return is not required to be started. Of course, the active return status flag bit may be given to other contents to indicate whether to start active return. The present application is not particularly limited. In the embodiment of the application, if the active alignment state flag bit is turned on, determining an active alignment moment according to the state information; and then steering control is carried out on the vehicle through the active aligning moment.
S400: determining a vehicle damping moment according to the vehicle speed, the steering wheel rotating speed and the vehicle damping coefficient;
In some possible implementation manners, the embodiment of the application adds consideration to the damping moment of the vehicle when determining the active righting target torque, and improves the accuracy of the active righting control through the damping moment of the vehicle, and simultaneously improves the comfort level of a driver and an occupant and the user experience. It should be noted that, in the embodiment of the present application, the vehicle damping coefficient may be an active damping coefficient, a constant damping coefficient, or other types of damping coefficients, which may be set by those skilled in the art according to actual requirements.
S500: determining an active correcting target torque according to the active correcting torque and the vehicle damping torque;
In some possible implementation manners, the embodiment of the application can comprehensively determine the active correcting target torque by using a formula to determine the active correcting target torque and the vehicle damping torque. The embodiment of the application can also comprehensively decide the active correcting moment and the vehicle damping moment through a logic change rule to determine the active correcting target torque. Of course, the embodiment of the application can also determine the active righting target torque according to the active righting torque and the vehicle damping torque in other feasible modes. According to the embodiment of the application, the target torque is determined to be actively corrected by comprehensively considering various factors, so that the accuracy of the steering-by-wire control of the vehicle is improved.
S600: and driving and controlling the motor according to the active return target torque to finish the steering of the vehicle.
In some possible embodiments, the embodiment of the application performs driving control on the motor according to the active return target torque, and controls the vehicle to turn through the motor so as to reach the expected turning state and complete the vehicle turning.
The application realizes the active alignment of the steer-by-wire system by designing an effective control decision/strategy. Specifically, the embodiment of the application realizes the active alignment characteristic of the steer-by-wire through the active alignment control scheme, correctly realizes the steer-by-wire function and ensures that the steer-by-wire system has good alignment characteristic. For example, referring to fig. 2, in the embodiment of the present application, status information of a driver and a vehicle is received through the observation of the status of the driver and the vehicle, and the control strategy algorithm judgment is performed through the decision of the steering-by-wire active return status and the status information, and the information after the algorithm judgment is the active return status flag bit; then the active correction moment control function is started through an active correction state flag bit to calculate the active correction moment; meanwhile, the active damping gain control receives the vehicle speed, the steering wheel rotating speed and the active damping coefficient to perform active damping control and output active damping moment; meanwhile, constant damping gain control receives the vehicle speed, the rotating speed of the steering wheel and the constant damping coefficient to perform constant damping control and output constant damping moment; and then the active aligning moment comprehensive decision receives the active aligning moment, the active damping moment and the constant damping moment to perform moment synthesis, outputs the total active aligning target moment, and finally drives the motor through the motor driving control module to realize the active aligning function of the steer-by-wire. In a word, the embodiment of the application designs the control algorithm to realize the active alignment characteristic of the steer-by-wire through the active alignment function, and correctly realizes the steer-by-wire function, so that the steer-by-wire system has good alignment characteristic.
The embodiment of the application provides a vehicle steer-by-wire control method, which comprises the following steps: acquiring state information of a driver and a vehicle; the state information comprises vehicle speed, steering wheel rotating speed and vehicle damping coefficient; carrying out decision processing on the state information through the drive-by-wire steering active return state decision to obtain an active return state flag bit; if the active alignment state flag bit is on, determining an active alignment moment according to the state information; determining a vehicle damping moment according to the vehicle speed, the steering wheel rotating speed and the vehicle damping coefficient; determining an active correcting target torque according to the active correcting torque and the vehicle damping torque; and driving and controlling the motor according to the active return target torque to finish the steering of the vehicle. According to the embodiment of the application, the active alignment state zone bit is determined according to the state information of the driver and the vehicle, so that whether an active alignment control process is started or not is determined. Then, the embodiment of the application determines the active aligning moment through the state information; determining an active return target torque by combining a vehicle damping system; and finally, driving and controlling the motor by actively correcting the target torque to finish the steering of the vehicle. According to the embodiment of the application, the active alignment target torque is determined by combining the state information of the driver and the vehicle damping coefficient, so that the accurate control on the steering of the vehicle can be realized, and the accuracy of the active alignment control is improved.
Optionally, in an embodiment of the present invention, the state information further includes a steering wheel torque and a steering wheel angle, and the decision processing is performed on the state information through a steer-by-wire active alignment state decision to obtain an active alignment state flag bit, including:
Determining a steering wheel state according to the steering wheel torque, the steering wheel angle and the steering wheel rotating speed;
determining a driving operation state according to the steering wheel torque, the steering wheel angle and the steering wheel rotating speed;
And determining the active return state zone bit according to the steering wheel state and the driving operation state.
In some possible implementations, the embodiment of the application determines the active alignment status flag bit through the direction status and the driving operation status. Specifically, the steering wheel state in the embodiment of the application can represent the change trend of the steering wheel, and the driving operation state in the embodiment of the application can represent the change trend of the driving behavior of the driver; and combining the change trend of the two, and determining the active return state identification bit. It can be understood that the embodiment of the application can logically judge the change trend of the steering wheel state and the driving operation state, and determine the active alignment state identification bit in a form query mode. Of course, in some embodiments, the active alignment status flag may also be predicted by way of artificial intelligence. The application is not limited to a particular implementation. In some embodiments, the present application may determine steering wheel status and driving operation status through changes in steering wheel torque, changes in steering wheel angle, and changes in steering wheel rotational speed. The application can also determine steering wheel status and steering operation status by any combination of changes between steering wheel torque, steering wheel angle and steering wheel speed. According to the embodiment of the application, the active alignment state identification position is determined through the direction state and the driving operation state, so that accurate active alignment prediction can be realized, and the accuracy of the steering control by wire of the vehicle is improved.
For example, referring to fig. 3, in the embodiment of the present application, steering wheel torque, steering wheel angle, and steering wheel rotational speed are detected by steering wheel state detection and driver operation detection, respectively, the steering wheel state and the driving operation state are output, and then the active centering state decision control decision module makes an active centering state decision according to the above states, outputs an active centering state flag bit, and determines whether to start the active centering function.
Optionally, in one embodiment of the present invention, determining the steering wheel state based on the steering wheel torque, the steering wheel angle, and the steering wheel speed includes:
Checking the torque of the steering wheel and determining a torque zone bit;
checking the steering wheel angle to determine the angle mark position;
checking the rotating speed of the steering wheel and determining a rotating speed marker bit;
Differential fusion is carried out on the rotating speed of the steering wheel, the angular speed of the steering wheel is determined, the angular speed of the steering wheel is checked, and the angular speed zone bit is determined;
and determining the state of the steering wheel according to the torque zone bit, the rotation angle zone bit, the rotation speed zone bit and the angular speed zone bit.
In some possible embodiments, the embodiment of the application can verify each piece of state information to obtain the corresponding bit of each piece of state information, and then perform state arbitration on the obtained bits to determine the state of the steering wheel. Likewise, the embodiment of the present application can determine the driving operation state in the same manner. It can be understood that the verification process in the embodiment of the present application may be to verify the current state of each state information, or to verify the change condition of each state information, or to verify the estimated condition of each state information. Likewise, each flag bit in the embodiment of the present application may be any expression, and the present application is not limited in particular.
By way of example, referring to an embodiment shown in fig. 4, in the embodiment of the present application, by performing steering wheel torque verification, steering wheel angle verification, and steering wheel rotation speed verification on a steering wheel torque, a steering wheel angle verification, and a steering wheel rotation speed verification, respectively outputting verification bits, and performing differential calculation according to the steering wheel rotation speed to obtain steering wheel acceleration, then performing acceleration verification, outputting acceleration verification bits, performing state arbitration output on the bits, and obtaining a steering wheel state, where the steering wheel state is used for subsequent determination of an active alignment bit. According to the application, through checking each state information, state arbitration is realized, the accuracy of determining the state is improved, and the accuracy of steering control by wire of the vehicle is further improved.
Optionally, in one embodiment of the present invention, the state information includes a steering wheel angle, and determining the active aligning moment according to the state information includes the steps of:
Acquiring an active alignment target angle;
Determining an active correcting rotating speed according to the active correcting target angle and the steering wheel angle;
And determining the active correcting moment according to the active correcting rotating speed and the rotating speed of the steering wheel.
In some possible embodiments, the embodiment of the application determines the active correcting rotation speed by actively correcting the difference between the target angle and the current steering wheel angle, thereby determining the active correcting moment. Referring to the specific embodiment shown in fig. 5, the determination of the active restoring torque includes a determination of the active restoring rotational speed and a determination of the active restoring torque. It can be understood that the active alignment target angle in the embodiment of the present application is used to represent the currently expected alignment angle, and the active alignment target angle can be determined according to a plurality of parameters such as the current vehicle state, the driving operation state, the road condition information, the environmental information, etc., and a person skilled in the art can select relevant parameters to determine the active alignment target angle according to the actual situation; the application is not limited to specific parameters and determinations.
Optionally, in one embodiment of the present invention, determining the active return rotational speed according to the active return target angle and the steering wheel angle includes:
Determining an active return angle difference according to the difference between the active return target angle and the steering wheel angle;
performing difference direction judgment on the difference value of the active correcting rotation angle to obtain an active correcting request direction;
Determining an active correcting request rotating speed according to the active correcting rotating angle difference value and a preset rotating speed threshold value;
And carrying out rotation speed fusion on the active correction request direction and the active correction request rotation speed to obtain the active correction rotation speed.
In some possible implementations, the present embodiments determine the difference between the active return target angle and the steering wheel angle as the active return angle difference; then, direction judgment and rotation speed calculation are carried out on the difference value of the positive return rotation angle, and the positive return request direction and the positive return request rotation speed are obtained; and finally, carrying out rotation speed fusion on the active correction request direction and the active correction request rotation speed to obtain the active correction rotation speed. By way of example, the embodiment of the application can process the active return rotation angle difference value through a PID control algorithm to obtain the active return request rotation speed.
In other embodiments, referring to fig. 6, embodiments of the present application may determine the active return requested rotational speed by actively returning the rotational angle difference and a preset rotational speed threshold. Specifically, the preset rotation speed threshold in the embodiment of the present application may be set to threshold 1 and threshold 2 in fig. 6; considering the rotation speed of the steering wheel in the steering process, the steering wheel is divided into three sections of larger, moderate and smaller. Of course, the specific number and value of the preset rotation speed threshold can be set by the person skilled in the art according to actual needs, so as to improve the control fineness. Referring to fig. 6, the embodiment of the present application receives an active return target angle and a steering wheel angle, and then calculates a steering angle difference value between the active return target angle and the steering wheel angle, thereby calculating an active return steering angle difference value; actively correcting the rotation angle difference value to judge the difference value direction, and outputting the difference value direction to a rotation speed fusion module; the difference value of the positive return rotation angle is combined with the threshold value 1 and the threshold value 2 to calculate the rotation speed, the calculated rotation speed is output, and then the rotation speed is fused with the direction after the difference value direction is judged (the rotation speed fusion process is not particularly limited by the application, the generation process of similar vectors can be adopted), and the positive return rotation speed is output, wherein the rotation speed has a value and a direction and is used for a subsequent positive return torque demand calculation module. Specifically, the embodiment of the application determines the fusion rotating speed through the fusion processing of the active return rotation angle difference value; and judging the fusion rotating speed with the threshold value 1 and the threshold value 2, determining whether the fusion processing is needed to be carried out again on the difference value of the active correction rotating angle or not, and obtaining the active correction request rotating speed until the fused rotating speed meets the requirements of the threshold value 1 and the threshold value 2.
Optionally, in one embodiment of the present invention, determining the active restoring moment according to the active restoring rotational speed and the steering wheel rotational speed includes:
determining an active correcting rotating speed difference value according to the difference between the active correcting rotating speed and the rotating speed of the steering wheel;
Proportional fusion is carried out on the active correcting rotational speed difference value, and a first fusion torque is determined;
performing differential fusion on the active correcting rotational speed difference value to determine a second fusion torque;
And performing torque fusion processing on the first fusion torque and the second fusion torque, and determining the active aligning torque.
In some possible implementations, the embodiment of the application determines the difference between the active return rotation speed and the rotation speed of the steering wheel as an active return rotation speed difference value, and performs proportional fusion and integral fusion on the active return rotation speed difference value to obtain an active return torque after fusion processing is performed on the obtained fusion torque.
Illustratively, referring to fig. 7, the embodiment of the present application receives an active return request rotational speed and a steering wheel rotational speed, and then calculates a rotational speed difference value between the active return rotational speed and the steering wheel rotational speed, thereby calculating an active return rotational speed difference value; the active correcting rotational speed difference value is subjected to proportional fusion calculation through KP control, the active correcting rotational speed difference value is subjected to integral fusion through KI control, then torque fusion is carried out on components (results) obtained through KP control and KI control, active correcting torque is output and is used for a motor driving control module to drive a motor, and steering control of a vehicle is achieved. It should be noted that, in the embodiment of the present application, the proportional fusion, the integral fusion, and the differential fusion may be implemented by a PID control process, and after determining a proportional coefficient, an integral coefficient, and a differential coefficient according to relevant parameters of vehicle steering, the proportional fusion, the integral fusion, and the differential fusion are performed on each parameter according to the proportional coefficient, the integral coefficient, and the differential coefficient. It will be appreciated that KP in embodiments of the application is used to characterize the scaling factor, KI is used to represent the integration factor, and KD is used to characterize the differentiation factor. The specific fusion process in the embodiment of the application can be performed in a form of a table, and the fusion result is determined by searching the corresponding relation table of each coefficient and parameter; the fusion process may also be determined according to a formula; the fusion process may also be determined from curve fitting. Of course, the application is not limited to a particular fusion process. Illustratively, proportional fusion is performed in a mode of formula calculation, the obtained active positive return rotation speed difference value is multiplied by a proportional coefficient KI, and a proportional fusion result is determined; and performing differential fusion in a formula calculation mode, multiplying the obtained positive return rotation speed difference value by a differential coefficient, and performing differential operation to determine a differential fusion result.
Optionally, in one embodiment of the present invention, the vehicle damping coefficient includes an active damping coefficient and a constant damping coefficient, and determining the active return target torque according to the active return torque and the vehicle damping torque includes:
determining an active damping moment according to the vehicle speed, the steering wheel rotating speed and the active damping coefficient;
determining a constant damping moment according to the vehicle speed, the steering wheel rotating speed and the constant damping coefficient;
And determining the active righting target torque according to the active righting torque, the active damping torque and the constant damping torque.
In some possible implementations, the active damping system of the present embodiments is used to characterize a damping coefficient determined by vehicle state, driver state, environmental state, etc. The constant damping coefficient is used for representing the damping coefficient in the conventional state. Specifically, the embodiment of the application determines the active damping moment by combining the active damping coefficient with the state parameter of the vehicle; according to the embodiment of the application, the constant damping moment is determined by combining the constant damping coefficient with the state parameter of the vehicle; the active damping torque and the constant damping torque are used for determining the active return target torque, so that the accuracy of the active return target torque is improved, and the accuracy of the vehicle steer-by-wire control is further improved. In some possible implementation manners, the determination manners of the active damping moment, the constant damping moment and the active return target torque in the embodiments of the present application may be determined by a table query manner, may be determined by a curve fitting manner, and may be determined by a formula calculation manner, which is not particularly limited.
Referring to fig. 2, a vehicle steer-by-wire control method according to the present application will be described with reference to an embodiment: firstly, acquiring state information of a driver and a vehicle; and performing a line control steering active return state decision according to the state information to obtain an active return state flag bit, and determining whether active return control needs to be executed. Then, the embodiment of the application determines the active righting moment through the state information, and determines the active righting target torque by combining the active damping moment and the constant damping moment. And finally, performing torque control on the motor by actively correcting the target torque, so as to realize steering control of the vehicle.
In summary, the embodiment of the application provides a vehicle steer-by-wire control method, which includes: acquiring state information of a driver and a vehicle; the state information comprises vehicle speed, steering wheel rotating speed and vehicle damping coefficient; carrying out decision processing on the state information through the drive-by-wire steering active return state decision to obtain an active return state flag bit; if the active alignment state flag bit is on, determining an active alignment moment according to the state information; determining a vehicle damping moment according to the vehicle speed, the steering wheel rotating speed and the vehicle damping coefficient; determining an active correcting target torque according to the active correcting torque and the vehicle damping torque; and driving and controlling the motor according to the active return target torque to finish the steering of the vehicle. According to the embodiment of the application, the active alignment state zone bit is determined according to the state information of the driver and the vehicle, so that whether an active alignment control process is started or not is determined. Then, the embodiment of the application determines the active aligning moment through the state information; determining an active return target torque by combining a vehicle damping system; and finally, driving and controlling the motor by actively correcting the target torque to finish the steering of the vehicle. According to the embodiment of the application, the active alignment target torque is determined by combining the state information of the driver and the vehicle damping coefficient, so that the accurate control on the steering of the vehicle can be realized, and the accuracy of the active alignment control is improved.
Next, a steering-by-wire control system for a vehicle according to an embodiment of the present invention will be described with reference to fig. 8.
Fig. 8 is a schematic structural diagram of a steer-by-wire control system for a vehicle according to an embodiment of the present invention, the system specifically including:
an acquiring module 810 for acquiring status information of a driver and a vehicle; the state information comprises vehicle speed, steering wheel rotating speed and vehicle damping coefficient;
the flag determining module 820 is configured to perform decision processing on the state information through a steer-by-wire active return state decision to obtain an active return state flag bit;
The correction torque determining module 830 is configured to determine an active correction torque according to the state information if the active correction state flag bit is on for active correction;
the damping moment determining module 840 is configured to determine a damping moment of the vehicle according to a vehicle speed, a steering wheel rotational speed, and a damping coefficient of the vehicle;
A target torque determination module 850 for determining an active return target torque based on the active return torque and the vehicle damping torque;
and the steering module 860 is used for driving and controlling the motor according to the active return target torque to finish the steering of the vehicle.
It can be seen that the content in the above method embodiment is applicable to the system embodiment, and the functions specifically implemented by the system embodiment are the same as those of the method embodiment, and the beneficial effects achieved by the method embodiment are the same as those achieved by the method embodiment.
Referring to fig. 9, an embodiment of the present invention provides an electronic device, including:
At least one processor 910;
at least one memory 920 for storing at least one program;
The at least one program, when executed by the at least one processor 910, causes the at least one processor 910 to implement the vehicle steer-by-wire control method.
Similarly, the content in the above method embodiment is applicable to the present electronic device embodiment, and the functions specifically implemented by the present electronic device embodiment are the same as those of the above method embodiment, and the beneficial effects achieved by the present electronic device embodiment are the same as those achieved by the above method embodiment.
On the other hand, the embodiment of the invention provides a vehicle, which comprises the vehicle steer-by-wire control system or the electronic equipment.
It should be noted that, the vehicle in the embodiment of the present application includes the vehicle steer-by-wire control system of any one of the above. Specifically, the vehicle may be a private car, such as a sedan, SUV, MPV, or pick-up, or the like. The vehicle may also be an operator vehicle such as a minibus, bus, minivan or large trailer, etc. The vehicle can be an oil vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, the vehicle can be a hybrid vehicle or a pure electric vehicle.
Similarly, the content in the above method embodiment is applicable to the vehicle embodiment, and the functions specifically implemented by the vehicle embodiment are the same as those of the method embodiment, and the achieved beneficial effects are the same as those of the method embodiment.
The embodiment of the invention also provides a computer-readable storage medium in which a processor-executable program is stored, which when executed by a processor is used to perform the above-described vehicle steer-by-wire control method.
Similarly, the content in the above method embodiment is applicable to the present storage medium embodiment, and the specific functions of the present storage medium embodiment are the same as those of the above method embodiment, and the achieved beneficial effects are the same as those of the above method embodiment.
In some alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may in fact be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flowcharts of the present invention are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed, and in which sub-operations described as part of a larger operation are performed independently.
Furthermore, while the invention is described in the context of functional modules, it should be appreciated that, unless otherwise indicated, one or more of the functions and/or features may be integrated in a single physical device and/or software module or may be implemented in separate physical devices or software modules. It will also be appreciated that a detailed discussion of the actual implementation of each module is not necessary to an understanding of the present invention. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be apparent to those skilled in the art from consideration of their attributes, functions and internal relationships. Accordingly, one of ordinary skill in the art can implement the invention as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative and are not intended to be limiting upon the scope of the invention, which is to be defined in the appended claims and their full scope of equivalents.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in the form of a software product stored in a storage medium, including several programs for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable programs for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with a program execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the programs from the program execution system, apparatus, or device and execute the programs. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the program execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable program execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the foregoing description of the present specification, reference has been made to the terms "one embodiment/example", "another embodiment/example", "certain embodiments/examples", and the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
While the preferred embodiment of the present invention has been described in detail, the present invention is not limited to the embodiments described above, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the present invention, and these equivalent modifications and substitutions are intended to be included in the scope of the present invention as defined in the appended claims.
Claims (10)
1. A vehicle steer-by-wire control method, characterized by comprising the steps of:
acquiring state information of a driver and a vehicle; the state information comprises vehicle speed, steering wheel rotating speed and vehicle damping coefficient;
Carrying out decision processing on the state information through a steer-by-wire active return state decision to obtain an active return state flag bit;
If the active correction state flag bit is the active correction starting state flag bit, determining an active correction moment according to the state information;
Determining a vehicle damping moment according to the vehicle speed, the steering wheel rotating speed and the vehicle damping coefficient;
determining an active righting target torque according to the active righting torque and the vehicle damping torque;
and driving and controlling the motor according to the active return target torque to finish the steering of the vehicle.
2. The vehicle steer-by-wire control method according to claim 1, wherein the state information further includes a steering wheel torque and a steering wheel angle, the decision processing is performed on the state information through a steer-by-wire active return state decision to obtain an active return state flag bit, and the method includes:
determining a steering wheel state according to the steering wheel torque, the steering wheel angle and the steering wheel rotational speed;
Determining a driving operation state according to the steering wheel torque, the steering wheel angle and the steering wheel rotating speed;
And determining an active return state zone bit according to the steering wheel state and the driving operation state.
3. The vehicle steer-by-wire control method according to claim 2, wherein said determining a steering wheel state from said steering wheel torque, said steering wheel angle, and said steering wheel rotational speed comprises:
verifying the steering wheel torque and determining a torque zone bit;
Checking the steering wheel angle to determine an angle marker;
Checking the rotating speed of the steering wheel and determining a rotating speed marker bit;
Differential fusion is carried out on the rotating speed of the steering wheel, the angular speed of the steering wheel is determined, the angular speed of the steering wheel is checked, and an angular speed zone bit is determined;
and determining the state of the steering wheel according to the torque zone bit, the rotation angle zone bit, the rotation speed zone bit and the angular speed zone bit.
4. The vehicle steer-by-wire control method according to claim 1, wherein said state information further includes a steering wheel angle, said determining an active correction torque based on said state information, comprising the steps of:
Acquiring an active alignment target angle;
determining an active correcting rotating speed according to the active correcting target angle and the steering wheel angle;
And determining the active correcting moment according to the active correcting rotating speed and the rotating speed of the steering wheel.
5. The vehicle steer-by-wire control method according to claim 4, characterized in that said determining an active return rotational speed from said active return target angle and said steering wheel angle includes:
Determining an active return angle difference according to the difference between the active return target angle and the steering wheel angle;
performing difference direction judgment on the active correction angle difference value to obtain an active correction request direction;
determining an active correcting request rotating speed according to the active correcting rotating angle difference value and a preset rotating speed threshold value;
and carrying out rotation speed fusion on the active correction request direction and the active correction request rotation speed to obtain the active correction rotation speed.
6. The vehicle steer-by-wire control method according to claim 4, characterized in that said determining an active steering torque from said active steering rotational speed and said steering wheel rotational speed includes:
Determining an active return rotation speed difference value according to the difference between the active return rotation speed and the rotation speed of the steering wheel;
Proportional fusion is carried out on the active positive return rotating speed difference value, and a first fusion torque is determined;
Performing differential fusion on the active positive return rotational speed difference value to determine a second fusion torque;
And performing torque fusion processing on the first fusion torque and the second fusion torque to determine an active aligning torque.
7. A vehicle steer-by-wire control system, comprising:
the acquisition module is used for acquiring state information of a driver and a vehicle; the state information comprises vehicle speed, steering wheel rotating speed and vehicle damping coefficient;
The mark determining module is used for carrying out decision processing on the state information through a steering-by-wire active return state decision to obtain an active return state mark bit;
The correction moment determining module is used for determining the active correction moment according to the state information if the active correction state flag bit is started;
the damping moment determining module is used for determining a vehicle damping moment according to the vehicle speed, the steering wheel rotating speed and the vehicle damping coefficient;
The target torque determining module is used for determining an active correcting target torque according to the active correcting torque and the vehicle damping torque;
And the steering module is used for driving and controlling the motor according to the active return target torque to finish the steering of the vehicle.
8. An electronic device, comprising:
At least one processor;
at least one memory for storing at least one program;
The at least one program, when executed by the at least one processor, causes the at least one processor to implement the vehicle steer-by-wire control method of any one of claims 1 to 6.
9. A vehicle characterized in that it comprises the vehicle steer-by-wire control system according to claim 7 or the electronic device according to claim 8.
10. A computer-readable storage medium in which a processor-executable program is stored, characterized in that the processor-executable program is for realizing the vehicle steer-by-wire control method according to any one of claims 1 to 6 when executed by a processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311736595.2A CN117922682A (en) | 2023-12-15 | 2023-12-15 | Vehicle steer-by-wire control method, system, electronic equipment, vehicle and medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311736595.2A CN117922682A (en) | 2023-12-15 | 2023-12-15 | Vehicle steer-by-wire control method, system, electronic equipment, vehicle and medium |
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| CN117922682A true CN117922682A (en) | 2024-04-26 |
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| CN202311736595.2A Pending CN117922682A (en) | 2023-12-15 | 2023-12-15 | Vehicle steer-by-wire control method, system, electronic equipment, vehicle and medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118220325A (en) * | 2024-05-24 | 2024-06-21 | 广汽埃安新能源汽车股份有限公司 | Method and device for controlling return of steering wheel of automobile |
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2023
- 2023-12-15 CN CN202311736595.2A patent/CN117922682A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118220325A (en) * | 2024-05-24 | 2024-06-21 | 广汽埃安新能源汽车股份有限公司 | Method and device for controlling return of steering wheel of automobile |
| CN118220325B (en) * | 2024-05-24 | 2024-09-20 | 广汽埃安新能源汽车股份有限公司 | Method and device for controlling return of steering wheel of automobile |
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