CN118025311B - Steering wheel position automatic correction method and system of steer-by-wire system - Google Patents
Steering wheel position automatic correction method and system of steer-by-wire system Download PDFInfo
- Publication number
- CN118025311B CN118025311B CN202410445271.1A CN202410445271A CN118025311B CN 118025311 B CN118025311 B CN 118025311B CN 202410445271 A CN202410445271 A CN 202410445271A CN 118025311 B CN118025311 B CN 118025311B
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- preset
- neutral position
- angle
- actual
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
-
- 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
Landscapes
- 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
本申请涉及汽车智能转向技术领域，具体涉及一种线控转向系统的转向盘位置自动校正方法及系统。本申请的方案在每次系统上电时，分别获取路感模拟电机和转向驱动电机的转子信号，并分别将其转换为转向盘转角和车辆转角，判断转向盘转角和车辆转角不满足预设的对应关系，再判断转向盘是否回到中位，若否，就以距离初始中位位置近的一个对象作为参考对象，对另一个的中位位置进行动态调节，使调节后的对象的实际中位位置与参考对象的中位位置之间的偏差值不超过预设误差阈值。本申请的方案，在不增加硬件成本的情况下有效减少因转向盘转角和车辆转角误差引起的转向角度不匹配的情况，提高了系统安全和功能安全。
The present application relates to the field of automobile intelligent steering technology, and specifically to a method and system for automatic correction of the steering wheel position of a wire-controlled steering system. The solution of the present application obtains the rotor signals of the road sense simulation motor and the steering drive motor respectively each time the system is powered on, and converts them into the steering wheel angle and the vehicle angle respectively, determines that the steering wheel angle and the vehicle angle do not satisfy the preset corresponding relationship, and then determines whether the steering wheel has returned to the neutral position. If not, an object close to the initial neutral position is used as a reference object, and the neutral position of the other object is dynamically adjusted so that the deviation value between the actual neutral position of the adjusted object and the neutral position of the reference object does not exceed the preset error threshold. The solution of the present application effectively reduces the steering angle mismatch caused by the steering wheel angle and the vehicle angle error without increasing the hardware cost, thereby improving the system safety and functional safety.
Description
Technical Field
The invention relates to the technical field of intelligent steering of automobiles, in particular to an automatic correction method and an automatic correction system for the position of a steering wheel of a steer-by-wire system.
Background
The steering-by-wire system is a main branch product of the chassis-by-wire system, is an important component of the intelligent driving automobile at the chassis execution end, and mainly realizes accurate control of the steering angle of the automobile according to the position control instruction of the automobile decision layer.
The road feel simulation module where the steering wheel is positioned and the steering driving module which influences the steering angle of the vehicle are not mechanically connected, so that the corresponding relation is determined by electronic control software, and the large error exists between the steering angle of the steering wheel and the steering angle of the vehicle due to accumulated error after long-term operation. In the prior art, in order to solve the problem, the correction processing is mainly performed by externally setting a sensor or a specific device, which increases the setting difficulty and the hardware cost.
Disclosure of Invention
The automatic correction method and the automatic correction system for the steering wheel position of the steer-by-wire system effectively solve the problem that the existing automobile steering system can not ensure that the steering angle of a vehicle is matched with the steering angle of the steering wheel under the condition that the external structure is not increased.
According to a first aspect, in one embodiment, there is provided a steering wheel position automatic correction method of a steer-by-wire system, including:
After the steer-by-wire system is electrified, the road feel simulation motor is controlled to rotate a preset angle towards a preset direction; the preset direction comprises a first preset direction and a second preset direction, and the first preset direction is opposite to the second preset direction;
acquiring a rotor signal of the road feel simulation motor and a rotor signal of the steering driving motor in real time;
calculating a corresponding steering wheel rotation angle according to the rotor signal of the road feel simulation motor, and calculating a corresponding vehicle rotation angle according to the rotor signal of the steering driving motor;
Judging whether the steering wheel rotation angle and the vehicle rotation angle at the corresponding moment meet a preset corresponding relation or not;
If not, judging whether the steering wheel is positioned in the initial middle position, if so, adjusting the turning angle of the vehicle to enable the steering wheel to return to the middle position; otherwise, selecting one of the actual neutral position of the steering wheel and the actual neutral position of the steering wheel, which is close to the initial neutral position, as a reference object, and selecting one of the actual neutral position of the steering wheel, which is far from the initial neutral position, as an adjustment object, and dynamically adjusting the adjustment object according to the preset corresponding relation so that the deviation value between the actual neutral position of the adjusted adjustment object and the neutral position of the reference object does not exceed a preset error threshold.
In an implementation manner, the control road feel simulation motor rotates a preset angle towards a preset direction, and the control road feel simulation motor comprises:
And controlling the road feel simulation motor to rotate a first preset angle in a first preset direction, and then controlling the road feel simulation motor to rotate a second preset angle in a second preset direction, wherein the second preset angle is an integer multiple of the first preset angle.
In one possible implementation manner, after the steer-by-wire system is powered on, if it is determined that the steering wheel angle and the vehicle angle at the corresponding time meet a preset corresponding relationship, the road feel simulation motor is controlled to return to a starting point and then start normally.
In an implementation manner, the preset correspondence is that the steering wheel and the steering wheel rotate synchronously with a preset functional relationship, and the adjusting object is dynamically adjusted according to the preset correspondence, which includes:
Controlling a control motor corresponding to the reference object to rotate a third preset angle towards a first preset direction, and then rotating a fourth preset angle towards a second preset direction, wherein the third preset angle is smaller than the preset angle rotated in the same direction in the previous time, and the fourth preset angle is integral multiple of the third preset angle;
Acquiring the actual middle position of the adjusting object;
calculating the expected middle position of the adjusting object according to the preset corresponding relation;
Calculating an angular deviation value between an expected neutral position of the adjustment object and the actual neutral position;
Correcting the actual neutral position of the adjusting object according to the angle deviation value of the preset proportion to obtain the corrected neutral position of the adjusting object;
Judging whether the corrected angle deviation value between the middle position of the adjusting object and the expected middle position is smaller than or equal to the preset error threshold value, if so, ending the dynamic adjustment, otherwise, correcting the middle position of the adjusting object again until the angle deviation value between the middle position of the adjusting object and the expected middle position is smaller than or equal to the preset error threshold value.
In one possible embodiment, the correction of the actual neutral position of the adjustment object by the angle deviation value of the preset ratio includes:
and adjusting the actual neutral position of the adjusting object according to the angle deviation value of a preset proportion, so that the actual neutral position of the adjusting object is close to the expected neutral position of the adjusting object.
In one implementation, the method further comprises:
Judging whether the silent mode of the steering wheel is in an open state or a closed state in the running process of the vehicle;
When the silent mode is in an on state, judging whether the current steering wheel is at a preset target middle position according to the current steering wheel angle, if so, adjusting the vehicle angle to enable the steering wheels to return to the preset target middle position; otherwise, the steering wheel and the steering wheels are adjusted to return to the preset target neutral position according to the preset target neutral position;
When the silent mode is in a closed state, judging whether the actual middle position of the steering wheel is matched with the actual middle position of the steering wheel, if so, driving normally; otherwise, determining a compensation strategy of the vehicle corner according to the position relation between the actual neutral position of the steering wheel and the actual neutral position of the steering wheel, the position relation between the actual neutral position of the steering wheel and the preset target neutral position, and the hand moment direction of the driver, so that the actual neutral position of the steering wheel and the actual neutral position of the steering wheel are matched.
In an implementation manner, the determining whether the current steering wheel is at a preset target neutral position according to the current steering wheel angle includes:
determining the current middle position of the steering wheel according to the current steering wheel angle;
judging whether the current steering wheel is at a preset target middle position according to the current middle position of the steering wheel.
In one possible embodiment, the compensation strategy for determining the vehicle rotation angle according to the position relationship between the actual neutral position of the steering wheel and the actual neutral position of the steering wheel, the position relationship between the actual neutral position of the steering wheel and the preset target neutral position, and the hand torque direction of the driver includes:
Determining whether the actual neutral position of the steering wheel is to the left or the right of the position of the preset target neutral position when the actual neutral position of the steering wheel is to the right of the actual neutral position of the steering wheel, and determining whether the hand torque direction of the driver is to the left or the right;
When the actual neutral position of the steering wheel is at the left side of the position of the preset target neutral position and the hand moment direction of the driver is leftwards, slowing down the change speed of the turning angle of the vehicle and carrying out negative value compensation on the steering wheels;
When the actual neutral position of the steering wheel is at the left side of the position of the preset target neutral position and the hand moment direction of the driver is rightward, accelerating the change speed of the turning angle of the vehicle and compensating the positive value of the steering wheel;
When the actual neutral position of the steering wheel is on the right side of the position of the preset target neutral position and the hand moment of the driver is directed to the right, accelerating the change speed of the turning angle of the vehicle and compensating the positive value of the steering wheel;
when the actual neutral position of the steering wheel is on the right side of the position of the preset target neutral position and the hand moment direction of the driver is to the left, the change speed of the turning angle of the vehicle is slowed down, and negative value compensation is carried out on the steering wheels;
And/or the number of the groups of groups,
Determining whether the actual neutral position of the steering wheel is left or right of the position of the preset target neutral position when the actual neutral position of the steering wheel is left of the actual neutral position of the steering wheel, and determining whether the hand torque direction of the driver is left or right;
When the actual neutral position of the steering wheel is at the left side of the position of the preset target neutral position and the hand moment direction of the driver is leftwards, the change speed of the turning angle of the vehicle is accelerated, and positive value compensation is carried out on the steering wheels;
when the actual neutral position of the steering wheel is at the left side of the position of the preset target neutral position and the hand moment of the driver is directed to the right, slowing down the change speed of the turning angle of the vehicle and carrying out negative value compensation on the steering wheels;
When the actual neutral position of the steering wheel is on the right side of the position of the preset target neutral position and the hand moment of the driver is directed to the right, slowing down the change speed of the vehicle corner and carrying out negative value compensation on the steering wheels;
and when the actual neutral position of the steering wheel is on the right side of the position of the preset target neutral position and the hand moment direction of the driver is leftwards, accelerating the change speed of the turning angle of the vehicle and compensating the positive value of the steering wheel.
According to a second aspect, there is provided in one embodiment a steering wheel position automatic correction system of a steer-by-wire system, comprising:
the control module is used for controlling the road feel simulation motor to rotate a preset angle towards a preset direction after the wire control steering system is electrified; the preset direction comprises a first preset direction and a second preset direction, and the first preset direction is opposite to the second preset direction;
The acquisition module is used for acquiring the rotor signal of the road feel simulation motor and the rotor signal of the steering driving motor in real time;
the calculation module is used for calculating a corresponding steering wheel angle according to the rotor signal of the road feel simulation motor and calculating a corresponding vehicle angle according to the rotor signal of the steering driving motor;
The first judging module is used for judging whether the steering wheel rotation angle and the vehicle rotation angle at the corresponding moment meet a preset corresponding relation or not;
If not, judging whether the steering wheel is positioned in the initial middle position or not through a second judging module, and if so, adjusting the turning angle of the vehicle by the control module to enable the steering wheel to return to the middle position;
Otherwise, selecting one of the actual middle position of the steering wheel and the actual middle position of the steering wheel, which is close to the initial middle position, as a reference object through an adjusting module, and dynamically adjusting the adjusting object according to the preset corresponding relation, so that the deviation value between the actual middle position of the adjusting object after adjustment and the middle position of the reference object does not exceed a preset error threshold.
According to a third aspect, an embodiment provides a computer readable storage medium having stored thereon a program executable by a processor to implement a method as described above.
According to the automatic correction method/system for steering wheel position of the steer-by-wire system in the embodiment, when the system is electrified, absolute position self-detection is firstly carried out on the steering wheel, specifically, after the road feel simulation motor is controlled to rotate a preset angle respectively towards two preset directions opposite to each other, the rotor signals of the road feel simulation motor and the steering driving motor are respectively obtained, then the road feel simulation motor rotor signals are converted into steering wheel corners, the steering driving motor rotor signals are converted into vehicle corners, whether the steering wheel corners and the vehicle corners meet a preset corresponding relation is judged, if the steering wheel corners and the vehicle corners meet the preset corresponding relation, normal starting is carried out, if the steering wheel returns to the middle position, the steering wheel corners are regulated to the middle position, otherwise, one object close to the initial middle position is used as a reference object, and the middle position of the other object is dynamically regulated, so that the deviation value between the actual middle position of the regulated object and the middle position of the reference object is smaller than or equal to a preset error threshold. By adopting the scheme of the application, the dynamic position correction can be carried out on the steering wheel under the condition of not influencing driving, external equipment is not required to be added, the steering calibration function can be executed only on the basis of software and hardware of the system, the condition of mismatching of steering angles caused by steering wheel rotation angles and vehicle rotation angle errors can be effectively reduced under the condition of not increasing hardware cost, and the system safety and the functional safety are improved.
Drawings
Fig. 1 is a flowchart of a steering wheel position automatic correction method of a steer-by-wire system provided in the present embodiment;
fig. 2 is a flowchart of dynamically adjusting a selected adjustment object according to a preset correspondence provided in this embodiment;
Fig. 3 is a block diagram of a steering wheel position automatic correction system of the steering control system according to the present embodiment.
Reference numerals: 10. a control module; 20. an acquisition module; 30. a computing module; 40. a first judgment module; 50. a second judging module; 60. and an adjusting module.
Detailed Description
The application will be described in further detail below with reference to the drawings by means of specific embodiments. Wherein like elements in different embodiments are numbered alike in association. In the following embodiments, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted, or replaced by other elements, materials, or methods in different situations. In some instances, related operations of the present application have not been shown or described in the specification in order to avoid obscuring the core portions of the present application, and may be unnecessary to persons skilled in the art from a detailed description of the related operations, which may be presented in the description and general knowledge of one skilled in the art.
Furthermore, the described features, operations, or characteristics of the description may be combined in any suitable manner in various embodiments. Also, various steps or acts in the method descriptions may be interchanged or modified in a manner apparent to those of ordinary skill in the art. Thus, the various orders in the description and drawings are for clarity of description of only certain embodiments, and are not meant to be required orders unless otherwise indicated.
The numbering of the components itself, e.g. "first", "second", etc., is used herein merely to distinguish between the described objects and does not have any sequential or technical meaning. The term "coupled" as used herein includes both direct and indirect coupling (coupling), unless otherwise indicated.
First, terms mentioned below are explained. Silence mode of steering wheel: in the present application, the function means that after the silence mode is turned on, the steering wheel should return to the neutral position immediately and then silence stops moving, and the steering wheel should be kept within the neutral acceptable range during the process, and the steering of the automobile is not affected, and the steering response of the driver is not supported. When this function is turned off, the steering wheel should immediately adapt the vehicle angle and continue to respond to the function of restoring the driver's steering.
As shown in fig. 1, the method for automatically correcting the position of a steering wheel of a steer-by-wire system according to the embodiment of the application specifically includes the following steps:
Step 100: after the on-line steering system is electrified, the control module controls the road feel simulation motor to rotate a preset angle in a preset direction; the preset direction comprises a first preset direction and a second preset direction, and the first preset direction is opposite to the second preset direction.
In this step, more specifically, the control module controls the road feel simulation motor to rotate a first preset angle in a first preset direction, and then controls the road feel simulation motor to rotate a second preset angle in a second preset direction, where the second preset angle is an integer multiple of the first preset angle. In practical application, the second preset angle is set to be twice as large as the first preset angle, so that the adjustment of the middle position can be realized more quickly and conveniently in the subsequent correction process.
In addition, in the application, the steering wheel rotates to the left side in the first preset direction, the steering wheel rotates to the right side in the second preset direction, and the steering wheel is set by taking the right side rotation angle as a positive value and taking the left side rotation angle as a negative value. Of course, it is also possible to design the steering wheel to rotate to the right in the first preset direction, the steering wheel to rotate to the left in the second preset direction, and the steering wheel is set with the left rotation angle as a positive value and the right rotation angle as a negative value. The specific setting may be analyzed according to the specific situation, and the first setting situation is described in the present application.
Step 200: the acquisition module acquires a rotor signal of the road feel simulation motor and a rotor signal of the steering driving motor in real time.
Because the corresponding relation between the upper road feel simulation module and the lower steering execution module of the steer-by-wire system can be set by an electric control, the corresponding relation between the steering wheel angle and the vehicle angle is firstly predetermined, and when the steering wheel rotates, the steering wheels synchronously rotate according to the corresponding relation.
In addition, the road feel simulation motor rotor angle and the steering wheel rotation angle are in a corresponding relation, and the steering driving motor rotor angle and the vehicle rotation angle are also in a corresponding relation, so that the steering wheel rotation angle can be obtained according to the corresponding relation only by detecting the road feel simulation motor rotor angle (namely, the rotor signal of the road feel simulation motor), and the vehicle rotation angle can be obtained according to the corresponding relation only by detecting the steering driving motor rotor angle (namely, the rotor signal of the steering driving motor).
Step 300: the calculating module calculates a corresponding steering wheel rotation angle according to the rotor signal of the road feel simulation motor and calculates a corresponding vehicle rotation angle according to the rotor signal of the steering driving motor.
The corresponding relation between the steering wheel rotation angle and the vehicle rotation angle is determined, and the corresponding relation can be set through electric control, so that the real-time angle of the steering wheel is set to be Y, the real-time rotation angle of the vehicle is set to be X, the corresponding relation is set to be a function relation of Y=kX+b, k and b are constants, the corresponding relation can be a mapping table, and the mapping table is determined by electric control software. Meanwhile, as the steering angle of the road feel simulation motor and the steering wheel angle form a linear relation, and the steering angle of the steering driving motor and the vehicle angle form a linear relation, the real-time angle of the road feel motor is set as Y, Y=alpha Y, and the real-time angle X of the steering driving motor is set as x=beta X.
Therefore, the steering wheel angle corresponding to the rotor signal of the road feel simulation motor and the vehicle angle corresponding to the rotor signal of the steering drive motor can be calculated by the preset linear correspondence relation.
Step 400: and judging whether the steering wheel rotation angle and the vehicle rotation angle at the corresponding moment meet the preset corresponding relation or not through a first judging module. If yes, go to step 600: and the control road feel simulation motor is normally started after returning to the starting point.
For example, when the system is powered on, the motor with road feel feedback turns left a 0 ° and then turns right 2a 0 °, recording the actual angle range a (i.e. 3A 0 °) turned from left-a 0 ° to right-side a 0 °, and the steering drive motor turns left B 0 ° and then turns right 2B 0 °, recording the actual angle range B (i.e. 3B 0 °) turned from left-B 0 ° to right-side B 0 °.
And judging whether the a and the b meet a preset relation according to the function relation, and if so, controlling the road feel simulation motor to return to the starting point and then starting normally.
If not, then step 500 is performed: and judging whether the steering wheel is positioned in the initial middle position or not through a second judging module. If yes, go to step 800: the steering angle of the vehicle is adjusted to return the steered wheels to the neutral position.
If it is determined that the steering wheel angle and the vehicle angle at the corresponding time do not satisfy the preset correspondence, it is further determined whether the steering wheel returns to the initial neutral position, that is, in general, the steering wheel returns to the neutral position after the vehicle steering is completed. When the steering wheel is judged to return to the original neutral position, the steering wheel is regulated to return to the corresponding neutral position.
Otherwise, step 700 is performed: and selecting one of the actual neutral position of the steering wheel and the actual neutral position of the steering wheel, which is close to the initial neutral position, as a reference object by an adjusting module, and dynamically adjusting the adjusting object according to a preset corresponding relation, so that the deviation value between the actual neutral position of the adjusted adjusting object and the neutral position of the reference object does not exceed a preset error threshold.
If the steering wheel angle and the vehicle angle at the corresponding time do not satisfy the preset corresponding relation, the steering wheel does not return to the middle position, one closest to the initial middle position is selected as a reference object, and the other is set as an adjustment object. For example, when the actual neutral position of the steering wheel is closer to the initial neutral position, the actual neutral position of the steering wheel is dynamically adjusted according to the preset corresponding relation until the angle deviation value between the actual neutral position of the steering wheel and the actual neutral position of the steering wheel is smaller than or equal to the preset error threshold value, and finally the steering wheel position and the vehicle angle are matched.
Or when the actual neutral position of the steering wheel is closer to the initial neutral position, dynamically adjusting the actual neutral position of the steering wheel until the angle deviation value between the actual neutral position of the steering wheel and the actual neutral position of the steering wheel is smaller than or equal to a preset error threshold value, and finally matching the steering wheel position with the vehicle corner.
By adopting the embodiment of the application, the dynamic position correction can be carried out on the steering wheel under the condition of not influencing driving, external equipment is not required to be added, the steering calibration function can be executed only on the basis of software and hardware of the system, the condition of mismatching of steering angles caused by steering wheel rotation angle and vehicle rotation angle errors can be effectively reduced under the condition of not increasing hardware cost, and the system safety and the functional safety are improved.
As shown in fig. 2, the preset corresponding relationship is that the steering wheel rotates synchronously with the steering wheel according to the preset functional relationship, and the adjusting object is dynamically adjusted according to the preset corresponding relationship, which specifically includes the following steps:
Step 710: and the control motor corresponding to the control reference object rotates a third preset angle towards the first preset direction, then rotates a fourth preset angle towards the second preset direction, the third preset angle is smaller than the preset angle rotated in the same direction in the previous time, and the fourth preset angle is integral multiple of the third preset angle. In practice, the fourth preset angle is twice the third preset angle.
Step 720: an actual neutral position of the adjustment object is obtained.
Step 730: and calculating the expected middle position of the adjusting object according to the preset corresponding relation.
Step 740: an angular deviation value between the expected neutral position and the actual neutral position of the adjustment object is calculated.
Step 750: and correcting the actual neutral position of the adjusting object by using an angle deviation value of a preset proportion to obtain the corrected neutral position of the adjusting object.
Step 760: judging whether the angle deviation value between the corrected neutral position and the expected neutral position of the adjustment object is smaller than or equal to the preset error threshold, if yes, executing step 770: and (3) ending the dynamic adjustment, otherwise, returning to the step (710) to correct the middle position of the adjustment object again until the angle deviation value between the middle position and the expected middle position of the adjustment object is smaller than or equal to the preset error threshold value.
In this embodiment, taking the actual neutral position of the steering wheel being closer to the initial neutral position, the dynamic adjustment of the actual neutral position of the steering wheel according to the preset correspondence will be described as an example. Namely, the steering wheel is used as a reference object, and the steering wheel is used as an adjustment object. Specifically, the adjustment is performed according to the self-check range angles a 1 ° and B 1 ° (normally, the adjustment is completed within 10 rotation control cycles). In the first rotation control cycle, the road feel simulation motor is first turned to the left by an angle of a 1 ° (third preset angle) and then turned to the right by an angle of 2a 1 ° (fourth preset angle). At this time, a 1 ° is nine tenth of the last rotation angle a 0 °. Then, the rotor angle of the steering driving motor is obtained at the moment, the corresponding vehicle rotation angle is calculated to determine the actual middle position of the current steering wheel, meanwhile, the corresponding steering wheel rotation angle is calculated according to the road feel simulation motor, so that the actual middle position of the steering wheel is determined, then the vehicle rotation angle is calculated for Y=kX+b according to the preset functional relation function relation, and further the expected middle position of the steering wheel is deduced. After the desired median position of the steered wheel and the actual median position of the current steered wheel are obtained, the angular deviation value between the two median positions can be obtained. Then, the actual neutral position of the steerable wheels is adjusted by an angle deviation value of a preset ratio so that the actual neutral position of the steerable wheels is brought close to the intended neutral position of the adjustment object. The actual neutral position of the adjustment object is typically adjusted by one tenth of the angular deviation value. At this time, it is determined whether or not the angular deviation value between the expected neutral position and the actual neutral position of the steered wheels is reduced to a preset error threshold value, and if not, a second rotation control cycle is performed. Specifically, in entering the second rotation control cycle, the road feel simulation motor is first turned to the left by an angle of a 2 ° (third preset angle) and then turned to the right by an angle of 2a 2 ° (fourth preset angle). At this time, a 2 ° is nine tenth of the last rotation angle a 1 °, then, other adjustment methods are similar to those in the first rotation control cycle until it is determined that the angle deviation value between the expected neutral position and the actual neutral position of the steering wheel is reduced to be within the preset error threshold, and then it is determined that correction is completed, so that matching of the steering wheel rotation angle and the vehicle rotation angle is gradually achieved. Compared with the method of directly adjusting the steering wheel by the deviation angle, the adjusting method of the embodiment does not directly and accurately stay at the position to be calibrated once in the adjusting process, so the application gradually leads the actual middle position of the steering wheel to reach the preset middle position by adjusting for a plurality of times and adjusting smaller positions each time, and the matching degree of the steering wheel angle and the steering wheel angle is gradually improved in the matching process.
Similarly, if the actual neutral position of the steering wheel is closer to the initial neutral position, the actual neutral position of the steering wheel is dynamically adjusted according to the preset corresponding relationship. Namely, the steering wheel is used as a reference object and the steering wheel is used as an adjustment object. The adjustment manner is the same as above, and the embodiment will not be repeated here.
As a further improvement of the embodiment, when the driver exits or takes over the steering function (i.e. turns on or off some automatic driving functions which need to be participated by the steering system), the driver respectively performs following and vehicle turning angle matching in different modes according to different working conditions so as to correct the position of the steering wheel in a dynamic process. The implemented following strategy mainly relies on the rotation angle signals converted according to the rotor position signals of the road feel simulation motor and the steering driving motor, and the correction of the steering wheel position is carried out according to dynamic function starting. In this embodiment, when the dynamic functions are executed, the steering wheel is required to be in the silent mode by default, because after the functions are started, whether the steering wheel is in the neutral position or not is judged, if the steering wheel is in the neutral position, the silent mode is entered, the steering wheel does not move any more, if the steering wheel is not in the neutral position, the target neutral position value of the road feel simulation motor is set, the steering wheel returns to the neutral position, then the steering wheel enters the silent mode again, and in the running process, the road feel simulation motor receives an instruction to enable the steering wheel to return to the neutral position, so that the normal running of the system is completed.
The controller accomplishes some automatic steering functions through the steering driving motor, and the steering wheel is always in a silent mode in the process. When the silence mode is turned on, the mode can be turned off at any time, i.e. the driver can take over the steering wheel at any time in semiautomatic driving. In this case, the steering wheel position is mismatched with the vehicle steering angle position with a large probability, and in this case, a gentle correction is required by a tracking strategy, that is, by increasing or decreasing the speed of change of the vehicle steering angle, the vehicle steering angle is matched with the steering wheel position rapidly during dynamic change of the steering wheel. Therefore, the steering wheel position automatic correction method of the steer-by-wire system of the present embodiment further includes:
during running of the vehicle, it is determined whether the silent mode of the steering wheel is in an on state or an off state.
When the silent mode is in an on state, judging whether the current steering wheel is at a preset target middle position according to the current steering wheel rotation angle, and if so, adjusting the vehicle rotation angle to enable the steering wheels to return to the preset target middle position; otherwise, the steering wheel and the steering wheels are adjusted to return to the preset target neutral position according to the preset target neutral position.
Specifically, when judging that the steering wheel is in the silence mode, firstly, setting a target neutral position, recording a steering angle value a 0 converted from a road feel simulation motor rotor position signal and a steering angle value b 0 converted from a steering driving motor rotor position signal, determining the neutral position of the current steering wheel according to the current steering wheel steering angle a 0, judging whether the current steering wheel is at the set target neutral position according to the neutral position of the current steering wheel, and if so, adjusting the steering driving motor to enable the vehicle to be steered to the set target neutral position. If not, the steering wheel is controlled to return to the target neutral position, and the steering drive motor is adjusted to return the vehicle corner to the target neutral position. And then the steering driving motor realizes the turning angle of the vehicle according to the automatic driving function, and the system operates normally.
When the silent mode is in a closed state, judging whether the actual middle position of the steering wheel is matched with the actual middle position of the steering wheel, if so, driving normally; otherwise, determining a compensation strategy of the vehicle corner according to the position relation between the actual neutral position of the steering wheel and the actual neutral position of the steering wheel, the position relation between the actual neutral position of the steering wheel and the preset target neutral position, and the hand moment direction of the driver, so that the actual neutral position of the steering wheel is matched with the actual neutral position of the steering wheel.
Specifically, when the silent mode is in the off state, i.e., the driver takes over the automatic steering function. There may be three cases between the steerable wheels and the steering wheel at this time:
the actual neutral position of the steering wheel is matched with the actual neutral position of the steering wheel, and the silence mode is directly turned off under the condition of normal driving.
Secondly, the actual neutral position of the steering wheel is on the right side of the actual neutral position of the steered wheels, in which case it is also necessary to determine whether the actual neutral position of the steering wheel is on the left or right side of the position of the preset target neutral position, and whether the hand torque of the driver is directed to the left or right.
When the actual neutral position of the steering wheel is left of the position of the preset target neutral position and the hand moment of the driver is directed to the left, the change speed of the turning angle of the vehicle is slowed down and negative compensation is performed on the steering wheels.
When the actual neutral position of the steering wheel is left of the position of the preset target neutral position and the hand moment of the driver is directed to the right, the change speed of the turning angle of the vehicle is accelerated, and positive compensation is performed on the steering wheels.
When the actual neutral position of the steering wheel is on the right side of the position of the preset target neutral position and the hand moment of the driver is directed to the right, the change speed of the turning angle of the vehicle is accelerated, and positive compensation is carried out on the steering wheels.
When the actual neutral position of the steering wheel is on the right side of the position of the preset target neutral position and the hand moment direction of the driver is to the left, the change speed of the turning angle of the vehicle is slowed down, and negative compensation is carried out on the steering wheels.
Third, the actual neutral position of the steering wheel is left of the actual neutral position of the steered wheels, in which case it is also necessary to determine whether the actual neutral position of the steering wheel is left or right of the position of the preset target neutral position, and whether the hand torque of the driver is directed to the left or right.
When the actual neutral position of the steering wheel is left of the position of the preset target neutral position and the hand moment direction of the driver is left, the change speed of the turning angle of the vehicle is accelerated, and positive compensation is carried out on the steering wheels.
When the actual neutral position of the steering wheel is left of the position of the preset target neutral position and the hand moment of the driver is directed to the right, the change speed of the turning angle of the vehicle is slowed down, and negative compensation is performed on the steering wheels.
When the actual neutral position of the steering wheel is right to the position of the preset target neutral position and the hand moment of the driver is directed to the right, the change speed of the turning angle of the vehicle is slowed down and negative compensation is performed on the steering wheels.
When the actual neutral position of the steering wheel is on the right side of the position of the preset target neutral position and the hand moment direction of the driver is to the left, the change speed of the turning angle of the vehicle is accelerated, and positive value compensation is carried out on the steering wheels.
It should be noted that the above compensation (including positive compensation and negative compensation) is generally determined according to the time from the start of the following function (i.e., the following function between the steering wheel and the steered wheels) to the complete match, and is generally between 150ms and 2 s.
As shown in fig. 3, the steering wheel position automatic correction system of the steer-by-wire system provided in this embodiment includes a control module 10, an acquisition module 20, a calculation module 30, a first judgment module 40, a second judgment module 50, and an adjustment module 60. The control module 10 is used for controlling the road feel simulation motor to rotate a preset angle towards a preset direction after the on-line steering system is electrified; the preset direction comprises a first preset direction and a second preset direction, and the first preset direction is opposite to the second preset direction; the acquisition module 20 is used for acquiring the rotor signal of the road feel simulation motor and the rotor signal of the steering driving motor in real time; the calculating module 30 is configured to calculate a corresponding steering wheel angle according to a rotor signal of the road feel simulation motor, and calculate a corresponding vehicle angle according to a rotor signal of the steering driving motor; a first judging module 40, configured to judge whether the steering wheel angle and the vehicle angle at the corresponding moment meet a preset corresponding relationship; if not, judging whether the steering wheel is positioned in the initial middle position by the second judging module 50, and if so, adjusting the turning angle of the vehicle by the control module 10 to enable the steering wheel to return to the middle position; otherwise, the adjusting module 60 selects one of the actual neutral position of the steering wheel and the actual neutral position of the steering wheel, which is close to the initial neutral position, as the reference object, and one of the actual neutral position of the steering wheel, which is far from the initial neutral position, as the adjusting object, and dynamically adjusts the adjusting object according to the preset corresponding relation, so that the deviation value between the actual neutral position of the adjusted adjusting object and the neutral position of the reference object does not exceed the preset error threshold.
The automatic steering wheel position correction system of the steer-by-wire system of the present embodiment specifically includes a control module 10, an acquisition module 20, a calculation module 30, a first judgment module 40, a second judgment module 50, and an adjustment module 60. The functions and functions of each module are described in detail in the above method embodiments, and this embodiment is not repeated here.
The computer readable storage medium provided in this embodiment stores a program, and the program can be executed by a processor to implement the method for automatically correcting the steering wheel position of the steer-by-wire system according to the foregoing embodiment, which is not described herein in detail.
Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments may be implemented by hardware, or may be implemented by a computer program. When all or part of the functions in the above embodiments are implemented by means of a computer program, the program may be stored in a computer readable storage medium, and the storage medium may include: read-only memory, random access memory, magnetic disk, optical disk, hard disk, etc., and the program is executed by a computer to realize the above-mentioned functions. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, all or part of the functions described above can be realized. In addition, when all or part of the functions in the above embodiments are implemented by means of a computer program, the program may be stored in a storage medium such as a server, another computer, a magnetic disk, an optical disk, a flash disk, or a removable hard disk, and the program in the above embodiments may be implemented by downloading or copying the program into a memory of a local device or updating a version of a system of the local device, and when the program in the memory is executed by a processor.
The foregoing description of the invention has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the invention pertains, based on the idea of the invention.
Claims (9)
1. A steering wheel position automatic correction method of a steer-by-wire system, comprising:
After the steer-by-wire system is electrified, the road feel simulation motor is controlled to rotate a preset angle towards a preset direction; the preset direction comprises a first preset direction and a second preset direction, and the first preset direction is opposite to the second preset direction;
acquiring a rotor signal of the road feel simulation motor and a rotor signal of the steering driving motor in real time;
calculating a corresponding steering wheel rotation angle according to the rotor signal of the road feel simulation motor, and calculating a corresponding vehicle rotation angle according to the rotor signal of the steering driving motor;
Judging whether the steering wheel rotation angle and the vehicle rotation angle at the corresponding moment meet a preset corresponding relation or not;
If the preset corresponding relation is met, the road feel simulation motor is controlled to return to the starting point and then is started normally;
If the preset corresponding relation is not met, judging whether the steering wheel is located in the initial middle position, and if the steering wheel is located in the initial middle position, adjusting the turning angle of the vehicle to enable the steering wheel to return to the middle position; otherwise, selecting one of the actual neutral position of the steering wheel and the actual neutral position of the steering wheel, which is close to the initial neutral position, as a reference object, and selecting one of the actual neutral position of the steering wheel, which is far from the initial neutral position, as an adjustment object, and dynamically adjusting the adjustment object according to the preset corresponding relation so that the deviation value between the actual neutral position of the adjusted adjustment object and the neutral position of the reference object does not exceed a preset error threshold.
2. The automatic steering wheel position correction method of a steer-by-wire system according to claim 1, wherein the control-by-feel simulation motor rotates a preset angle in a preset direction, comprising:
And controlling the road feel simulation motor to rotate a first preset angle in a first preset direction, and then controlling the road feel simulation motor to rotate a second preset angle in a second preset direction, wherein the second preset angle is an integer multiple of the first preset angle.
3. The automatic steering wheel position correction method of a steer-by-wire system according to claim 1, wherein the preset correspondence is that the steered wheels and the steering wheel are rotated synchronously with a preset functional relationship, the dynamically adjusting the adjustment object according to the preset correspondence includes:
Controlling a control motor corresponding to the reference object to rotate a third preset angle towards a first preset direction, and then rotating a fourth preset angle towards a second preset direction, wherein the third preset angle is smaller than the preset angle rotated in the same direction in the previous time, and the fourth preset angle is integral multiple of the third preset angle;
Acquiring the actual middle position of the adjusting object;
calculating the expected middle position of the adjusting object according to the preset corresponding relation;
Calculating an angular deviation value between an expected neutral position of the adjustment object and the actual neutral position;
Correcting the actual neutral position of the adjusting object according to the angle deviation value of the preset proportion to obtain the corrected neutral position of the adjusting object;
Judging whether the corrected angle deviation value between the middle position of the adjusting object and the expected middle position is smaller than or equal to the preset error threshold value, if so, ending the dynamic adjustment, otherwise, correcting the middle position of the adjusting object again until the angle deviation value between the middle position of the adjusting object and the expected middle position is smaller than or equal to the preset error threshold value.
4. The automatic steering wheel position correction method of a steer-by-wire system according to claim 3, wherein the correcting the actual neutral position of the adjustment object by the angle deviation value of a preset ratio includes:
and adjusting the actual neutral position of the adjusting object according to the angle deviation value of a preset proportion, so that the actual neutral position of the adjusting object is close to the expected neutral position of the adjusting object.
5. The method for automatically correcting a steering wheel position of a steer-by-wire system according to claim 1, further comprising:
Judging whether the silent mode of the steering wheel is in an open state or a closed state in the running process of the vehicle;
When the silent mode is in an on state, judging whether the current steering wheel is at a preset target middle position according to the current steering wheel angle, if so, adjusting the vehicle angle to enable the steering wheels to return to the preset target middle position; otherwise, the steering wheel and the steering wheels are adjusted to return to the preset target neutral position according to the preset target neutral position;
When the silent mode is in a closed state, judging whether the actual middle position of the steering wheel is matched with the actual middle position of the steering wheel, if so, driving normally; otherwise, determining a compensation strategy of the vehicle corner according to the position relation between the actual neutral position of the steering wheel and the actual neutral position of the steering wheel, the position relation between the actual neutral position of the steering wheel and the preset target neutral position, and the hand moment direction of the driver, so that the actual neutral position of the steering wheel and the actual neutral position of the steering wheel are matched.
6. The method for automatically correcting a steering wheel position of a steer-by-wire system according to claim 5, wherein said determining whether the current steering wheel is at a preset target neutral position based on the current steering wheel angle comprises:
determining the current middle position of the steering wheel according to the current steering wheel angle;
judging whether the current steering wheel is at a preset target middle position according to the current middle position of the steering wheel.
7. The automatic correction method for steering wheel position of a steer-by-wire system according to claim 5, wherein said determining a compensation strategy for said vehicle angle based on a positional relationship between an actual neutral position of said steering wheel and an actual neutral position of said steered wheels, a positional relationship between an actual neutral position of said steering wheel and said preset target neutral position, and a driver's hand torque direction, comprises:
Determining whether the actual neutral position of the steering wheel is to the left or the right of the position of the preset target neutral position when the actual neutral position of the steering wheel is to the right of the actual neutral position of the steering wheel, and determining whether the hand torque direction of the driver is to the left or the right;
When the actual neutral position of the steering wheel is at the left side of the position of the preset target neutral position and the hand moment direction of the driver is leftwards, slowing down the change speed of the turning angle of the vehicle and carrying out negative value compensation on the steering wheels;
When the actual neutral position of the steering wheel is at the left side of the position of the preset target neutral position and the hand moment direction of the driver is rightward, accelerating the change speed of the turning angle of the vehicle and compensating the positive value of the steering wheel;
When the actual neutral position of the steering wheel is on the right side of the position of the preset target neutral position and the hand moment of the driver is directed to the right, accelerating the change speed of the turning angle of the vehicle and compensating the positive value of the steering wheel;
when the actual neutral position of the steering wheel is on the right side of the position of the preset target neutral position and the hand moment direction of the driver is to the left, the change speed of the turning angle of the vehicle is slowed down, and negative value compensation is carried out on the steering wheels;
And/or the number of the groups of groups,
Determining whether the actual neutral position of the steering wheel is left or right of the position of the preset target neutral position when the actual neutral position of the steering wheel is left of the actual neutral position of the steering wheel, and determining whether the hand torque direction of the driver is left or right;
When the actual neutral position of the steering wheel is at the left side of the position of the preset target neutral position and the hand moment direction of the driver is leftwards, the change speed of the turning angle of the vehicle is accelerated, and positive value compensation is carried out on the steering wheels;
when the actual neutral position of the steering wheel is at the left side of the position of the preset target neutral position and the hand moment of the driver is directed to the right, slowing down the change speed of the turning angle of the vehicle and carrying out negative value compensation on the steering wheels;
When the actual neutral position of the steering wheel is on the right side of the position of the preset target neutral position and the hand moment of the driver is directed to the right, slowing down the change speed of the vehicle corner and carrying out negative value compensation on the steering wheels;
and when the actual neutral position of the steering wheel is on the right side of the position of the preset target neutral position and the hand moment direction of the driver is leftwards, accelerating the change speed of the turning angle of the vehicle and compensating the positive value of the steering wheel.
8. An automatic steering wheel position correction system for a steer-by-wire system, comprising:
the control module is used for controlling the road feel simulation motor to rotate a preset angle towards a preset direction after the wire control steering system is electrified; the preset direction comprises a first preset direction and a second preset direction, and the first preset direction is opposite to the second preset direction;
The acquisition module is used for acquiring the rotor signal of the road feel simulation motor and the rotor signal of the steering driving motor in real time;
the calculation module is used for calculating a corresponding steering wheel angle according to the rotor signal of the road feel simulation motor and calculating a corresponding vehicle angle according to the rotor signal of the steering driving motor;
The first judging module is used for judging whether the steering wheel rotation angle and the vehicle rotation angle at the corresponding moment meet a preset corresponding relation or not;
If the preset corresponding relation is met, the road feel simulation motor is controlled to return to the starting point and then is started normally;
If the preset corresponding relation is not met, judging whether the steering wheel is located in the initial middle position or not through a second judging module, and if the steering wheel is located in the initial middle position, adjusting the turning angle of the vehicle by the control module to enable the steering wheel to return to the middle position;
Otherwise, selecting one of the actual middle position of the steering wheel and the actual middle position of the steering wheel, which is close to the initial middle position, as a reference object through an adjusting module, and dynamically adjusting the adjusting object according to the preset corresponding relation, so that the deviation value between the actual middle position of the adjusting object after adjustment and the middle position of the reference object does not exceed a preset error threshold.
9. A computer readable storage medium, characterized in that the medium has stored thereon a program executable by a processor to implement the method of any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410445271.1A CN118025311B (en) | 2024-04-15 | 2024-04-15 | Steering wheel position automatic correction method and system of steer-by-wire system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410445271.1A CN118025311B (en) | 2024-04-15 | 2024-04-15 | Steering wheel position automatic correction method and system of steer-by-wire system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118025311A CN118025311A (en) | 2024-05-14 |
| CN118025311B true CN118025311B (en) | 2024-06-18 |
Family
ID=90991799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410445271.1A Active CN118025311B (en) | 2024-04-15 | 2024-04-15 | Steering wheel position automatic correction method and system of steer-by-wire system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118025311B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114919643A (en) * | 2022-06-16 | 2022-08-19 | 北京理工大学 | Active steering system, active steering control method and vehicle control device |
| CN116022235A (en) * | 2023-03-29 | 2023-04-28 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | Vehicle steering control method and device and vehicle |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8571759B2 (en) * | 2011-07-25 | 2013-10-29 | GM Global Technology Operations LLC | Electric power steering compensation for vehicles |
| DE102014200100B4 (en) * | 2013-01-15 | 2018-04-05 | Ford Global Technologies, Llc | Steering angle error correction |
| CN110861706B (en) * | 2019-12-06 | 2020-10-13 | 吉林大学 | Differential cooperative active steering system of electric wheel front axle independent drive automobile and control method thereof |
| CN113401217B (en) * | 2021-01-06 | 2022-09-13 | 丰疆智能(深圳)有限公司 | Steering control method and steering wheel steering unit for automatic driving |
| CN116215154B (en) * | 2023-05-04 | 2023-07-14 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | Attitude control method, attitude control system and attitude control device of drive-by-wire chassis |
| CN117068259A (en) * | 2023-09-22 | 2023-11-17 | 重庆长安汽车股份有限公司 | A road sense simulation system and control method |
-
2024
- 2024-04-15 CN CN202410445271.1A patent/CN118025311B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114919643A (en) * | 2022-06-16 | 2022-08-19 | 北京理工大学 | Active steering system, active steering control method and vehicle control device |
| CN116022235A (en) * | 2023-03-29 | 2023-04-28 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | Vehicle steering control method and device and vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118025311A (en) | 2024-05-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6459971B1 (en) | Electric power steering control system and method for controlling the electric power steering control system | |
| US12084137B2 (en) | Steering control apparatus | |
| US20120072074A1 (en) | Determining a target steering torque in a steering device | |
| JP3216388B2 (en) | Electric motor driven four-wheel steering system | |
| JP4895091B2 (en) | Electric power steering device | |
| US11180186B2 (en) | Disturbance feedforward compensation for position control in steering systems | |
| US7315772B2 (en) | Motion control apparatus and method for automotive vehicle | |
| US11787470B2 (en) | Electric power steering apparatus, control device, control method, and motor module | |
| US20220144295A1 (en) | Method for controlling switching of steering control rights of autonomous vehicle | |
| US20200346642A1 (en) | Torque based vehicle path prediction | |
| US11312410B2 (en) | Electric power steering apparatus | |
| US20220371657A1 (en) | Method for cooperative steering angle control, control device and electromechanically assisted steering system | |
| JP2004256068A (en) | Electric power steering device | |
| CN118025311B (en) | Steering wheel position automatic correction method and system of steer-by-wire system | |
| CN105980240A (en) | Electric power steering device | |
| CN112046601B (en) | Method for calibrating limit position of steering angle, steering controller and automobile | |
| CN117163147B (en) | Power assist motor control method, system, device and storage medium | |
| US20190329820A1 (en) | Motor driven power steering and control method thereof | |
| CN115092249B (en) | Steering control method and device for vehicle, vehicle and storage medium | |
| US11679805B2 (en) | Traction steer mitigation through CVR gain scalars | |
| US20250121876A1 (en) | Steering control device | |
| JP3956706B2 (en) | Power steering device | |
| US20240158003A1 (en) | Steering control device | |
| US20240343302A1 (en) | Autonomous driving control device | |
| CN119840707A (en) | Steering control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20240514 Assignee: Shenzhen Zhidian Future Automotive Technology Co.,Ltd. Assignor: Shenzhen Automotive Research Institute Beijing University of Technology Contract record no.: X2024980039299 Denomination of invention: A method and system for automatic correction of steering wheel position in a wire controlled steering system Granted publication date: 20240618 License type: Common License Record date: 20241219 |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20240514 Assignee: Shenzhen CheNeng Zhilian Consulting Co.,Ltd. Assignor: Shenzhen Automotive Research Institute Beijing University of Technology Contract record no.: X2024980039301 Denomination of invention: A method and system for automatic correction of steering wheel position in a wire controlled steering system Granted publication date: 20240618 License type: Common License Record date: 20241218 |
|
| EE01 | Entry into force of recordation of patent licensing contract |