CN118560574A - Steer-by-wire system, vehicle rollover prevention control method, vehicle and storage medium - Google Patents
Steer-by-wire system, vehicle rollover prevention control method, vehicle and storage medium Download PDFInfo
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- CN118560574A CN118560574A CN202310233709.5A CN202310233709A CN118560574A CN 118560574 A CN118560574 A CN 118560574A CN 202310233709 A CN202310233709 A CN 202310233709A CN 118560574 A CN118560574 A CN 118560574A
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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
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Abstract
The invention discloses a steer-by-wire system, a vehicle rollover prevention control method, a vehicle and a storage medium, wherein the vehicle rollover prevention control method comprises the following steps: acquiring the transverse load transfer rate of the vehicle; when the transverse load transfer rate is larger than a transverse load transfer rate threshold value, determining a first reverse torque of the road-sensing motor and a first angular transmission ratio of the steering motor; the road sensing motor is controlled according to the first reverse torque, and the steering motor is controlled according to the first angular transmission ratio. Therefore, the vehicle rollover prevention control method controls the vehicle, the vehicle rollover can be prevented more accurately, and the probability of vehicle rollover can be reduced and the driving safety of the vehicle can be ensured as much as possible by controlling the road motor and the steering motor.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a steer-by-wire system, a vehicle rollover prevention control method, a vehicle and a storage medium.
Background
With the continuous development of the automobile industry, the quantity of the automobile to be kept is increasing, and the following safety problems of the automobile are also increasing. In the high-speed running process of the automobile, the driver often quickly and rapidly hits the steering wheel to further easily cause the occurrence of the rollover accident of the automobile for avoiding the obstacle in emergency. In the related art, whether a vehicle is in a rollover accident is judged mainly by the magnitude of transverse force applied to wheels, and a motor of the vehicle is controlled according to a judging result so as to avoid rollover. However, the judging method in the related art is often inaccurate, and when the vehicle has a rollover trend, only the motor is controlled to avoid the rollover of the vehicle, the control effect is not good, the probability of rollover of the vehicle is high, and the safety is low.
It should be noted that the information disclosed in this background section is only for understanding the background of the inventive concept and, therefore, it may contain information that does not form the prior art.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, the invention aims to provide a steer-by-wire system, a vehicle rollover prevention control method, a vehicle and a storage medium, which can more accurately prevent vehicle rollover, and can reduce the possibility of vehicle rollover and ensure the driving safety of the vehicle as far as possible by controlling a road motor and a steering motor.
To achieve the above object, an embodiment of a first aspect of the present invention provides a vehicle rollover prevention control method based on a steer-by-wire system, the method comprising: acquiring the transverse load transfer rate of the vehicle; when the transverse load transfer rate is larger than a transverse load transfer rate threshold value, determining a first reverse torque of the road sensing motor and a first angular transmission ratio of the steering motor; the road sensing motor is controlled according to the first reverse torque, and the steering motor is controlled according to the first angular transmission ratio.
In some embodiments of the invention, obtaining a lateral load transfer rate of a vehicle includes: acquiring vertical loads of a plurality of wheels of a vehicle; the lateral load transfer rate is obtained from the vertical loads of the plurality of wheels.
In some embodiments of the invention, the lateral load transfer rate is obtained from a ratio of a difference in vertical load between a total vertical load of one side wheel of the vehicle and a total vertical load of the other side wheel of the vehicle to a sum of the vertical load of the one side wheel of the vehicle and the total vertical load of the other side wheel of the vehicle.
In some embodiments of the present invention, a steering motor is used to drive a steering actuator to steer wheels of a vehicle, wherein determining a first reverse torque of a road-feel motor and a first angular gear ratio of the steering motor includes: the method comprises the steps of obtaining the pulling pressure of a steering executing mechanism and the maximum angular transmission ratio of a steering motor; calculating a first reverse torque of the road-sensing motor according to the pulling pressure of the steering executing mechanism and the difference value between the transverse load transfer rate and the transverse load transfer rate threshold; and determining a first angular transmission ratio of the steering motor according to the maximum angular transmission ratio of the steering motor.
In some embodiments of the present invention, the first counter torque of the road-feel motor is derived from a product of a pull pressure of the steering actuator and a conversion factor, and a product of a difference between the lateral load transfer rate and a lateral load transfer rate threshold and an anti-rollover factor of the vehicle.
In some embodiments of the invention, the steering motor has a maximum angular gear ratio of 22.
In some embodiments of the present invention, the rollover prevention control method for a vehicle based on a steer-by-wire system further includes: determining a second reverse torque of the road-feel motor and a second angular transmission ratio of the steering motor when the lateral load transfer rate is less than or equal to a lateral load transfer rate threshold; the road sensing motor is controlled according to the second reverse torque, and the steering motor is controlled according to the second angular transmission ratio.
In some embodiments of the invention, the steering motor is configured to drive the steering actuator to steer the wheels of the vehicle, wherein determining the second counter torque of the road-sensing motor and the second angular gear ratio of the steering motor comprises: the method comprises the steps of obtaining the pulling pressure of a steering executing mechanism, the steady-state yaw rate of a vehicle, the steady-state steering wheel corner of the vehicle, the wheelbase of the vehicle and the running speed of the vehicle; calculating a second reverse moment of the road sensing motor according to the pulling pressure of the steering executing mechanism; a second angular gear ratio of the steering motor is calculated from the steady state yaw rate of the vehicle, the steady state steering wheel angle of the vehicle, the wheelbase of the vehicle, and the travel speed of the vehicle.
In some embodiments of the invention, the second counter moment of the road-feel motor is derived from the product of the pull pressure of the steering actuator and the conversion factor.
In some embodiments of the invention, the second angular gear ratio of the steering motor is calculated by the following formula: Where i is the second angular gear ratio of the steering motor, θ sw is the steady-state steering wheel angle of the vehicle, v is the running speed of the vehicle, L is the wheelbase of the vehicle, ω r is the steady-state yaw rate of the vehicle, and K is the stability factor of the vehicle.
In some embodiments of the invention, the lateral load transfer rate threshold is 0.8.
To achieve the above object, a second aspect of the present invention provides a computer readable storage medium having stored thereon a vehicle rollover prevention control program based on a steer-by-wire system, which when executed by a processor implements the vehicle rollover prevention control method based on a steer-by-wire system of any one of the above embodiments.
To achieve the above object, an embodiment of a third aspect of the present invention provides a steer-by-wire system, which includes an electronic control unit, a road-sensing motor and a steering motor, the electronic control unit being connected to the road-sensing motor and the steering motor, respectively, the electronic control unit being configured to: acquiring the transverse load transfer rate of the vehicle; when the transverse load transfer rate is larger than a transverse load transfer rate threshold value, determining a first reverse torque of the road sensing motor and a first angular transmission ratio of the steering motor; the road sensing motor is controlled according to the first reverse torque, and the steering motor is controlled according to the first angular transmission ratio.
To achieve the above object, a fourth aspect of the present invention provides a vehicle including the steer-by-wire system described above.
According to the steer-by-wire system, the vehicle rollover prevention control method, the vehicle and the storage medium, the lateral load transfer rate of the vehicle is obtained, when the lateral load transfer rate is larger than the lateral load transfer rate threshold, the first reverse torque of the road sensing motor and the first angular transmission ratio of the steering motor are determined, the road sensing motor is further controlled according to the first reverse torque, and the steering motor is further controlled according to the first angular transmission ratio, so that the vehicle rollover can be prevented more accurately, the probability of the vehicle rollover can be reduced through controlling the road sensing motor and the steering motor, and the driving safety of the vehicle is guaranteed as much as possible.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
Fig. 1 is a block diagram of a steering-by-wire system in accordance with one embodiment of the present invention.
FIG. 2 is a flow chart of a vehicle rollover prevention control method based on a steer-by-wire system in accordance with one embodiment of the present invention.
FIG. 3 is a schematic diagram of the relationship between angular transmission ratio of a steering motor and vehicle speed in accordance with one embodiment of the invention.
FIG. 4 is a flow chart of a vehicle rollover prevention control method based on a steer-by-wire system in an embodiment of the present invention.
Fig. 5 is a block diagram of a steering-by-wire system in accordance with another embodiment of the present invention.
Fig. 6 is a block diagram of a vehicle according to an embodiment of 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 and intended to explain the present invention and should not be construed as limiting the invention.
The automobile rollover prevention control system in the related art comprises an electronic control unit, a motor, a torque steering sensor, a vertical force detector and a rotating speed detector which are all connected with the electronic control unit. The vertical force detector is used for detecting the vertical force born by the wheels of the automobile and sending the vertical force to the electronic control unit, the rotating speed detector is used for detecting the rotating speed of the steering wheel, and when the vertical force born by the wheels on one side of the automobile is smaller than a set value, the electronic control unit judges that the automobile has a rollover trend and sends a control signal to control the motor to generate a reverse moment so as to reduce the rotating speed of the steering wheel. However, the judging conditions of the method are not accurate enough, and the vehicle is controlled only by the motor, so that the possibility that the vehicle is turned over is high, and the safety of the vehicle is low.
Based on the above, the embodiment of the invention provides a steer-by-wire system, a vehicle rollover prevention control method, a vehicle and a storage medium, which can more accurately prevent vehicle rollover, and can reduce the possibility of vehicle rollover and ensure the driving safety of the vehicle as far as possible by controlling a road motor and a steering motor.
The vehicle rollover prevention control method based on the steer-by-wire system provided by the application can be applied to the steer-by-wire system shown in fig. 1. As shown in fig. 1, a steer-by-wire system for simulating road feel while driving and controlling front wheel steering of a vehicle may include a steer-by-wire (steeringby wire, SBW) controller (electronic control unit) and a steering motor, a road feel motor, a torque sensor, a rotational speed sensor, and a pull pressure sensor coupled thereto. The torque sensor is used for detecting steering and torque of the steering wheel, the rotating speed sensor is used for detecting rotating speed of the steering wheel, and the pulling pressure sensor is used for measuring pulling pressure of the steering rack. In addition, the steer-by-wire system further comprises a vertical force detector which is connected with the electronic control unit and is usually arranged in each wheel of the vehicle, the vertical force detector is used for detecting the vertical force born by the wheels of the vehicle and sending the detection result to the electronic control unit, and the electronic control unit predicts the occurrence of the rollover situation of the vehicle according to the calculated transverse load transfer rate of the vehicle.
The following describes in detail a steer-by-wire system, a vehicle rollover prevention control method, a vehicle and a storage medium according to an embodiment of the present invention with reference to the accompanying drawings.
FIG. 2 is a flow chart of a vehicle rollover prevention control method based on a steer-by-wire system in accordance with one embodiment of the present invention.
As shown in fig. 2, the rollover prevention control method for a vehicle based on a steer-by-wire system may include:
S11: the lateral load transfer rate of the vehicle is acquired.
S13: when the lateral load transfer rate is greater than the lateral load transfer rate threshold, a first counter torque of the road feel motor and a first angular gear ratio of the steering motor are determined.
S15: the road sensing motor is controlled according to the first reverse torque, and the steering motor is controlled according to the first angular transmission ratio.
Specifically, the lateral load transfer rate of the vehicle is an important evaluation index of the rollover of the vehicle, and is mainly obtained by calculating the vertical load of the wheels, and the driving condition of the vehicle can be tracked in real time by acquiring the lateral load transfer rate of the vehicle. In some embodiments, the lateral load transfer rate threshold is 0.8, that is, when the lateral load transfer rate is greater than 0.8, the electronic control unit will determine that the vehicle is prone to rollover.
The first angular transmission ratio of the steering motor can be obtained according to steering wheel steering information and torque information detected by the torque sensor and steering wheel rotating speed information detected by the rotating speed sensor, and when the vehicle has a rollover trend, the steering motor is controlled according to the first angular transmission ratio so as to reduce the corner output of the steering motor and prevent the vehicle from rollover. Similarly, when the vehicle has a rollover tendency, the road-sensing motor is controlled to generate a reverse moment (first reverse moment) and is controlled according to the reverse moment, so that the steering wheel corner input is reduced, and the vehicle is prevented from rollover.
When the transverse load transfer rate is larger than the transverse load transfer rate threshold, the electronic control unit judges that the vehicle has a rollover trend, receives steering wheel steering information and torque information detected by the torque sensor and steering wheel rotating speed information detected by the rotating speed sensor, processes the received information, and determines a first reverse torque of the road sensing motor and a first angular transmission ratio of the steering motor; the electronic control unit sends corresponding control signals to the road-sensing motor and the steering motor, on one hand, the road-sensing motor outputs a first reverse torque after receiving the control signals so as to reduce the steering angle input of the steering wheel, and the electronic control unit controls the road-sensing motor according to the first reverse torque; on the other hand, after the steering motor receives the control signal, the first angular transmission ratio is output so as to reduce the corner output of the steering motor, and the control of the electronic control unit on the steering motor according to the first angular transmission ratio is realized, so that the vehicle is prevented from turning on one's side.
In the above embodiment, when the lateral load transfer rate is greater than the lateral load transfer rate threshold, the road sensing motor is controlled according to the first reverse torque, and the steering motor is controlled according to the first angular transmission ratio, so that the vehicle can be prevented from turning over more accurately, and the possibility of turning over the vehicle can be reduced by controlling the road sensing motor and the steering motor, and the driving safety of the vehicle is ensured as much as possible.
In some embodiments, obtaining a lateral load transfer rate of a vehicle includes: acquiring vertical loads of a plurality of wheels of a vehicle; the lateral load transfer rate is obtained from the vertical loads of the plurality of wheels.
Further, in some embodiments, the lateral load transfer rate is derived from a ratio of a difference in vertical load between a total vertical load of one side wheel of the vehicle and a total vertical load of the other side wheel of the vehicle to a sum of the vertical load of the one side wheel of the vehicle and the total vertical load of the other side wheel of the vehicle.
For example, the lateral load transfer rate can be calculated specifically by the following formula:
where LTR is the lateral load transfer rate, F z1 is the total vertical load of the wheels on one side of the vehicle, and F z2 is the total vertical load of the wheels on the other side of the vehicle.
Specifically, as shown in formula (1), F z1 may be the sum of the vertical loads of the left front wheel and the left rear wheel of the vehicle, F z2 may be the sum of the vertical loads of the right front wheel and the right rear wheel of the vehicle, and the lateral load transfer rate LTR of the vehicle is the ratio of the difference between the total vertical loads of the wheels on both sides of the vehicle to the sum of the total vertical loads. It should be noted that, in some examples, F z1 may be an average vertical load of a wheel on one side of the vehicle, and F z2 may be an average vertical load of a wheel on the other side of the vehicle, and then use the average vertical load and take the above formula (1) to calculate the lateral load transfer rate of the vehicle.
When the vehicle is in an ideal state, the vertical loads of the left wheel and the right wheel are equal, at this time, F z1-Fz2 is 0, the lateral load transfer rate is 0, when one side wheel of the vehicle leaves the ground, the vehicle can be considered to rollover, at this time, the lateral load transfer rate can be 1, and during the running of the vehicle, the lateral load transfer rate threshold is set to 0.8 for safety. Therefore, the vertical load of each wheel in the vehicle is obtained, the transverse load transfer rate of the wheels is further calculated through the LTR calculation module, and a judgment basis is provided for predicting the rollover condition of the vehicle.
In some embodiments, a steering motor is used to drive a steering actuator to steer wheels of a vehicle, wherein determining a first counter torque of a road-feel motor and a first angular gear ratio of the steering motor includes: the method comprises the steps of obtaining the pulling pressure of a steering executing mechanism and the maximum angular transmission ratio of a steering motor; calculating a first reverse torque of the road-sensing motor according to the pulling pressure of the steering executing mechanism and the difference value between the transverse load transfer rate and the transverse load transfer rate threshold; and determining a first angular transmission ratio of the steering motor according to the maximum angular transmission ratio of the steering motor.
Specifically, the pull pressure F rack of the steering actuator is derived from the pull pressure to which the steering rack is subjected, as measured by the pull pressure sensor. When the lateral load transfer rate of the vehicle is larger than the lateral load transfer rate threshold value 0.8, judging that the vehicle has a rollover trend, at the moment, the left front wheel and the right front wheel of the vehicle rotate for a certain angle, the steering executing mechanism receives reverse resistance from a road surface, the tension pressure received by the steering rack is measured through the tension pressure sensor and is used as the acquired tension pressure F rack of the steering executing mechanism, the acquired tension pressure F rack of the steering executing mechanism is sent to the electronic control unit, and the road feel calculating module calculates the first reverse moment of the road feel motor according to the tension pressure of the steering executing mechanism and the difference value between the lateral load transfer rate and the lateral load transfer rate threshold value.
Meanwhile, the variable transmission ratio module obtains the maximum angular transmission ratio of the steering motor and determines the maximum angular transmission ratio as a first angular transmission ratio i of the steering motor, in some embodiments, the maximum angular transmission ratio of the steering motor is 22, and in general, as the vehicle speed increases, the maximum angular transmission ratio of the steering motor of the vehicle can be stabilized to be 22, although in some examples, the maximum angular transmission ratio of the steering motor of the vehicle can also be a value near 22, as shown in fig. 3, the maximum angular transmission ratio of the steering motor of the vehicle can be 24, and other values can be determined according to information such as the specification parameters of the vehicle, and the like, and are not particularly limited herein.
When the lateral load transfer rate of the vehicle is greater than the lateral load transfer rate threshold value of 0.8, the steering motor is controlled according to the maximum angular transmission ratio until the lateral load transfer rate of the vehicle is less than or equal to the lateral load transfer rate threshold value of 0.8, and when the vehicle is judged to have no rollover trend, the steering motor is controlled according to the transmission ratio (second angular transmission ratio) in a normal state, so that the front wheel rotation angle of the vehicle is effectively reduced, and the rollover of the vehicle is prevented.
In some embodiments, the first counter moment of the road-feel motor is derived from a product of a pull pressure of the steering actuator and a conversion factor, and a product of a difference between the lateral load transfer rate and a lateral load transfer rate threshold and an anti-rollover factor of the vehicle.
The first reverse torque of the road-sensing motor can be calculated specifically by the following formula:
T＝k·Frack+kanti·e (2)
Wherein T is the first reverse torque of the road-sensing motor, k is a conversion coefficient, F rack is the pulling pressure of the steering actuating mechanism, k anti is the rollover prevention coefficient of the vehicle, and e is the difference between the transverse load transfer rate and the transverse load transfer rate threshold.
In the foregoing example, when the lateral load transfer rate LTR of the vehicle is greater than the lateral load transfer rate threshold value 0.8, it is determined that the vehicle has a rollover tendency, at this time, after the road feel calculation module determines the first reverse torque T of the road feel motor according to the formula (2), the road feel calculation module sends the first reverse torque T as a control signal to the road feel motor to generate the first reverse torque T, controls the current of the road feel motor according to the first reverse torque T, acts on the feedback torque of the steering wheel assembly of the vehicle, simulates the road feel of the driver, and further, in the steering process, the steering system feeds back the vehicle motion state and the road surface state information to the driver through the road feel feedback mechanism, so as to remind the driver and reduce the steering angle input of the steering wheel.
In some embodiments, the vehicle rollover prevention control method based on the steer-by-wire system further comprises: determining a second reverse torque of the road-feel motor and a second angular transmission ratio of the steering motor when the lateral load transfer rate is less than or equal to a lateral load transfer rate threshold; the road sensing motor is controlled according to the second reverse torque, and the steering motor is controlled according to the second angular transmission ratio.
Specifically, the vertical load of each wheel in the vehicle is obtained, so that the LRT module can calculate the transverse load transfer rate of the wheel, and when the transverse load transfer rate LTR is smaller than or equal to the transverse load transfer rate threshold value 0.8, the vehicle is considered to have no rollover trend. At this time, the steering wheel can be completely operated by a driver, namely, the electronic control unit receives an action signal of the driver for operating the steering wheel, after the road feel calculation module determines the second reverse moment of the road feel motor, the second reverse moment is used as a control signal and sent to the road feel motor to enable the road feel motor to generate a normal reverse moment (second reverse moment), the current of the road feel motor is further controlled according to the second reverse moment to act on the steering wheel assembly, road feel of the driver is simulated, and the steering motor is controlled to generate moment to drive the steering executing mechanism according to the second angular transmission ratio determined by the variable transmission module so that the steering executing mechanism drives wheels of the vehicle to steer.
Therefore, when the transverse load transfer rate is smaller than or equal to the transverse load transfer rate threshold, the road motor is controlled through the second reverse torque, and the steering motor is controlled according to the second angle transmission ratio, so that the normal operation of the steer-by-wire system is realized.
In some embodiments, the steering motor is configured to drive the steering actuator to steer the wheels of the vehicle, wherein determining the second counter torque of the road-sensing motor and the second angular gear ratio of the steering motor comprises: the method comprises the steps of obtaining the pulling pressure of a steering executing mechanism, the steady-state yaw rate of a vehicle, the steady-state steering wheel corner of the vehicle, the wheelbase of the vehicle and the running speed of the vehicle; calculating a second reverse moment of the road sensing motor according to the pulling pressure of the steering executing mechanism; a second angular gear ratio of the steering motor is calculated from the steady state yaw rate of the vehicle, the steady state steering wheel angle of the vehicle, the wheelbase of the vehicle, and the travel speed of the vehicle.
In the foregoing embodiment, when the lateral load transfer rate is less than or equal to the lateral load transfer rate threshold, it is determined that the vehicle has no tendency to roll over, and the pull pressure F rack of the steering actuator is derived from the pull pressure to which the steering rack is subjected, as measured by the pull pressure sensor. At this time, when the vehicle has no rollover trend, the second angular transmission ratio of the steering motor can be calculated by the variable transmission module according to the steady yaw rate of the vehicle, the steady steering wheel rotation angle of the vehicle, the wheelbase of the vehicle and the running speed of the vehicle, so as to control the steering motor according to the second angular transmission ratio, further control the vehicle to run stably and improve the running safety of the vehicle.
In some embodiments, the second counter torque of the road-feel motor is derived from a product of a pull pressure of the steering actuator and the conversion factor.
The second reverse torque of the road-sensing motor can be calculated specifically by the following formula:
Tq＝k·Frack (3)
Wherein T q is the second reverse torque of the road-sensing motor, k is the conversion coefficient, and F rack is the pulling pressure of the steering actuator.
Specifically, in the process of converting the pulling pressure F rack of the steering actuator into the second reverse torque T q, the pulling pressure F rack of the steering actuator cannot be completely converted into the second reverse torque T q of the road-sensing motor due to resistance effects such as friction, and then the pulling pressure F rack of the steering actuator is multiplied by the conversion coefficient k in the embodiment to convert the pulling pressure F rack of the steering actuator, so as to obtain the second reverse torque T q of the road-sensing motor. More specifically, when the lateral load transfer rate is less than or equal to the lateral load transfer rate threshold, the road-sensing motor is controlled to generate a normal reverse torque (second reverse torque), the second reverse torque T q of the road-sensing motor is calculated by the road-sensing calculation module in combination with the formula (3) and is transmitted to the road-sensing motor as a control signal to generate a second reverse torque T q, and then the current of the road-sensing motor is controlled according to the second reverse torque T q to act on the steering wheel assembly to simulate the road feel of the driver, and in the steering process, the steering system feeds back the vehicle motion state and road surface state information to the driver through the road-feel feedback mechanism, so that the driver can drive the vehicle smoothly.
It should be noted that, the second reverse torque is a part of the first reverse torque, when the vehicle has no rollover trend, the road-sensing motor is controlled according to the second reverse torque, when the vehicle has rollover trend, an additional reverse torque T anti(Tanti＝kanti ·e) is provided on the basis of the second reverse torque to obtain a total torque, and meanwhile, the road-sensing motor is controlled by utilizing the total torque to prevent the vehicle from rollover as much as possible.
In some embodiments, the second angular gear ratio of the steering motor is calculated by the following formula:
Where i is the second angular gear ratio of the steering motor, θ sw is the steady-state steering wheel angle of the vehicle, v is the running speed of the vehicle, L is the wheelbase of the vehicle, ω r is the steady-state yaw rate of the vehicle, and K is the stability factor of the vehicle.
In this embodiment, the stability factor of the vehicle
In formula (5), m is the whole vehicle mass of the vehicle, L is the wheelbase of the vehicle, a is the distance from the center of mass of the vehicle to the front axle, b is the distance from the center of mass of the vehicle to the rear axle, k 1 is the front wheel cornering stiffness of the vehicle, and k 2 is the rear wheel cornering stiffness of the vehicle.
First, in the usual case, the first and second contact surfaces,For steady-state yaw rate gain of a vehicle, this refers to the ratio of the steady-state yaw rate ω r of the vehicle to the steady-state steering wheel angle θ sw of the vehicle, i.e
Then, the steady-state yaw rate of the vehicle can be expressed as: (7) Wherein, theta f is the front wheel rotation angle of the vehicle, For the gain of the front wheel rotation angle theta f of the vehicle to the steady-state yaw rate omega r of the vehicle,Is the gain of the vehicle steady state steering wheel angle theta sw to the steady state yaw rate omega r of the vehicle.
Further, the gain from the front wheel rotation angle of the vehicle to the steady yaw rate of the vehicle can be obtained according to the two-degree-of-freedom model of the automobileThe following are provided:
furthermore, the above equation (4) can be derived from equation (6), equation (7) and equation (8) and the second angular transmission ratio i=θ sw/θf, namely
For a driver with general driving experience, the steady-state yaw rate gain is setThe range of 0.16 to 0.37 is more suitable; for drivers with rich driving experience, steady-state yaw rate gainThe range of 0.22 to 0.41 is more suitable; wherein, the range of 0.22 to 0.37 is the optimal area. Therefore, the application can gain the steady-state yaw rate of the vehicle when the second angular transmission ratio is calculatedSelected to be 0.3.
Therefore, when the steering motor is controlled according to the second angular transmission ratio, the limitation on the front wheel rotation angle is increased in the calculation process of the second angular transmission ratio, so that the control of the steering wheel is facilitated, the rollover risk of the vehicle is reduced, and the rollover possibility of the vehicle can be reduced when the driver uses the steering wheel to drive the steering wheel to one side.
It is noted that the specific values mentioned above are only for the purpose of illustrating the implementation of the present invention in detail and are not to be construed as limiting the present invention. In other examples or embodiments or examples, other values may be selected according to the present invention, without specific limitation.
FIG. 4 is a flow chart of a vehicle rollover prevention control method based on a steer-by-wire system according to an embodiment of the present invention, as shown in FIG. 4, in which the vehicle rollover prevention control method based on a steer-by-wire system may include the steps of:
S1, starting;
S2, obtaining vertical loads of four tires;
s3, an LTR calculation module calculates LTR of the vehicle;
S4, judging the LTR, when the LTR is larger than 0.8, executing the steps S51 and S52 simultaneously, and when the LTR is not larger than 0.8, executing the step S7;
S51, calculating a first reverse moment by the road feel calculation module;
S52, determining the angular transmission ratio of the steering motor by the variable transmission ratio module;
s61, controlling the road sensing motor according to the first reverse moment;
S62, controlling a steering motor to control a steering executing mechanism according to the angular transmission ratio;
s7, the steer-by-wire system works normally;
And S8, controlling the vehicle, and returning to the step S2.
Summarizing, firstly, obtaining vertical loads of four tires of a vehicle, then calculating LTR of the vehicle by utilizing an LTR calculation module according to the obtained vertical loads, then comparing the LTR of the vehicle with a threshold value of 0.8, when the LTR is larger than 0.8, calculating a first reverse moment by utilizing a road feel calculation module, determining an angular transmission ratio by utilizing a variable transmission ratio module, then controlling a road feel motor according to the first reverse moment to simulate road feel of a driver, and controlling a steering execution mechanism according to the angular transmission ratio to drive wheels of the vehicle to steer; when the LTR is not greater than 0.8, the steer-by-wire system works normally to control the vehicle stably, wherein, how the steering-by-wire system works normally is described in the above embodiments, and the description thereof is omitted.
Corresponding to the above embodiments, the embodiments of the present invention further provide a computer readable storage medium having stored thereon a vehicle rollover prevention control program based on a steer-by-wire system, which when executed by a processor, implements the vehicle rollover prevention control method based on a steer-by-wire system of any one of the above embodiments.
According to the computer readable storage medium, the lateral load transfer rate of the vehicle is obtained, when the lateral load transfer rate is larger than the lateral load transfer rate threshold, the first reverse torque of the road sensing motor and the first angular transmission ratio of the steering motor are determined, the road sensing motor is further controlled according to the first reverse torque, and the steering motor is controlled according to the first angular transmission ratio, so that the vehicle rollover can be prevented more accurately, the possibility of the vehicle rollover can be reduced through controlling the road sensing motor and the steering motor, and the driving safety of the vehicle is guaranteed as much as possible.
For example, in the case where a vehicle rollover prevention control program based on a steer-by-wire system is executed by a processor, the following vehicle rollover prevention control method based on a steer-by-wire system is implemented:
S11: the lateral load transfer rate of the vehicle is acquired.
S13: when the lateral load transfer rate is greater than the lateral load transfer rate threshold, a first counter torque of the road feel motor and a first angular gear ratio of the steering motor are determined.
S15: the road sensing motor is controlled according to the first reverse torque, and the steering motor is controlled according to the first angular transmission ratio.
It should be noted that the above explanation of the embodiments and advantageous effects of the vehicle rollover prevention control method based on the steer-by-wire system is also applicable to the computer readable storage medium of the embodiments of the present invention, and is not developed in detail herein to avoid redundancy.
Corresponding to the above-described embodiments, the embodiment of the present invention also proposes a steer-by-wire system, and fig. 5 is a block diagram of the steer-by-wire system according to one embodiment of the present invention.
As shown in fig. 5, the steer-by-wire system 10 includes an electronic control unit 102, a road-sensing motor 104 and a steering motor 106, wherein the electronic control unit 102 is respectively connected with the road-sensing motor 104 and the steering motor 106, and the electronic control unit 102 is used for acquiring the lateral load transfer rate of the vehicle; when the transverse load transfer rate is larger than a transverse load transfer rate threshold value, determining a first reverse torque of the road sensing motor and a first angular transmission ratio of the steering motor; the road sensing motor is controlled according to the first reverse torque, and the steering motor is controlled according to the first angular transmission ratio, so that the vehicle is prevented from turning on one's side.
According to the steer-by-wire system provided by the embodiment of the invention, the lateral load transfer rate of the vehicle is obtained, and when the lateral load transfer rate is larger than the threshold value of the lateral load transfer rate, the first reverse torque of the road sensing motor and the first angular transmission ratio of the steering motor are determined, so that the road sensing motor is controlled according to the first reverse torque, and the steering motor is controlled according to the first angular transmission ratio, thus the rollover of the vehicle can be prevented more accurately, the rollover possibility of the vehicle can be reduced through controlling the road sensing motor and the steering motor, and the driving safety of the vehicle is ensured as much as possible.
In some embodiments of the invention, the electronic control unit 102 is specifically configured to: acquiring vertical loads of a plurality of wheels of a vehicle; the lateral load transfer rate is obtained from the vertical loads of the plurality of wheels.
In some embodiments of the invention, the lateral load transfer rate is obtained from a ratio of a difference in vertical load between a total vertical load of one side wheel of the vehicle and a total vertical load of the other side wheel of the vehicle to a sum of the vertical load of the one side wheel of the vehicle and the total vertical load of the other side wheel of the vehicle.
In some embodiments of the present invention, the steering motor is used to drive the steering actuator to steer the wheels of the vehicle, wherein the electronic control unit 102 is specifically configured to: the method comprises the steps of obtaining the pulling pressure of a steering executing mechanism and the maximum angular transmission ratio of a steering motor; calculating a first reverse torque of the road-sensing motor according to the pulling pressure of the steering executing mechanism and the difference value between the transverse load transfer rate and the transverse load transfer rate threshold; and determining a first angular transmission ratio of the steering motor according to the maximum angular transmission ratio of the steering motor.
In some embodiments of the present invention, the first counter torque of the road-feel motor is derived from a sum of a product of a pull pressure of the steering actuator and a conversion factor and a product of a difference between the lateral load transfer rate and a lateral load transfer rate threshold and an anti-rollover coefficient of the vehicle.
In some embodiments of the invention, the steering motor has a maximum angular gear ratio of 22.
In some embodiments of the present invention, the electronic control unit 102 further comprises: determining a second reverse torque of the road-feel motor and a second angular transmission ratio of the steering motor when the lateral load transfer rate is less than or equal to a lateral load transfer rate threshold; the road sensing motor is controlled according to the second reverse torque, and the steering motor is controlled according to the second angular transmission ratio.
In some embodiments of the present invention, the steering motor is used to drive the steering actuator to steer the wheels of the vehicle, wherein the electronic control unit 102 is specifically configured to: the method comprises the steps of obtaining the pulling pressure of a steering executing mechanism, the steady-state yaw rate of a vehicle, the steady-state steering wheel corner of the vehicle, the wheelbase of the vehicle and the running speed of the vehicle; calculating a first reverse moment of the road-sensing motor according to the pulling pressure of the steering executing mechanism; a second angular gear ratio of the steering motor is calculated from the steady state yaw rate of the vehicle, the steady state steering wheel angle of the vehicle, the wheelbase of the vehicle, and the travel speed of the vehicle.
In some embodiments of the invention, the second counter moment of the road-feel motor is derived from the product of the pull pressure of the steering actuator and the conversion factor.
In some embodiments of the invention, the second angular gear ratio of the steering motor is calculated by the following formula: Where i is the second angular gear ratio of the steering motor, θ sw is the steady-state steering wheel angle of the vehicle, v is the running speed of the vehicle, L is the wheelbase of the vehicle, ω r is the steady-state yaw rate of the vehicle, and K is the stability factor of the vehicle.
In some embodiments of the invention, the lateral load transfer rate threshold is 0.8.
It should be noted that the above explanation of the embodiments and advantageous effects of the steer-by-wire system-based vehicle rollover prevention control method is also applicable to the steer-by-wire system 10 of the present invention, and is not developed in detail herein to avoid redundancy.
Corresponding to the above embodiment, the embodiment of the present invention also proposes a vehicle, and fig. 6 is a block diagram of the structure of the vehicle according to one embodiment of the present invention. As shown in fig. 6, the vehicle 20 includes the steer-by-wire system 10 described previously.
According to the vehicle provided by the embodiment of the invention, the lateral load transfer rate of the vehicle is obtained, and when the lateral load transfer rate is larger than the threshold value of the lateral load transfer rate, the first reverse torque of the road sensing motor and the first angular transmission ratio of the steering motor are determined, so that the road sensing motor is controlled according to the first reverse torque, and the steering motor is controlled according to the first angular transmission ratio, thus the vehicle rollover can be prevented more accurately, the possibility of the vehicle rollover can be reduced, and the driving safety of the vehicle is ensured as much as possible.
It should be noted that the above explanation of the embodiments and advantageous effects of the steer-by-wire vehicle rollover prevention control method is also applicable to the vehicle 20 of the present invention, and is not developed in detail herein to avoid redundancy.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. 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 instruction 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-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction 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 description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., 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 present 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.
Furthermore, the terms "first," "second," and the like, as used in embodiments of the present invention, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or as implying any particular number of features in the present embodiment. Thus, a feature of an embodiment of the invention that is defined by terms such as "first," "second," etc., may explicitly or implicitly indicate that at least one such feature is included in the embodiment. In the description of the present invention, the word "plurality" means at least two or more, for example, two, three, four, etc., unless explicitly defined otherwise in the embodiments. Relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the present invention, unless explicitly stated or limited otherwise in the examples, the terms "mounted," "connected," "coupled," and "fixed" as used in the examples should be construed broadly, e.g., the connection may be a fixed connection, may be a removable connection, or may be integral, and it may be a mechanical connection, an electrical connection, etc.; of course, it may be directly connected, or indirectly connected through an intermediate medium, or may be in communication with each other, or in interaction with each other. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific embodiments.
In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for apparatus, electronic devices, and computer-readable storage medium embodiments, the description is relatively simple, as it is substantially similar to method embodiments, with reference to portions of the description of method embodiments being relevant.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (14)
1. A vehicle rollover prevention control method based on a steer-by-wire system, wherein the steer-by-wire system comprises a road sensing motor and a steering motor, the method comprising:
acquiring the transverse load transfer rate of the vehicle;
determining a first reverse torque of the road-sensing motor and a first angular transmission ratio of the steering motor when the lateral load transfer rate is greater than a lateral load transfer rate threshold;
The road sensing motor is controlled according to the first reverse torque, and the steering motor is controlled according to the first angular transmission ratio.
2. The control method according to claim 1, characterized in that the obtaining of the lateral load transfer rate of the vehicle includes:
Acquiring vertical loads of a plurality of wheels of the vehicle;
The lateral load transfer rate is obtained from the vertical loads of the plurality of wheels.
3. The control method according to claim 2, wherein the lateral load transfer rate is obtained from a ratio of a difference in vertical load between a total vertical load of the wheels on one side of the vehicle and a total vertical load of the wheels on the other side, and a sum of vertical load between a total vertical load of the wheels on one side of the vehicle and a total vertical load of the wheels on the other side.
4. The control method according to claim 1, wherein the steering motor is configured to drive a steering actuator to steer wheels of the vehicle, wherein the determining the first reverse torque of the road-sensing motor and the first angular transmission ratio of the steering motor includes:
Obtaining the pulling pressure of the steering executing mechanism and the maximum angular transmission ratio of the steering motor;
calculating a first reverse torque of the road-sensing motor according to the pulling pressure of the steering executing mechanism and the difference between the transverse load transfer rate and the transverse load transfer rate threshold;
And determining a first angular transmission ratio of the steering motor according to the maximum angular transmission ratio of the steering motor.
5. The control method according to claim 4, wherein the first counter moment of the road-sensing motor is obtained from a product of a pull pressure of the steering actuator and a conversion coefficient, and a product of a difference between the lateral load transfer rate and the lateral load transfer rate threshold and an anti-rollover coefficient of the vehicle.
6. The control method according to claim 4, characterized in that the steering motor has a maximum angular transmission ratio of 22.
7. The control method according to claim 1, characterized in that the method further comprises:
determining a second reverse torque of the road-sensing motor and a second angular gear ratio of the steering motor when the lateral load transfer rate is less than or equal to a lateral load transfer rate threshold;
the road sensing motor is controlled according to the second reverse torque, and the steering motor is controlled according to the second angular transmission ratio.
8. The control method according to claim 7, wherein the steering motor is configured to drive a steering actuator to steer wheels of the vehicle, wherein the determining the second reverse torque of the road-sensing motor and the second angular transmission ratio of the steering motor includes:
acquiring the pull pressure of the steering executing mechanism, the steady-state yaw rate of the vehicle, the steady-state steering wheel corner of the vehicle, the wheelbase of the vehicle and the running speed of the vehicle;
calculating a second reverse moment of the road-sensing motor according to the pulling pressure of the steering executing mechanism;
and calculating a second angular transmission ratio of the steering motor according to the steady-state yaw rate of the vehicle, the steady-state steering wheel angle of the vehicle, the wheelbase of the vehicle and the running speed of the vehicle.
9. The control method according to claim 8, wherein the second counter moment of the road-sensing motor is obtained from a product of a pull pressure of the steering actuator and a conversion coefficient.
10. The control method according to claim 8, characterized in that the second angular transmission ratio of the steering motor is calculated by the following formula:
Wherein i is a second angular transmission ratio of the steering motor, θ sw is a steady-state steering wheel angle of the vehicle, v is a running speed of the vehicle, L is a wheelbase of the vehicle, ω r is a steady-state yaw rate of the vehicle, and K is a stability factor of the vehicle.
11. The control method according to any one of claims 1 to 10, characterized in that the lateral load transfer rate threshold value is 0.8.
12. A computer-readable storage medium, characterized in that a steer-by-wire system-based vehicle rollover prevention control program is stored thereon, which when executed by a processor, implements the steer-by-wire system-based vehicle rollover prevention control method according to any one of claims 1 to 11.
13. The steering-by-wire system is characterized by comprising an electronic control unit, a road-sensing motor and a steering motor, wherein the electronic control unit is respectively connected with the road-sensing motor and the steering motor, and the electronic control unit is used for: acquiring the transverse load transfer rate of the vehicle; determining a first reverse torque of the road-sensing motor and a first angular transmission ratio of the steering motor when the lateral load transfer rate is greater than a lateral load transfer rate threshold; the road sensing motor is controlled according to the first reverse torque, and the steering motor is controlled according to the first angular transmission ratio.
14. A vehicle comprising the steer-by-wire system of claim 13.
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| CN119239755A (en) * | 2024-12-02 | 2025-01-03 | 比博斯特(江苏)汽车科技有限公司 | Intelligent processing system of steer-by-wire data based on multi-source data analysis |
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| CN119239755A (en) * | 2024-12-02 | 2025-01-03 | 比博斯特(江苏)汽车科技有限公司 | Intelligent processing system of steer-by-wire data based on multi-source data analysis |
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