CN114919640A - Vehicle steering control method, driving controller, steering system and vehicle - Google Patents
Vehicle steering control method, driving controller, steering system and vehicle Download PDFInfo
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- CN114919640A CN114919640A CN202210721790.7A CN202210721790A CN114919640A CN 114919640 A CN114919640 A CN 114919640A CN 202210721790 A CN202210721790 A CN 202210721790A CN 114919640 A CN114919640 A CN 114919640A
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- 238000010586 diagram Methods 0.000 description 14
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- 238000004590 computer program Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
- B62D5/003—Backup systems, e.g. for manual steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/06—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source
- B62D11/08—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source using brakes or clutches as main steering-effecting means
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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
- B62D5/0481—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 monitoring the steering system, e.g. failures
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The application relates to a vehicle steering control method, a driving controller, a steering system and a vehicle. The method comprises the following steps: acquiring state information of an electric power steering system; and when the electric power steering system is judged to be in fault according to the state information, controlling the steering of the vehicle through the four-wheel independent braking system. According to the scheme, the four-wheel independent braking system can be used as a backup system of a steering system to provide steering capacity, and the steering safety of a vehicle can be improved.
Description
Technical Field
The application relates to the technical field of vehicle control, in particular to a vehicle steering control method, a driving controller, a steering system and a vehicle.
Background
At present, a steering system of the related art drives a steering shaft and a rack and pinion steering gear to drive steering wheels through a steering wheel so as to complete steering action. An Electric Power Steering (EPS) system outputs a Steering assist torque to complete Steering of a vehicle by using torque information and Steering angle information of a Steering shaft as inputs.
In the related art, when the EPS fails, the steering assist torque cannot be output. When the vehicle is in a manual driving mode, the driver needs a large torque for turning the steering wheel, and the steering of the vehicle can be completed in time. In an emergency, because a driver cannot react in time, the torque for turning the steering wheel is small, and when the EPS breaks down or only the EPS outputs a steering assisting torque, the steering of the vehicle cannot be completed in time. When the vehicle is in the automatic driving mode, if the EPS is failed, the vehicle loses the steering ability and cannot complete the steering of the vehicle.
Therefore, in the steering control method of the related art, the vehicle steering safety performance is to be improved.
Disclosure of Invention
In order to solve or partially solve the problems in the related art, the application provides a vehicle steering control method, a driving controller, a steering system and a vehicle, which can improve the steering safety of the vehicle.
A first aspect of the present application provides a vehicle steering control method, including:
acquiring state information of an electric power steering system;
and when the electric power steering system is judged to be in fault according to the state information, controlling the steering of the vehicle through the four-wheel independent braking system.
In one embodiment, the method further comprises:
when the electric power steering system is judged to be not in fault according to the state information, judging whether the steering wheel torque of the vehicle exceeds the steering power torque control range of the electric power steering system or not;
controlling steering of the vehicle by the four-wheel independent brake system and the electric power steering system when a steering wheel torque of the vehicle exceeds a steering power torque control range of the electric power steering system.
In one embodiment, the method further comprises:
controlling steering of the vehicle by the electric power steering system when a steering wheel torque of the vehicle does not exceed a steering power torque control range of the electric power steering system.
In one embodiment, the method further comprises:
when controlling the steering of the vehicle, if the steering parameter of the vehicle does not reach the steering target parameter of the vehicle, the braking torque of the four-wheel independent braking system is adjusted.
In one embodiment, when controlling the steering of the vehicle, if the steering parameter of the vehicle does not reach the steering target parameter of the vehicle, adjusting the braking torque of the four-wheel independent braking system comprises:
when the vehicle is in a manual driving mode to control the steering of the vehicle, if the equivalent power-assisted torque of the vehicle does not reach the steering wheel torque of the vehicle, adjusting the braking torque of the four-wheel independent braking system so that the equivalent power-assisted torque of the vehicle reaches the steering wheel torque of the vehicle; or the like, or a combination thereof,
and adjusting the braking torque of the four-wheel independent braking system to make the yaw angle of the vehicle reach the planned yaw angle of the path if the yaw angle of the vehicle does not reach the planned yaw angle of the path while the vehicle is in the automatic driving mode to control the steering of the vehicle.
In one embodiment, the method further comprises:
and if the steering parameter of the vehicle reaches the steering target parameter of the vehicle, maintaining the braking torque of the four-wheel independent braking system.
A second aspect of the present application provides a driving controller comprising:
the acquisition module is used for acquiring the state information of the electric power steering system;
and the control module is used for controlling the steering of the vehicle through the four-wheel independent braking system when the electric power steering system is judged to be in fault according to the state information acquired by the acquisition module.
In one embodiment, the driving controller further comprises:
the judging module is used for judging whether the steering wheel torque of the vehicle exceeds the steering power-assisted torque control range of the electric power-assisted steering system or not when the electric power-assisted steering system is judged not to have a fault according to the state information acquired by the acquiring module;
the control module controls steering of the vehicle through the four-wheel independent braking system and the electric power steering system when the judging module judges that the steering wheel torque of the vehicle exceeds the steering power torque control range of the electric power steering system.
In one embodiment, the driving controller further comprises:
and the adjusting module is used for adjusting the braking torque of the four-wheel independent braking system if the judging module judges that the steering parameter of the vehicle does not reach the steering target parameter of the vehicle when the control module controls the steering of the vehicle.
A third aspect of the present application provides a steering system comprising an electric power steering system, a four-wheel independent brake system, and a steering controller as described above.
The present fourth aspect provides a vehicle comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method as described above.
A fifth aspect of the present application provides a computer readable storage medium having stored thereon executable code, which when executed by a processor of a vehicle, causes the processor to perform a method as described above.
The technical scheme provided by the application can comprise the following beneficial effects:
according to the technical scheme, under the condition that no part is added, the existing sensor, the controller and the actuator are integrated, when the EPS of the vehicle breaks down, the steering of the vehicle can be controlled through the four-wheel independent braking function of the four-wheel independent braking system, the four-wheel independent braking system can serve as a backup system of a steering system to provide steering capacity, and the steering safety of the vehicle can be improved.
Furthermore, according to the technical scheme, when the EPS fails, the steering of the vehicle can be controlled through the four-wheel independent braking system, and the four-wheel independent braking system can serve as a backup system of the steering system to provide steering capacity; when the EPS of the vehicle is not in fault, if the steering wheel torque of the vehicle exceeds the control range of the steering power-assisted torque of the EPS, the steering of the vehicle is controlled by superposing the steering torque generated by the four-wheel independent braking system and the steering power-assisted torque of the electric power-assisted steering system, so that the vehicle has more stable, faster and larger steering capacity in response, different scene requirements can be met, and the steering safety of the vehicle is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
FIG. 1 is a schematic flow chart diagram illustrating a vehicle steering control method according to an embodiment of the present application;
FIG. 2 is another schematic flow chart diagram illustrating a vehicle steering control method according to an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating the boosting effect generated by the EPS and the four-wheel independent brake system of the vehicle steering control method according to the embodiment of the present application;
FIG. 4 is another schematic flow chart diagram illustrating a vehicle steering control method according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a vehicle steering control method according to a yaw angle for controlling vehicle steering in accordance with an embodiment of the present application;
FIG. 6 is another schematic diagram of a vehicle steering control method according to the present embodiment for controlling vehicle steering according to yaw angle;
fig. 7 is a schematic structural diagram of a driving controller according to an embodiment of the present application;
FIG. 8 is another schematic diagram of the driving controller shown in the embodiment of the present application;
fig. 9 is a schematic structural view of a steering system according to an embodiment of the present application;
fig. 10 is another schematic structural view of a steering system according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
The embodiment of the application provides a vehicle steering control method which can improve the steering safety of a vehicle.
The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flowchart of a vehicle steering control method according to an embodiment of the present application.
Referring to fig. 1, a vehicle steering control method includes:
in S101, state information of the electric power steering system is acquired.
In one embodiment, when the EPS outputs the power steering torque, the state information of the EPS may be detected, and the state information of the EPS includes at least one of the current, the voltage, and the output power steering torque of the EPS, and may be, for example, the power steering torque including the output, the current and the output of the EPS, the power steering torque including the voltage and the output of the EPS, the power steering torque including the current, the voltage and the output of the EPS, or the like.
In S102, when it is determined that the electric power steering system has failed based on the state information, the steering of the vehicle is controlled by the four-wheel independent brake system.
In one embodiment, if it is determined that the EPS malfunctions according to the state information of the EPS, the steering of the vehicle is controlled by the four-wheel independent brake system. The four-wheel independent brake system comprises mutually independent brake systems arranged on each wheel, when the vehicle turns, if the EPS is judged to be in fault, the mutually independent brake systems of each wheel are started, the brake force of each wheel is controlled through the brake system of each wheel, so that the wheel speed of each wheel is controlled, the speed difference is generated between the left wheel and the right wheel of the vehicle, and the turning of the vehicle is controlled. The brake system of each wheel outputs brake force according to respective brake torque to control the wheel speed of each wheel, and when the brake force of the left wheel is smaller than the brake force of the right wheel, the wheel speed of the left wheel is larger than that of the right wheel, and the vehicle is controlled to turn right; when the braking force of the left wheel is larger than that of the right wheel, the wheel speed of the left wheel is smaller than that of the right wheel, and the vehicle is controlled to turn left.
In the embodiment of the application, under the condition that no part is added, the existing sensor, the controller and the actuator are integrated, when the EPS of the vehicle breaks down, the steering of the vehicle can be controlled through the four-wheel independent braking function of the four-wheel independent braking system, the four-wheel independent braking system can serve as a backup system of the steering system to provide the steering capacity, and the steering safety of the vehicle can be improved.
Fig. 2 is another schematic flow chart of a vehicle steering control method according to an embodiment of the present application.
Referring to fig. 2, a vehicle steering control method includes:
in S201, state information of the electric power steering system is acquired.
In one embodiment, when the EPS outputs the power steering torque, the state information of the EPS may be detected, and the state information of the EPS includes at least one of the current, the voltage, and the output power steering torque of the EPS, and may be, for example, the power steering torque including the output, the current and the output of the EPS, the power steering torque including the voltage and the output of the EPS, the power steering torque including the current, the voltage and the output of the EPS, or the like.
In S202, whether the electric power steering system is malfunctioning is determined based on the state information of the electric power steering system; if yes, executing S203; if not, S204 is executed.
In one embodiment, whether the EPS has a fault is judged according to the state information of the EPS; if judging that the EPS has a fault, executing S203; if it is determined that the EPS has not failed, S204 is performed.
In S203, controlling steering of the vehicle by the four-wheel independent brake system; s206 is performed.
In one embodiment, when it is determined that the EPS is malfunctioning, the steering of the vehicle is controlled by the four-wheel independent brake system. The four-wheel independent brake system comprises mutually independent brake systems arranged on each wheel, the brake system of each wheel can independently output brake force according to respective brake torque, and the brake force of each wheel is controlled through the brake system of each wheel, so that the wheel speed of each wheel is controlled, the left wheel and the right wheel of the vehicle generate speed difference, and the steering of the vehicle is controlled.
In one embodiment, the vehicle state information may be obtained via a vehicle chassis-type signal sensor, and the vehicle state information includes, but is not limited to, a steering wheel angle, a steering wheel angular velocity, a steering wheel torque, a vehicle speed, a lateral acceleration, a longitudinal acceleration, and a Yaw angle (Yaw) of the vehicle. The steering wheel angle and the steering wheel angular speed can be obtained according to the steering wheel angle sensor; obtaining a steering wheel torque of the vehicle according to a steering wheel torque sensor; obtaining the speed of the vehicle according to a vehicle speed sensor; the lateral acceleration, the longitudinal acceleration, and the yaw angle of the vehicle are obtained from an Inertial Measurement Unit (IMU).
In one embodiment, when the vehicle is in a manual driving mode and the vehicle is steered, if the EPS is judged to be in failure, the mutually independent brake system of each wheel is started, and the steering of the vehicle is controlled through the independently independent brake system of each wheel according to the state information of the vehicle. Controlling a brake system of each wheel according to the state information of the vehicle, and outputting a brake torque to the brake system of each wheel; the brake system of each wheel outputs braking force according to respective braking torque to control each wheel to brake independently; controlling the wheel speed of each wheel through the braking system of each wheel, so that the left wheel and the right wheel of the vehicle generate a speed difference, and steering torque corresponding to steering is generated; the steering of the vehicle is controlled by the steering torque generated by the four-wheel independent braking system, so that the required steering effect is achieved. The brake system of each wheel outputs brake force according to respective brake torque to control the wheel speed of each wheel, and when the brake force of the left wheel is smaller than the brake force of the right wheel, the wheel speed of the left wheel is larger than that of the right wheel, and the vehicle is controlled to turn right; when the braking force of the left wheel is larger than that of the right wheel, the wheel speed of the left wheel is smaller than that of the right wheel, and the vehicle is controlled to turn left.
In S204, it is determined whether or not the steering wheel torque of the vehicle exceeds a steering power-assisted torque control range of the electric power-assisted steering system; if so, executing S205; if not, S209 is performed.
In one embodiment, a steering assist torque control range of the EPS may be determined based on the state information of the vehicle, and the steering assist torque control range includes a minimum steering assist torque and a maximum steering assist torque that the EPS is capable of outputting. When the vehicle is steered, if the EPS is judged not to have a fault, judging whether the steering wheel torque of the vehicle exceeds the steering power-assisted torque control range of the EPS; if the steering wheel torque of the vehicle exceeds the steering assist torque control range of the EPS, executing S205; if the steering wheel torque of the vehicle does not exceed the steering assist torque control range of the EPS, S209 is executed.
In S205, steering of the vehicle is controlled by the four-wheel independent brake system and the electric power steering system.
In one embodiment, when the vehicle is turning, if the steering wheel torque of the vehicle exceeds the steering assist torque control range of the EPS, the steering of the vehicle is controlled by the four-wheel independent brake system and the electric power steering system.
In one embodiment, if the steering wheel torque of the vehicle exceeds the steering assist torque control range of the EPS, i.e., the desired steering effect cannot be achieved by means of the EPS alone, the four-wheel independent brake system is activated; controlling the steering of the vehicle through a four-wheel independent braking system and an electric power steering system respectively according to the state information of the vehicle; controlling a braking system of each wheel according to a steering wheel torque of the vehicle and a steering assist torque output by the EPS, a braking torque output to the braking system of each wheel; the brake system of each wheel outputs braking force according to respective braking torque to control each wheel to brake independently; controlling the wheel speed of each wheel through the braking system of each wheel, so that the left wheel and the right wheel of the vehicle generate a speed difference, and steering torque corresponding to steering is generated; the steering of the vehicle is controlled by superposing the steering torque generated by the four-wheel independent braking system and the steering power-assisted torque generated by the electric power-assisted steering system, so that the required steering effect is achieved.
In one embodiment, the steering assist torque that the EPS outputs in accordance with the steering wheel torque of the vehicle is limited when the vehicle is at different speeds. As shown in fig. 3, the horizontal axis represents the steering wheel torque of the vehicle, and the vertical axis represents the assist torque. According to the steering wheel torque of the vehicle, when the vehicle is at different speeds, the steering assist torque output by the EPS is different, and the equivalent assist torque generated by the four-wheel independent brake system and the EPS is also different. Curve 303 represents the steering assist torque output by the EPS when the vehicle is at high speed; curve 304 represents the steering assist torque output by the EPS when the vehicle is at a medium speed; curve 305 represents the steering assist torque output by the EPS when the vehicle is at low speed; curve 306 represents the equivalent assist torque generated by the four-wheel independent braking system and the EPS when the vehicle is at high speed; curve 307 represents the equivalent assist torque generated by the four-wheel independent brake system and the EPS when the vehicle is at an intermediate speed; curve 308 represents the equivalent assist torque produced by the four-wheel independent brake system and the EPS when the vehicle is at low speed. When the vehicle is at a high speed, the steering wheel torque of the vehicle exceeds T1, the steering assist torque control range output by the EPS according to the state information of the vehicle cannot reach the steering wheel torque of the vehicle, and the equivalent assist torque generated by the four-wheel independent braking system and the EPS is larger than the steering assist torque output by the EPS alone; when the vehicle is in a medium speed state, the steering wheel torque of the vehicle exceeds T2, the steering power-assisted torque control range output by the EPS according to the state information of the vehicle cannot reach the steering wheel torque of the vehicle, and the equivalent power-assisted torque generated by the four-wheel independent braking system and the EPS is larger than the steering power-assisted torque output by the EPS alone; when the vehicle is at a low speed, the steering wheel torque of the vehicle exceeds T3, the steering assist torque control range output by the EPS according to the state information of the vehicle cannot reach the steering wheel torque of the vehicle, and the equivalent assist torque generated by the four-wheel independent braking system and the EPS is larger than the steering assist torque output by the EPS alone; through the cooperation of the four-wheel independent braking system and the EPS, the vehicle can have larger steering capacity.
In S206, when the vehicle is in the manual driving mode to control the steering of the vehicle, it is determined whether the equivalent assist torque of the vehicle reaches the steering wheel torque of the vehicle; if yes, executing S207; if not, S208 is performed.
In one embodiment, when controlling the steering of the vehicle, it is determined whether the steering parameter of the vehicle reaches the steering target parameter of the vehicle. When the vehicle is in the manual driving mode to control the steering of the vehicle, the steering parameter of the vehicle comprises an equivalent power-assisted torque of the steering of the vehicle, and the steering target parameter of the vehicle comprises a steering wheel torque of the vehicle. When the EPS is not malfunctioning and the steering wheel torque of the vehicle exceeds the steering assist torque control range of the EPS, an equivalent assist torque that controls the steering of the vehicle can be obtained by superimposing the steering torque generated by the four-wheel independent brake system and the steering assist torque generated by the EPS. Alternatively, the equivalent assist torque for vehicle steering is equal to the steering torque generated by the four-wheel independent brake system when the EPS fails. Judging whether the equivalent boosting torque of the vehicle reaches the steering wheel torque of the vehicle or not; if the equivalent assist torque reaches the steering wheel torque of the vehicle, executing S207; if the equivalent assist torque does not reach the steering wheel torque of the vehicle, S208 is performed.
In S207, the braking torque of the four-wheel independent brake system is maintained; s206 is performed.
In one embodiment, if the equivalent assistance torque of the vehicle reaches the steering wheel torque of the vehicle, the braking torque of the braking system of each wheel is kept constant; the braking torque of the braking system of each wheel of the four wheels is not changed, the output braking force is also not changed, and the steering torque generated by the independent braking of the four wheels is not changed until the steering of the vehicle is finished.
In S208, the braking torque of the four-wheel independent braking system is adjusted; s206 is performed.
In one embodiment, if the equivalent power-assisted torque of the vehicle does not reach the steering wheel torque of the vehicle, the braking torque of the braking system of one wheel or a plurality of wheels in the four wheels is dynamically adjusted, so that the braking force output by the braking system of one wheel or a plurality of wheels in the four wheels is dynamically adjusted, the steering torque generated by the independent braking of the four wheels is dynamically adjusted, the equivalent power-assisted torque of the vehicle reaches the steering wheel torque of the vehicle, and the steering of the vehicle is controlled to achieve the required steering effect.
In S209, the steering of the vehicle is controlled by the electric power steering system.
In one embodiment, if the steering wheel torque of the vehicle does not exceed the steering power torque control range of the EPS, that is, the EPS can achieve the required steering effect only by means of the EPS, the EPS is started, and the EPS is controlled to output the steering power torque according to the state information of the vehicle, so as to control the steering of the vehicle and achieve the required steering effect.
In the embodiment of the application, when the vehicle is in a manual driving mode, even if the EPS of the vehicle breaks down, the steering of the vehicle can be controlled through the four-wheel independent braking system, and the four-wheel independent braking system can be used as a backup system of a steering system to provide steering capacity and provide steering assistance for a driver; when the EPS of the vehicle is not in failure, if the steering wheel torque of the vehicle exceeds the control range of the steering power-assisted torque of the EPS, the steering of the vehicle is controlled by superposing the steering torque generated by braking of the four-wheel independent braking system and the steering power-assisted torque of the electric power-assisted steering system, so that the vehicle has more stable, faster and larger steering capacity under the requirement of limit steering, and the steering safety of the vehicle can be improved.
Fig. 4 is another schematic flow chart of a vehicle steering control method according to an embodiment of the present application. Fig. 4 is a flowchart illustrating a vehicle steering control method in which the vehicle is in an autonomous driving mode.
Referring to fig. 4, a vehicle steering control method includes:
in S401, state information of the electric power steering system is acquired.
This step can be referred to the description of S201, and is not described herein.
In S402, it is determined whether the electric power steering system is malfunctioning based on the state information of the electric power steering system; if so, executing S403; if not, S404 is executed.
In one embodiment, whether the EPS has a fault is judged according to the state information of the EPS; if the EPS is judged to be in failure, S403 is executed; if it is determined that the EPS has not failed, S404 is performed.
In S403, steering of the vehicle is controlled by the four-wheel independent brake system; s406 is performed.
In one embodiment, when it is determined that the EPS has a failure, the steering of the vehicle is controlled by the four-wheel independent brake system. The four-wheel independent brake system comprises mutually independent brake systems arranged on each wheel, the brake system of each wheel can independently output brake force according to respective brake torque, and the brake force of each wheel is controlled through the brake system of each wheel, so that the wheel speed of each wheel is controlled, the left wheel and the right wheel of the vehicle generate speed difference, and the steering of the vehicle is controlled.
In one embodiment, the vehicle state information may be obtained by a vehicle chassis type signal sensor, and the vehicle state information includes, but is not limited to, a steering wheel angle, a steering wheel angular velocity, a steering wheel torque, a vehicle speed, a lateral acceleration, a longitudinal acceleration, and a yaw angle of the vehicle. The steering wheel angle and the steering wheel angular speed can be obtained according to the steering wheel angle sensor; obtaining a steering wheel torque of the vehicle according to a steering wheel torque sensor; obtaining the speed of the vehicle according to a vehicle speed sensor; and obtaining the lateral acceleration, the longitudinal acceleration and the yaw angle of the vehicle according to the IMU. When the vehicle is in the automatic driving mode, the driving controller can obtain a path plan of the automatic driving requirement through a vehicle chassis class signal sensor and a driving sensor system of the vehicle, wherein the path plan comprises the position (XYZ three-dimensional coordinates), the speed (V) and the yaw angle of the vehicle.
In one embodiment, when the vehicle is in an automatic driving mode to control the steering of the vehicle, if the EPS is judged to be in fault, the independent brake systems of each wheel are started to perform closed-loop feedback control, and the steering of the vehicle is controlled through the independent brake systems of each wheel according to the path plan and the state information of the vehicle. Controlling the braking system of each wheel according to the path planning and the state information of the vehicle, and outputting braking torque to the braking system of each wheel; the braking system of each wheel outputs braking force according to respective braking torque to control each wheel to brake independently; controlling the wheel speed of each wheel through the braking system of each wheel, so that the left wheel and the right wheel of the vehicle generate a speed difference, and a yaw angle corresponding to the steering is generated; the steering of the vehicle is controlled by the yaw angle generated by the four-wheel independent braking system, so that the required steering effect is achieved. The brake system of each wheel outputs brake force according to respective brake torque to control the wheel speed of each wheel, when the brake force of the left wheel is smaller than the brake force of the right wheel, the wheel speed of the left wheel is larger than that of the right wheel, the yaw angle of the vehicle is rightward, and the vehicle is controlled to turn rightward; when the braking force of the left wheel is larger than that of the right wheel, the wheel speed of the left wheel is smaller than that of the right wheel, the yaw angle of the vehicle is towards the left, and the vehicle is controlled to turn towards the left.
As shown in fig. 5 and 6, when the vehicle 501 is in the autonomous driving mode, a path plan 502 of the vehicle 501 demand output by the vehicle autonomous driving system is obtained. When the vehicle turns from the lane 503 to the lane 504 according to the path plan 502, the yaw angle of the vehicle 501 is the yaw angle 505. The vehicle 501 is controlled to turn from the lane 503 to the lane 504 through each wheel independent brake system according to the path plan 502, the brake force of the left front wheel, the left rear wheel, the left front wheel and the left rear wheel is independently controlled according to the brake moment of the left front wheel, the left rear wheel, the left front wheel and the left rear wheel, so that the brake force of the left wheel is smaller than the brake force of the right wheel, the wheel speed of the left wheel is greater than that of the right wheel, the vehicle 501 is controlled to turn from the lane 503 to the lane 504, and the yaw angle of the vehicle 501 after turning is the yaw angle 506.
In S404, determining whether or not the steering wheel torque of the vehicle exceeds a steering assist torque control range of the electric power steering system; if yes, go to S405; if not, S409 is executed.
In one embodiment, when the vehicle is in steering, if the EPS is not in fault, judging whether the steering wheel torque of the vehicle exceeds the control range of the steering power-assisted torque of the EPS; if the steering wheel torque of the vehicle exceeds the steering assist torque control range of the EPS, executing S405; if the steering wheel torque of the vehicle does not exceed the steering assist torque control range of the EPS, S409 is executed.
In S405, steering of the vehicle is controlled by the four-wheel independent brake system and the electric power steering system.
In one embodiment, when the vehicle is turning, if the steering wheel torque of the vehicle exceeds the steering power-assisted torque control range of the EPS, the steering of the vehicle is controlled by the four-wheel independent brake system and the electric power steering system.
In one embodiment, if the steering wheel torque of the vehicle exceeds the steering assist torque control range of the EPS, i.e., the required steering effect cannot be achieved by means of the EPS alone, the four-wheel independent brake system is activated; controlling the steering of the vehicle through a four-wheel independent braking system and an electric power steering system respectively according to the state information and the path plan of the vehicle; controlling a braking system of each wheel according to a yaw angle of the path plan and a yaw angle corresponding to the steering power-assisted torque output by the EPS, and outputting an independent braking torque to the braking system of each wheel; the brake system of each wheel independently outputs braking force according to respective braking torque to control each wheel to brake independently; controlling the wheel speed of each wheel through the braking system of each wheel, so that the left wheel and the right wheel of the vehicle generate a speed difference, and a yaw angle corresponding to the steering is generated; the steering of the vehicle is controlled by superposing the yaw angle generated by the four-wheel independent braking system and the yaw angle generated by the electric power steering system, so that the required steering effect is achieved.
In S406, when the vehicle is in the automatic driving mode to control the steering of the vehicle, it is determined whether the yaw angle of the vehicle reaches the yaw angle of the path plan; if so, executing S407; if not, S408 is performed.
In one embodiment, when controlling the steering of the vehicle, it is determined whether the steering parameter of the vehicle reaches the steering target parameter of the vehicle. When the vehicle is in the automatic driving mode to control the steering of the vehicle, the steering parameter of the vehicle comprises a yaw angle of the vehicle obtained through the IMU, and the steering target parameter of the vehicle comprises a yaw angle of the path plan. When the EPS is not failed and the steering wheel torque of the vehicle exceeds the steering assist torque control range of the EPS, the yaw angle generated by the four-wheel independent brake system and the EPS may be obtained by the IMU, and the yaw angle obtained by the IMU is the yaw angle of the vehicle. Alternatively, when the EPS fails, the yaw angle generated by the four-wheel independent brake system may be obtained by the IMU, and the yaw angle obtained by the IMU is the yaw angle of the vehicle. Judging whether the yaw angle of the vehicle reaches the yaw angle of the path planning or not; if the yaw angle of the vehicle reaches the yaw angle of the path plan, executing S407; if the yaw angle of the vehicle does not reach the yaw angle of the path plan, S408 is performed.
In S407, the braking torque of the four-wheel independent brake system is maintained; s406 is performed.
In one embodiment, if the yaw angle of the vehicle reaches the path-planned yaw angle, the braking torque of the braking system of each wheel is kept constant; the braking torque of the braking system of each wheel of the four wheels is unchanged, the output braking force is also unchanged, and the yaw angle generated by the independent braking of the four wheels is unchanged until the steering of the vehicle is completed.
In S408, adjusting the braking torque of the four-wheel independent brake system; s406 is performed.
In one embodiment, if the yaw angle of the vehicle does not reach the path planning yaw angle, the braking torque of the braking system of one wheel or a plurality of wheels in the four wheels is dynamically adjusted, so that the braking force output by the braking system of one wheel or a plurality of wheels in the four wheels is dynamically adjusted, the yaw angle generated by the four wheels through independent braking is dynamically adjusted, the yaw angle of the vehicle reaches the path planning yaw angle, and the steering of the vehicle is controlled to achieve the required steering effect.
In S409, the steering of the vehicle is controlled by the electric power steering system.
In one embodiment, if the steering wheel torque of the vehicle does not exceed the steering assist torque control range of the EPS, i.e., the required steering effect can be achieved only by means of the EPS, the EPS is started, and the EPS is controlled to output the steering assist torque according to the state information and the path plan of the vehicle, so as to control the steering of the vehicle and achieve the required steering effect.
In the embodiment of the application, when the vehicle is in an automatic driving mode, if the EPS of the vehicle breaks down, the steering of the vehicle can be controlled through the four-wheel independent braking system, the four-wheel independent braking system can be used as a backup system of a steering system to provide steering capacity, and the redundant safety of the steering of the vehicle can be met; when the EPS of the vehicle is not in failure, if the steering wheel torque of the vehicle exceeds the control range of the steering power-assisted torque of the EPS, the steering of the vehicle is controlled through the four-wheel independent braking system and the electric power-assisted steering system, the steering of the vehicle is controlled through superposing the yaw angle generated by braking of the four-wheel independent braking system and the yaw angle of the electric power-assisted steering system, under the requirement of limit steering, the vehicle has more stable, faster response and larger steering capacity, and the steering safety of the vehicle can be improved.
It should be noted that the method shown in the embodiment of the present application may also be applied to a vehicle using an in-wheel motor, the wheel speed of each wheel is independently controlled by the in-wheel motor of each wheel, and the steering of the vehicle is controlled by different powers and/or different braking forces of the in-wheel motor of each wheel. The power or braking force of each wheel is independently controlled through the hub motor, the wheel speed of each wheel is independently controlled, so that the left wheel and the right wheel of the vehicle generate a speed difference, a steering torque or a yaw angle corresponding to the steering is generated, and the steering of the vehicle is controlled. For example, the vehicle is controlled to turn right by increasing the power of the hub motor of the left wheel and/or decreasing the power of the hub motor of the right wheel, so that the power of the hub motor of the left wheel is larger than that of the hub motor of the right wheel, and the wheel speed of the left wheel is larger than that of the right wheel; the power of the right wheel hub motor is increased, and/or the power of the left wheel hub motor is reduced, so that the power of the right wheel hub motor is larger than that of the left wheel hub motor, the speed of the right wheel is larger than that of the left wheel, and the vehicle is controlled to turn left.
Corresponding to the application function implementation method embodiment, the application also provides a driving controller, a steering system, a vehicle and a corresponding embodiment.
Fig. 7 is a schematic structural diagram of a driving controller according to an embodiment of the present application.
Referring to fig. 7, a driving controller 700 includes an obtaining module 701 and a control module 702.
An obtaining module 701 is configured to obtain state information of the electric power steering system.
In one embodiment, when the EPS outputs the power steering torque, the obtaining module 701 may detect state information of the EPS, where the state information of the EPS includes at least one of current, voltage, and output power steering torque of the EPS, and may be, for example, the power steering torque including the output, or the current and output power steering torque including the EPS, or the voltage and output power steering torque including the EPS, or the power steering torque including the current, voltage, and output power steering torque including the EPS, or the like.
And a control module 702, configured to control steering of the vehicle through the four-wheel independent brake system when it is determined that the electric power steering system fails according to the state information obtained by the obtaining module 701.
In one embodiment, the control module 702 controls steering of the vehicle via a four-wheel independent braking system if the EPS is determined to be malfunctioning based on the state information of the EPS. The four-wheel independent brake system includes mutually independent brake systems installed at each wheel, and when the vehicle is turning, if it is determined that the EPS is malfunctioning, the control module 702 starts the mutually independent brake systems of each wheel, controls the braking force of each wheel through the brake systems of each wheel, thereby controlling the wheel speed of each wheel, so that a speed difference is generated between the left wheel and the right wheel of the vehicle, and controls the turning of the vehicle. The brake system of each wheel outputs brake force according to respective brake torque to control the wheel speed of each wheel, and when the brake force of the left wheel is smaller than the brake force of the right wheel, the wheel speed of the left wheel is larger than that of the right wheel, and the vehicle is controlled to turn right; when the braking force of the left wheel is larger than that of the right wheel, the wheel speed of the left wheel is smaller than that of the right wheel, and the vehicle is controlled to turn left.
In the embodiment of the application, under the condition that no part is added, the existing sensor, controller and actuator are integrated, when the EPS of the vehicle breaks down, the steering of the vehicle can be controlled through the four-wheel independent braking function of the four-wheel independent braking system, the four-wheel independent braking system can serve as a backup system of the steering system to provide the steering capacity, and the steering safety of the vehicle can be improved.
Fig. 8 is another schematic structural diagram of the driving controller according to the embodiment of the present application.
Referring to fig. 8, a driving controller 700 includes an obtaining module 701, a control module 702, a determining module 801, and an adjusting module 802.
The obtaining module 701 is configured to obtain state information of the electric power steering system.
A determining module 801, configured to determine whether a steering wheel torque of the vehicle exceeds a steering power torque control range of the electric power steering system when it is determined that the electric power steering system does not have a fault according to the state information acquired by the acquiring module 701.
The control module 702 controls steering of the vehicle through the four-wheel independent brake system and the electric power steering system when the determination module 801 determines that the steering wheel torque of the vehicle exceeds the steering power torque control range of the electric power steering system.
An adjusting module 802, configured to, when the control module 702 controls steering of the vehicle, adjust a braking torque of the four-wheel independent braking system if the determining module 801 determines that the steering parameter of the vehicle does not reach the steering target parameter of the vehicle.
In an embodiment, the determining module 801 includes a first determining sub-module 8011, a second determining sub-module 8012, and a third determining sub-module 8013.
The first determining sub-module 8011 is configured to determine whether the electric power steering system fails according to the state information of the electric power steering system acquired by the acquiring module 701.
A second determining submodule 8012 is configured to determine whether the steering wheel torque of the vehicle exceeds the steering assist torque control range of the electric power steering system, if the first determining submodule 8011 determines that the electric power steering system is not faulty.
The third determining sub-module 8013 is configured to determine whether the equivalent assist torque of the vehicle reaches the steering wheel torque of the vehicle when the vehicle is in the autonomous driving mode to control the steering of the vehicle.
In one embodiment, the control module 702 is configured to control the steering of the vehicle via the four-wheel independent brake system if the first determination sub-module 8011 determines that the electric power steering system is malfunctioning.
In one embodiment, the control module 702 is further configured to control the steering of the vehicle via the four-wheel independent braking system and the electric power steering system if the second determining sub-module 8012 determines that the steering wheel torque of the vehicle exceeds the steering torque control range of the electric power steering system.
In one embodiment, the control module 702 is further configured to control steering of the vehicle via the electric power steering system if the second determination sub-module 8012 determines that the steering wheel torque of the vehicle does not exceed the steering torque control range of the electric power steering system.
An adjusting module 802, configured to adjust the braking torque of the four-wheel independent braking system if the third determining sub-module 8013 determines that the equivalent assistance torque of the vehicle does not reach the steering wheel torque of the vehicle; if the third judging submodule 8013 judges that the equivalent assist torque of the vehicle reaches the steering wheel torque of the vehicle, the braking torque of the four-wheel independent braking system is maintained.
In another embodiment, the third determination sub-module 8013 is further configured to determine whether the yaw angle of the vehicle has reached the path plan yaw angle when the vehicle is in the autonomous driving mode to control the steering of the vehicle.
The adjusting module 802 is further configured to adjust the braking torque of the four-wheel independent braking system if the third determining submodule 8013 determines that the yaw angle of the vehicle does not reach the yaw angle of the path plan; if the third determination sub-module 8013 determines that the yaw angle of the vehicle has reached the path-planned yaw angle, the braking torque of the four-wheel independent braking system is maintained.
Fig. 9 is a schematic structural diagram of a steering system according to an embodiment of the present application.
Referring to fig. 9, a steering system includes a steering controller 700, an electric power steering system 901, and a four-wheel independent brake system 902.
In one embodiment, the driving controller 700 is configured to obtain state information of the electric power steering system 901; when it is determined that the electric power steering 901 has failed based on the state information, the steering of the vehicle is controlled by the four-wheel independent brake system 902.
In one embodiment, if the driving controller 700 determines that the electric power steering system 901 is out of order based on the state information of the electric power steering system 901, the steering of the vehicle is controlled by the four-wheel independent brake system 902. The four-wheel independent brake system 902 includes mutually independent brake systems installed at each wheel, and when the vehicle is turning, if the driving controller 700 determines that the electric power steering 901 has a fault, the mutually independent brake systems of each wheel are activated, and the braking force of each wheel is controlled by the brake system of each wheel, so as to control the wheel speed of each wheel, so that a speed difference is generated between the left wheel and the right wheel of the vehicle, and the turning of the vehicle is controlled. The brake system of each wheel outputs brake force according to respective brake torque to control the wheel speed of each wheel, and when the brake force of the left wheel is smaller than the brake force of the right wheel, the wheel speed of the left wheel is larger than that of the right wheel, and the vehicle is controlled to turn right; when the braking force of the left wheel is larger than that of the right wheel, the wheel speed of the left wheel is smaller than that of the right wheel, and the vehicle is controlled to turn left.
Fig. 10 is another schematic structural diagram of a steering system according to an embodiment of the present application.
Referring to fig. 10, a steering system includes a driving controller 700, an electric power steering system 901, a four-wheel independent brake system 902, a vehicle chassis type signal sensor 903, and a driving sensor system 904.
The electric power steering system 901 includes an electric power steering system controller 9011 and an electric power steering system actuator 9012. The driving controller 700 controls the electric power steering system controller 9011 according to the state information of the vehicle, and the electric power steering system controller 9011 controls the electric power steering system actuator 9012 to output a corresponding steering power-assisted torque.
The four-wheel independent brake system 902 includes a four-wheel independent brake system controller 9021 and a four-wheel independent brake system actuator 9022. The driving controller 700 controls the four-wheel independent brake system controller 9021 according to the state information of the vehicle, and the four-wheel independent brake system controller 9021 controls the four-wheel independent brake system actuator 9022 to output corresponding braking force.
The vehicle chassis-type signal sensor 903 includes a steering wheel angle sensor 9031, a steering wheel torque sensor 9032, a vehicle speed sensor 9033, and an inertia measurement unit 9034. The driving controller 700 obtains the state information of the vehicle through a vehicle chassis type signal sensor 903; the vehicle state information includes, but is not limited to, a steering wheel angle, a steering wheel angular velocity, a steering wheel torque, a vehicle speed, a lateral acceleration, a longitudinal acceleration, a yaw angle of the vehicle. The driving controller 700 obtains a steering wheel angle and a steering wheel angular velocity through a steering wheel angle sensor 9031; obtaining a steering wheel torque of the vehicle through a steering wheel torque sensor 9032; obtaining the vehicle speed of the vehicle through a vehicle speed sensor 9033; the lateral acceleration, the longitudinal acceleration and the yaw angle of the vehicle are obtained by the inertial measurement unit 9034.
The driving controller 700 obtains environment information of the vehicle through the driving sensor system 904, obtains state information of the vehicle through the vehicle chassis type signal sensor 903, and outputs a path plan according to the state information and the environment information of the vehicle.
With regard to the driving controller in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated upon here.
Fig. 11 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Referring to fig. 11, the vehicle 1000 includes a memory 1010 and a processor 1020.
The Processor 1020 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 1010 may include various types of storage units, such as system memory, Read Only Memory (ROM), and a persistent storage device. Wherein the ROM may store static data or instructions that are needed by the processor 1020 or other modules of the computer. The persistent storage device may be a read-write storage device. The persistent storage may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered down. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the permanent storage may be a removable storage device (e.g., floppy disk, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as a dynamic random access memory. The system memory may store instructions and data that some or all of the processors require at runtime. Further, the memory 1010 may comprise any combination of computer-readable storage media, including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash, programmable read only memory), magnetic and/or optical disks, may also be employed. In some embodiments, memory 1010 may include a removable storage device that is readable and/or writable, such as a Compact Disc (CD), digital versatile disc read only (e.g., DVD-ROM, dual layer DVD-ROM), Blu-ray disc read only, ultra-dense disc, flash memory card (e.g., SD card, min SD card, Micro-SD card, etc.), magnetic floppy disk, and the like. Computer-readable storage media do not contain carrier waves or transitory electronic signals transmitted by wireless or wired means.
The memory 1010 has stored thereon executable code that, when processed by the processor 1020, may cause the processor 1020 to perform some or all of the methods described above.
Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing some or all of the steps of the above-described method of the present application.
Alternatively, the present application may also be embodied as a computer readable storage medium (or non-transitory machine readable storage medium or machine readable storage medium) having executable code (or a computer program or computer instruction code) stored thereon, which when executed by a processor of a vehicle (or a server or the like) causes the processor to perform part or all of the steps of the above-described method according to the present application.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A vehicle steering control method characterized by comprising:
acquiring state information of an electric power steering system;
and when the electric power steering system is judged to be in fault according to the state information, controlling the steering of the vehicle through the four-wheel independent braking system.
2. The method of claim 1, further comprising:
when the electric power steering system is judged not to have a fault according to the state information, judging whether the steering wheel torque of the vehicle exceeds the steering power torque control range of the electric power steering system or not;
controlling steering of the vehicle by the four-wheel independent brake system and the electric power steering system when a steering wheel torque of the vehicle exceeds a steering power torque control range of the electric power steering system.
3. The method of claim 2, further comprising:
controlling steering of the vehicle by the electric power steering system when a steering wheel torque of the vehicle does not exceed a steering power torque control range of the electric power steering system.
4. The method according to claim 1 or 2, characterized in that the method further comprises:
when controlling the steering of the vehicle, if the steering parameter of the vehicle does not reach the steering target parameter of the vehicle, the braking torque of the four-wheel independent braking system is adjusted.
5. The method according to claim 4, wherein the adjusting the braking torque of the four-wheel independent braking system if the steering parameter of the vehicle does not reach the steering target parameter of the vehicle when controlling the steering of the vehicle comprises:
adjusting the braking torque of the four-wheel independent braking system to make the equivalent power-assisted torque of the vehicle reach the steering wheel torque of the vehicle if the equivalent power-assisted torque of the vehicle does not reach the steering wheel torque of the vehicle when the vehicle is in a manual driving mode to control the steering of the vehicle; or the like, or, alternatively,
and if the yaw angle of the vehicle does not reach the path-planned yaw angle while the vehicle is in the automatic driving mode to control the steering of the vehicle, adjusting the braking torque of the four-wheel independent braking system so that the yaw angle of the vehicle reaches the path-planned yaw angle.
6. A drive controller, characterized by comprising:
the acquisition module is used for acquiring the state information of the electric power steering system;
and the control module is used for controlling the steering of the vehicle through the four-wheel independent braking system when the electric power steering system is judged to be in fault according to the state information acquired by the acquisition module.
7. The driving controller according to claim 6, characterized by further comprising:
the judging module is used for judging whether the steering wheel torque of the vehicle exceeds the steering power-assisted torque control range of the electric power-assisted steering system or not when the electric power-assisted steering system is judged not to have a fault according to the state information acquired by the acquiring module;
the control module controls steering of the vehicle through the four-wheel independent braking system and the electric power steering system when the judging module judges that the steering wheel torque of the vehicle exceeds the steering power torque control range of the electric power steering system.
8. A steering system, characterized by: comprising an electric power steering system, a four-wheel independent braking system and a steering controller according to any of claims 6-7.
9. A vehicle, characterized by comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method of any one of claims 1-5.
10. A computer readable storage medium having executable code stored thereon, which when executed by a processor of a vehicle, causes the processor to perform the method of any one of claims 1-5.
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| CN202210721790.7A CN114919640A (en) | 2022-06-24 | 2022-06-24 | Vehicle steering control method, driving controller, steering system and vehicle |
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| CN202210721790.7A CN114919640A (en) | 2022-06-24 | 2022-06-24 | Vehicle steering control method, driving controller, steering system and vehicle |
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Application publication date: 20220819 |