CN113635961A - Distributed driving vehicle steering control method, control device and vehicle - Google Patents
Distributed driving vehicle steering control method, control device and vehicle Download PDFInfo
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- CN113635961A CN113635961A CN202010344504.0A CN202010344504A CN113635961A CN 113635961 A CN113635961 A CN 113635961A CN 202010344504 A CN202010344504 A CN 202010344504A CN 113635961 A CN113635961 A CN 113635961A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
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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
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/24—Steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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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)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a distributed driving automobile steering control method, a control device and an automobile, wherein the method comprises the following steps: acquiring a target steering signal and an actual steering signal of an automobile; comparing the actual turn signal to the target turn signal; and adjusting the difference value between the driving torque value of the left side power source and the driving torque value of the right side power source of the front wheel of the automobile according to the comparison result so as to enable the actual steering signal to be matched with the target steering signal.
Description
Technical Field
The invention relates to the technical field of automobile control methods, in particular to a distributed driving automobile steering control method, a distributed driving automobile steering control device and an automobile.
Background
The steering performance of automobiles is one of the most important performances in the driving process of automobiles, and is deeply valued by people for a long time. With the development of electric automobiles in recent years, the appearance of distributed drive electric automobiles provides new ideas for automobile dynamics control technologies. The distributed driving electric automobile has the advantages that the motor is directly arranged in the driving wheel or close to the driving wheel, the engine is replaced by the battery, and after the traditional power transmission system is removed, the vehicle has higher transmission efficiency and more compact structure. In addition, the motors of the distributed driving electric automobile can be independently controlled, and the control mode is more flexible, so that the active safety control of the automobile is easier to realize. The differential power-assisted steering technology is a new steering power-assisted technology provided based on an electric wheel independent driving automobile platform. The differential power-assisted steering fully utilizes the characteristic that the torque of each wheel of the electric-wheel-driven automobile can be independently controlled, and utilizes the torque difference generated by different torques of the left front wheel and the right front wheel to realize the power-assisted steering. However, in the steering control method of the distributed drive automobile in the prior art, the boosting effect is obtained by controlling the motor torque by taking the calculation of the reasonable steering wheel torque as a target. In the scheme, the effective target steering wheel torque can be obtained only by rotating the steering wheel by a driver, and then the left motor and the right motor provide assistance without a steering automatic control function, namely the expansibility of automatic driving is not provided.
In view of the above, a new technical solution is needed to solve the above technical problems.
Disclosure of Invention
The invention aims to provide a distributed driving automobile steering control method, a control device and a novel technical scheme of an automobile.
According to one aspect of the invention, a distributed drive automobile steering control method is provided,
the method comprises the following steps:
acquiring a target steering signal and an actual steering signal of an automobile;
comparing the actual turn signal to the target turn signal;
and adjusting the difference value between the driving torque value of the left side power source and the driving torque value of the right side power source of the front wheel of the automobile according to the comparison result so as to enable the actual steering signal to be matched with the target steering signal.
Optionally, the vehicle includes two steering control modes, a manual control mode and an automatic control mode.
Optionally, before acquiring the target steering signal and the actual steering signal of the automobile, the method further includes:
if the steering control mode of the automobile has a preset steering mode, entering the preset steering mode; and if the steering control mode of the automobile does not have the preset steering mode, entering a manual control mode.
Optionally, when the vehicle speed of the vehicle is zero and the gear position of the vehicle is in the parking gear, the steering control mode can be switched from the manual control mode to the automatic control mode; when the vehicle speed of the automobile is not zero, the steering control mode can be switched from the automatic control mode to the manual control mode.
Optionally, the manual control mode includes a steering wheel control mode and a knob control mode; the automatic control mode comprises a field automatic control mode and a remote control automatic control mode.
Optionally, the vehicle includes a remote control device, a driver module, a steering wheel torque angle sensor, a steering angle sensor, and a knob angle sensor.
Optionally, in the automatic control mode, when the torque signal sent by the steering wheel torque angle sensor is zero, the automobile keeps the automatic control mode;
under an automatic control mode, when a torque signal sent by the steering wheel torque angle sensor is not zero, the automobile enters a steering wheel control mode;
under a steering wheel control mode, when a torque signal sent by the steering wheel torque corner sensor is zero and a signal sent by the knob corner sensor is not zero, the automobile enters a knob control mode;
under a knob control mode, when a torque signal sent by the steering wheel torque angle sensor is not zero, the automobile enters a steering wheel control mode; and when the torque signal sent by the steering wheel torque angle sensor is zero, the automobile keeps a knob control mode.
Optionally, when the automobile is in a remote control automatic control mode, acquiring a signal sent by the remote control device as the target steering signal, and acquiring a current steering angle of the automobile as an actual steering signal;
when the automobile is in a field automatic control mode, making a signal by the driving module as the target steering signal, and acquiring the current steering angle of the automobile as an actual steering signal;
and when the automobile is in a steering wheel control mode, acquiring a steering angle signal sent by the steering wheel torque steering angle sensor as the target steering signal, and acquiring a signal sent by the steering device steering angle sensor as the actual steering signal.
Optionally, the original corner signal collected by the steering wheel torque corner sensor is corrected to obtain a corner signal sent by the steering wheel torque corner sensor.
Optionally, when the automobile is in a remote control automatic control mode, acquiring a signal sent by the remote control device, and correcting the signal to be used as the target steering signal;
when the automobile is in a field automatic control mode, the driving module formulates a signal and corrects the signal to be used as the target steering signal;
and when the automobile is in a steering wheel control mode, acquiring a steering angle signal sent by the steering wheel torque steering angle sensor, and correcting the steering angle signal to be used as the target steering signal.
Optionally, the adjusting of the difference between the driving torque value of the left side power source and the driving torque value of the right side power source of the front wheel of the automobile adopts a PI control method.
According to a second aspect of the present invention, there is provided a distributed drive vehicle steering control apparatus comprising:
the signal acquisition module is used for acquiring a target steering signal and an actual steering signal of the automobile;
the comparison module is used for comparing the actual steering signal with the target steering signal;
and the adjusting module is used for adjusting the difference value between the driving torque value of the left side power source and the driving torque value of the right side power source of the front wheel of the automobile according to the comparison result so that the actual steering signal is matched with the target steering signal.
According to a third aspect of the present invention, there is provided an automobile comprising: a memory and a processor, wherein the memory stores executable instructions that control the processor to operate to perform the distributed drive automotive steering control method as described above.
The distributed driving automobile steering control method is not only suitable for a manual control mode, but also suitable for an automatic control mode.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a flow chart of steps of a distributed driving vehicle steering control method according to the present invention;
FIG. 2 is a flow chart of switching steering control modes in a distributed driving automobile steering control method according to the present invention;
FIG. 3 is a schematic structural diagram of a distributed driving vehicle steering control method according to the present invention;
FIG. 4 is a first signal correction diagram in the distributed driving automobile steering control method according to the present invention;
fig. 5 is a signal correction diagram ii in the distributed driving automobile steering control method according to the present invention.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Referring to fig. 1, an embodiment of the present invention provides a distributed drive automobile steering control method, including the following steps:
s1, acquiring a target steering signal and an actual steering signal of the automobile;
s2, comparing the actual steering signal with the target steering signal;
and S3, adjusting the difference value between the driving torque value of the left side power source and the driving torque value of the right side power source of the front wheel of the automobile according to the comparison result so as to enable the actual steering signal to be matched with the target steering signal.
Optionally, the vehicle includes two steering control modes, a manual control mode and an automatic control mode.
In the distributed driving automobile steering control method provided by the embodiment of the invention, no matter the steering control mode of the automobile is in a manual control mode or an automatic control mode, the information expressing the steering of the automobile is taken as a target steering signal, the actual steering information of the automobile measured in real time is taken as an actual steering signal, the actual steering signal is compared with the target steering signal, then the difference value between the driving torque value of the left side power source and the driving torque value of the right side power source of the front wheels of the automobile is adjusted according to the comparison result, and the steering of the automobile is controlled by adjusting the difference value, namely, the differential torque distribution. Compared with the prior art in which ideal steering wheel torque is taken as target information, the control method is not only suitable for a manual control mode, but also suitable for an automatic control mode. In the control method of the present invention, the information indicating the steering of the vehicle is obtained from many sources, and is not limited to the operation of the steering wheel by the driver. Specifically, the driving torque value of the left side power source and the driving torque value of the right side power source of the front wheel may be a driving torque value of the left side motor and a driving torque value of the right side motor, respectively.
In one embodiment, before obtaining the target steering signal and the actual steering signal of the automobile, the method further comprises:
if the steering control mode of the automobile has a preset steering mode, entering the preset steering mode; and if the steering control mode of the automobile does not have the preset steering mode, entering a manual control mode.
Specifically, the steering control mode may be preset by a mobile phone APP (application), a smart key, a smart device, or the like. The mode of the vehicle in the power-off state may be set to the preset steering mode. Firstly, after the automobile is powered on, carrying out networking detection to detect whether a preset steering mode exists or not, and if the preset steering mode exists, entering the preset steering mode by the automobile; and if the preset steering mode does not exist, the automobile enters a manual control mode. Optionally, the switching of the steering control mode may also be set by using in-vehicle keys, knob switching, a multimedia touch screen, and the like.
In one embodiment, the steering control mode may be switched from the manual control mode to the automatic control mode when the vehicle speed of the vehicle is zero and the gear position of the vehicle is in the parking range; when the vehicle speed of the automobile is not zero, the steering control mode can be switched from the automatic control mode to the manual control mode.
Optionally, the manual control mode specifically includes a steering wheel control mode and a knob control mode; the automatic control mode specifically comprises a field automatic control mode and a remote control automatic control mode.
In one embodiment, the vehicle includes a remote control device, a steering module, a steering wheel torque angle sensor, a steering angle sensor, and a knob angle sensor. The components play corresponding roles when the automobile is in different steering control modes.
Referring to FIG. 2, in one embodiment, the vehicle further includes a steering controller. When the automobile is in an automatic control mode and a torque signal sent by the steering wheel torque corner sensor is zero, the automobile is kept in the automatic control mode; specifically, the vehicle originally stays in the field automatic control mode, and the vehicle originally stays in the remote automatic control mode.
When the automobile is in an automatic control mode, when a torque signal sent by the steering wheel torque corner sensor is not zero, the automobile enters a steering wheel control mode; for example, when the vehicle is originally in the automatic control mode, when the driver turns the steering wheel, the torque signal sent by the steering wheel torque angle sensor is not zero, which indicates that the driver wants to operate the vehicle, and the vehicle enters the steering wheel control mode.
Under a steering wheel control mode, when a torque signal sent by the steering wheel torque corner sensor is zero and a signal sent by the knob corner sensor is not zero, the automobile enters a knob control mode; the steering controller monitors a torque signal sent by the steering wheel torque angle sensor in real time, and the automobile enters the knob control mode from the steering wheel control mode only when the torque signal is zero and the signal sent by the knob angle sensor is not zero.
Under a knob control mode, when a torque signal sent by the steering wheel torque angle sensor is not zero, the automobile enters a steering wheel control mode; and when the torque signal sent by the steering wheel torque angle sensor is zero, the automobile keeps a knob control mode.
In one embodiment, when the automobile is in a remote control automatic control mode, a signal sent by the remote control device is acquired as the target steering signal, the steering controller receives the target steering signal, and the current steering angle of the automobile is acquired as an actual steering signal; the driving direction of the automobile can quickly follow the signal sent by the remote control device by adjusting the difference value between the driving torque value of the left side power source and the driving torque value of the right side power source of the front wheel of the automobile.
When the automobile is in a field automatic control mode, the driving module makes a signal as the target steering signal, specifically, the driving module decides the target steering signal according to the comprehensive information of roads, vehicles, surrounding environments and the like and sends the target steering signal to a steering controller, and obtains the current steering angle of the automobile as an actual steering signal; the driving direction of the automobile can quickly reach the expected direction by adjusting the difference value between the driving torque value of the left side power source and the driving torque value of the right side power source of the front wheel of the automobile.
And when the automobile is in a steering wheel control mode, acquiring a steering angle signal sent by the steering wheel torque steering angle sensor as the target steering signal, and acquiring a signal sent by the steering device steering angle sensor as the actual steering signal.
In the control method of the present invention, the steering wheel control mode is completely different from that of the conventional vehicle. Specifically, the conventional steering wheel control mode is to mechanically transmit a rotational torque to a steering gear through a steering transmission shaft after a steering wheel is rotated, so as to steer the wheels. Therefore, in the conventional steering wheel control mode, the steering shafts need to be combined together to control the steering of the wheels. In the control method of the present invention, referring to fig. 3, in the steering wheel control mode, the transmission shaft clutch 2 is in the disengaged state, because in the steering wheel control mode of the present invention, the steering wheel does not need to be mechanically connected through the steering transmission shaft 3 to transmit torque, and the steering wheel functions only to express a target steering signal desired by the driver, specifically, two sensors are provided on the steering transmission shaft 3, one is a steering wheel torque angle sensor 6 near the steering wheel, and the other is a steering wheel angle sensor 7 near the steering, and when the driver turns the steering wheel, the target steering signal desired by the driver is obtained through the steering wheel torque angle sensor 6, and an actual steering signal is obtained through the steering wheel angle sensor 7, and then by comparing the actual steering signal with the target steering signal, and adjusting the difference value between the driving torque value of the left side power source and the driving torque value of the right side power source of the front wheels of the automobile so as to enable the actual steering signal to be matched with the target steering signal.
In the control method of the invention, the drive shaft clutch 2 on the steering drive shaft 3 is disengaged only in the steering wheel control mode of the manual control mode, whereas the drive shaft clutch 2 on the steering drive shaft 3 is engaged in the automatic control mode as well as in the knob control mode of the manual control mode. In the steering wheel control mode, on one hand, the steering transmission shaft 3 is not required to transmit torque, and on the other hand, the transmission shaft clutch 2 is required to be disengaged in order to prevent the vibration force from being transmitted to the steering wheel mechanically from the wheels through the steering transmission shaft 3 including the transmission shaft clutch 2 when the automobile vibrates and causing interference to the target steering signal expressed by the steering wheel; in the knob control mode of the automatic control mode and the manual control mode, the transmission shaft clutch 2 is in a combined state, because once a driver wants to control the automobile and rotate the steering wheel, a torque signal sent by the steering wheel torque angle sensor 6 is not zero, the automobile can be switched from other control modes to enter the steering wheel control mode at the moment, and because the transmission shaft clutch 2 is in the combined state, the steering angle of the wheels can be mechanically transmitted to the steering wheel through the steering transmission shaft 3 comprising the transmission shaft clutch 2 in real time, so that the driver can clearly recognize the steering condition of the current wheels by looking at the rotation amplitude of the steering wheel, and the situation that the driver cannot correctly control the steering of the automobile due to unclear steering condition of the current automobile after handing over the automobile is avoided.
In addition, in the control method of the present invention, no matter the vehicle is in the automatic control mode or the manual control mode, the control is performed in the state that the steering controller self-checks normally; if the steering controller is abnormal in self-checking, the automobile enters a traditional mechanical steering mode, namely a steering wheel mechanically transmits torque to wheels through a steering transmission shaft so as to achieve steering.
Alternatively, in the control method of the present invention, the source of the information expressing the steering of the vehicle may be selected from, but not limited to: the steering wheel torque angle sensor signal that driver control steering wheel acquireed, steering wheel target signal from automatic driving route planning, the turn angle signal that comes from in-car control knob, the turn signal that comes from remote control device and sends. The sensors for measuring the vehicle steering information may be selected from, but are not limited to: steering wheel torque angle sensor, rack displacement sensor. The control method has better control flexibility and stronger expansibility, and is suitable for manual driving of a driver, auxiliary driving of other members, on-site automatic driving, remote control automatic driving and the like. Through the control of the auxiliary knob, the driver can be helped to better control the vehicle, the safety guarantee is added for the vehicle, and the potential hazards of traffic accidents caused by fatigue driving, distracted driving, tension driving or other improper operation or objective accidents of the driver can be effectively reduced.
In one embodiment, the raw signal collected by the steering wheel torque angle sensor is modified to obtain a signal sent by the steering wheel torque angle sensor.
Specifically, referring to fig. 4, a steering wheel may shake due to the bumpiness of the road surface during the driving of the vehicle, and therefore, in order to prevent an error due to the shake of the steering wheel, a correction of a steering angle signal from a steering wheel torque angle sensor is required; if the angle signal sent by the steering wheel torque angle sensor after correction is theta 2, then:
in the formula: sign is a sign taking function, and abs is an absolute value; theta 1 is an original corner signal acquired by a steering wheel torque corner sensor; and n is an interference elimination calibration value.
In addition, the steering wheel shake caused by wheel shake due to road surface bump can be buffered by arranging elastic elements such as springs and rubber pads on the steering transmission shaft.
In one embodiment, when the automobile is in a remote control automatic control mode, a signal sent by the remote control device is obtained and is used as the target steering signal after being corrected; when the automobile is in a field automatic control mode, the driving module formulates a signal and corrects the signal to be used as the target steering signal; and when the automobile is in a steering wheel control mode, acquiring a steering angle signal sent by the steering wheel torque steering angle sensor, and correcting the steering angle signal to be used as the target steering signal.
Referring to fig. 5, in particular, the vehicle stability problem may exist during the driving process of the automobile, and in order to maintain good vehicle stability, the correction of the target steering signal constraint is added in the control method of the invention. Carrying out rationality evaluation on the target steering signal according to the current vehicle speed and the set safety limit value of the yaw rate, and if the steering angle of the target steering signal exceeds the safety steering angle and the exceeding value is within a certain range, carrying out following according to the steering angle in the safety value; when the out-of-range value exceeds this range, torque reduction or braking is performed and the steering angle of the target steering signal is followed.
A two-degree-of-freedom dynamic model of the automobile is built in a steering controller, and a safe steering angle threshold value delta is calculated in real time according to the current speed u and a set yaw velocity safety limit value omega.
In the formula: l is the vehicle wheelbase, K is the stability coefficient, u is the current vehicle speed, omega is the yaw rate safety limit, and delta is the safe steering angle threshold.
The steering angle of the target steering signal (for example, the steering angle signal theta 2 sent by the steering wheel torque steering angle sensor in the steering wheel control mode) and the safe steering angle threshold value delta are compared in real time,
when abs (theta)2)-abs(δ)>And m, the steering controller requests torque reduction or braking to reduce the speed of the automobile, and then steering angle following is performed. And m is a steering angle limit value interval calibration value, and o is a safety critical margin calibration value.
In one embodiment, the adjusting of the difference between the driving torque value of the left side power source and the driving torque value of the right side power source of the front wheel of the automobile adopts a PI control method.
Specifically, in order to keep the actual steering angle of the automobile to quickly follow the target steering angle, a PI control technology is selected for control, the target steering signal is sent to a steering controller signal theta 3, and the target steering signal is sent to a steering controller actual steering signal theta 4 through a steering gear angle sensor.
The required differential torque Δ T is calculated by the steering controller:
in the formula: kp and Ki are PI parameters calibrated by requirements
The front wheels calculate a torque adjustment based on a differential torque calculated by a steering controller, wherein
The left front wheel torque is:
the right front wheel torque is:
in the formula: tf is the total drive torque distributed to the front axle by the steering controller and Δ T is the differential torque requested. And controlling the motor to output corresponding torque by the motor controller when the power source is the motor according to the torque distribution of the left front wheel and the right front wheel calculated by the steering controller.
The embodiment of the invention also provides a distributed driving automobile steering control device, which comprises:
the signal acquisition module is used for acquiring a target steering signal and an actual steering signal of the automobile;
the comparison module is used for comparing the actual steering signal with the target steering signal;
and the adjusting module is used for adjusting the difference value between the driving torque value of the left side power source and the driving torque value of the right side power source of the front wheel of the automobile according to the comparison result so that the actual steering signal is matched with the target steering signal.
An embodiment of the present invention further provides an automobile, including: a memory and a processor, wherein the memory stores executable instructions that control the processor to operate to perform the distributed drive automotive steering control method as described above.
The above embodiments mainly focus on differences from other embodiments, but it should be clear to those skilled in the art that the above embodiments can be used alone or in combination with each other as needed.
The embodiments in the present disclosure are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments, but it should be clear to those skilled in the art that the embodiments described above can be used alone or in combination with each other as needed. In addition, for the device embodiment, since it corresponds to the method embodiment, the description is relatively simple, and for relevant points, refer to the description of the corresponding parts of the method embodiment. The system embodiments described above are merely illustrative, in that modules illustrated as separate components may or may not be physically separate.
The present invention may be an apparatus, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied therewith for causing a processor to implement various aspects of the present invention.
The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations of the present invention may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.
Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, by software, and by a combination of software and hardware are equivalent.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. 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. The scope of the invention is defined by the appended claims.
Claims (13)
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| CN113635961B (en) | 2022-09-09 |
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