CN103112452B - The electric powered steering crosswind compensation method of accessory system imaging sensor is kept based on track - Google Patents
The electric powered steering crosswind compensation method of accessory system imaging sensor is kept based on track Download PDFInfo
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- CN103112452B CN103112452B CN201210383394.4A CN201210383394A CN103112452B CN 103112452 B CN103112452 B CN 103112452B CN 201210383394 A CN201210383394 A CN 201210383394A CN 103112452 B CN103112452 B CN 103112452B
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000003384 imaging method Methods 0.000 title claims abstract description 10
- 238000006073 displacement reaction Methods 0.000 claims abstract description 6
- 238000005516 engineering process Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
- B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
- B60W2510/202—Steering torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
- B60W2510/205—Steering speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/10—Path keeping
- B60Y2300/12—Lane keeping
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention proposes a kind of electric powered steering crosswind compensation method based on track holding accessory system imaging sensor.Crosswind compensation is carried out firstly the need of judging whether vehicle is keeping straight on, the present invention is in addition to application steering angle and steering angular velocity relevant information, the lateral displacement information of the azimuth information and opposite lane between road ahead curvature information and track is obtained at the imaging sensor that accessory system is also kept from track, and judges whether vehicle keeps straight on according to above- mentioned information.After whether the vehicle that accurately forms a prompt judgement in this way keeps straight on, crosswind compensation is carried out.
Description
Technical field
It is particularly related to the steering technique in Vehicular system the present invention relates to Vehicular system, it is specially that one kind is based on car
Road keeps the electric powered steering crosswind compensation method of accessory system imaging sensor.
Background technology
South Korea's 10-2006-0069679 patents make the electric direction varying device correlation technique of reflection driver's driving performance into
For widely-known technique.On the one hand this electric direction varying device judges to accelerate the frequency with slowing down by the root mean square numerical value of acceleration
Degree and amplitude, on the other hand judge the frequency and amplitude of driver's emergency turn by the root mean square numerical value of steering angular velocity, turn
The operating function for this reflection driving performance having to device can increase or decrease steering according to the driving performance of driver
Auxiliary power, so that it is guaranteed that the stability turned to.But the technology in the patent only accounts for the driving performance of driver, such as Fig. 1-
Shown in A, vehicle is by the pressure of side leading wind, or as shown if figure 1-b, vehicle is travelled in tilted road surface, i.e., external factor is to driving
When the straight trip for the person of sailing is acted, the technical scheme can not be compensated for the situation.Therefore, in prior art
In, driver must apply in order to keep straight trip, it is necessary to directly be compensated to external force, then towards the direction opposite with external force to be turned to
Power, but if the external force duration is very long, driver just has to last for exerting oneself to keep keeping straight on, and this results in driver's generation
Turn to sense of fatigue.
The content of the invention
The invention provides a kind of vehicle during straight trip, when departing from straight-going state because of external force, to keep vehicle straight trip
The automatic technical scheme for carrying out turning to compensation.
A kind of electric powered steering crosswind compensation method based on track holding accessory system image sensing proposed by the present invention
Including：Judge whether the travel speed of vehicle exceeds the stage of standard speed；, will if the travel speed exceeds standard speed
According to acquisition road ahead at the imaging sensor that accessory system (Lane Keeping Assist System) is kept from track
The lateral displacement letter of azimuth (Heading Angle) information and opposite lane of the curvature (Curvature) between information and track
Breath judges the stage whether vehicle is keeping straight on；If it is determined that the vehicle is in straight-going state, then enters and judge vehicle
Whether the stage of steering moment is generated；If generating the steering moment, enter and the steering moment is compensated
Stage.In the stage that is judged of whether being kept straight on to the vehicle, it is also contemplated that steering angle and steering angular velocity relevant information,
Then judge whether vehicle keeps straight on again.
In addition, judging whether the vehicle is in the stage of straight-going state, be the steering angle and steering angular velocity,
The road ahead curvature and all numerical value such as the front azimuth (Heading Angle), the lateral displacement are satisfied by
In the case of specified range, judge whether the vehicle keeps straight on.And judging whether the vehicle is in the rank of straight-going state
Section, when being that the numerical value persistently meets the specified range within a certain period of time, judges whether the vehicle keeps straight on.
Present invention has the advantage that：
The present invention, which has, alleviates the effect that driver turns to fatigue, in addition, judging the prison whether vehicle keeps straight on by shortening
The survey time, further increase the efficiency of control.Generally, the vehicle with LKAS be equipped with imaging sensor and
MDPS (Motor-Driven Power Steering), so the present invention, which also has, need not increase hardware device, only passes through increase
Software achieves that the advantage of corresponding function.
Brief description of the drawings
When Fig. 1-A are vehicles by the pressure of side leading wind, to keep vehicle straight trip to apply the exemplary plot of steering force；
Fig. 1-B are that vehicle is travelled in tilted road surface, and the exemplary plot of steering force is kept straight on and applied to holding vehicle；
Fig. 2 is the flow chart that crosswind compensation system carries out crosswind compensation；
Fig. 3 is the refined flow chart of the subprocess marked in Fig. 2 1., 2., 3.；
Fig. 4 is the signal that LKAS imaging sensors are exported to be illustrated with reference to figure；
Fig. 5 is that subprocess during LKAS output informations, Fig. 2 is applied in one embodiment of the present of invention 1., 2., 3.
Refined flow chart；
Fig. 6 is to embody the exemplary plot for applying crosswind compensating torque using the system of crosswind compensation logic according to Fig. 5.
Embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention will be described, this, which will make to address the more polymorphic of the present invention, becomes
It is apparent.
As shown in Fig. 2 carrying out side for MDPS of the present invention (Motor-Driven Power Steering) crosswind compensation system
The basic flow sheet of wind compensation.
In vehicle travel process, control unit first determines whether that vehicle is to carry out the course changing control of crosswind compensation system
It is no in run at high speed (step S200).For example, control unit judges vehicle in height when vehicle is travelled with more than 60kph speed
Speed traveling.Such as judge that vehicle is in after high-speed travel state, control unit judges whether vehicle is in straight-going state (step
S210).Such as judge that vehicle is in straight-going state, whether control unit occurs lateral tilt (step S220) caused by external force.It is full
During sufficient case above, control unit can just predict that driver prepares to turn to by caused lateral tilt, so as to compensate control
System.Specifically, control unit will according to the degree of lateral tilt, in steer motor moment end input torque superposition value,
Compensate control (step S230).Complete after compensation control, control unit judges whether vehicle is in stable state, if not
It is just to come back to the step S220 stages.
Fig. 3 is the refined flow chart of the subprocess of the mark during Fig. 2 1., 2., 3..
Whether control unit judges steering angle and steering angular velocity certain by steering angle and steering angular velocity signal
Within critical value range (step S300 and step S310).If meeting condition, control unit will pass through speed and yaw angle speed
The radius of curvature (Ackermam radius ackerm ann Radius) that (yaw rate) infers current driving road is spent, then enters one
Step judges whether speculated radius of curvature numerical value is more than certain critical value (step S320).If radius of curvature numerical value is more than
Certain critical value, control unit will monitor this state whether certain time (for example:10 seconds) (step S330).If
It continue for certain time, then whether control unit will further determine generates steering moment (steering column torque) (step
S340), and to the steering column torque (motor torque) currently produced compensate (step S350).
If the radius of curvature numerical value inferred in this process is very big, then it may determine that the degree of crook of road is very
It is small, so as to infer that it is linear road.But if driver's oversteering, the road curvature numerical value measured will be because driving
The change of driftage steering angle caused by the steering of person and become incorrect, and when driver really in oblique driving when, partially
Boat steering angle will become close to 0, be at this moment difficult judge vehicle be parallel road driving or with road into angle of inclination row
Sail.Therefore, only travel conditions are sufficiently monitored, could be correctly by the steering intention of driver and road conditions phase
Associate (correlation), so as to reduce misoperation and sensitive action.
As follows, one of form of the invention crosswind compensation system from track as shown in figure 4, keep accessory system
(Lane Keeping Assist System, LKAS) place obtains the lateral displacement (position) of vehicle opposite lane, road curvature
And the signal such as track azimuth, and by using these signals quickly and accurately judge driver whether on linear road it is straight
OK.Specifically, one of form of the invention crosswind compensation system goes back foundation in addition to steering angle and steering angular velocity information
Road ahead curvature (Cu rvature) information of LKAS image sensors output, front track azimuth (Heading
Angle) information and laterally offset (Lateral Offset) information to track edge are judged whether vehicle keeps straight on.
Fig. 5 is that subprocess during LKAS output informations, Fig. 2 is applied in one embodiment of the present of invention 1., 2., 3.
Refined flow chart.
Whether control unit application steering angle and steering angular velocity signal, judge steering angle and steering angular velocity certain
(step S500) (step S510) within critical value range.If within the specific limits, control unit continues to judge to scheme from LKAS
As whether the road ahead curvature values obtained at sensor and front track azimuth (walk within certain critical value range
Rapid S520 and step S530), the laterally offset that track edge is applied in addition determines the distance (Distance at track edge
To Lane Boundary, DTLB) the rate of change whether within the scope of certain critical value (S540).If DTLB variation
Within certain critical value range, control unit will monitor whether this state continue for certain time (step S550).Such as
Fruit continue for the regular hour, and control unit will determine that whether occur steering angular variation (step S560), in the event of skew then
Steering angle is compensated (step S570).
The problem of curvature information in Fig. 3 method in the presence of actual road ahead is influenceed by driver, and Fig. 5 method
This influence can be then excluded, enables the vehicle to more precisely hold real road information, so as to help to judge that vehicle is
No straight trip.In addition, because being able to know that the angle between track tangential direction vector and vehicle centre-line, can be before
Square track azimuth information judges that driver is straight trip parallel with track, or is travelled with track into angle of inclination without producing partially
Navigate angular speed.And the laterally offset of opposite lane can be applied, obtained by the distance (DTLB) to track edge close to track
Speed and offset, this method than Fig. 3 is more stable, and can more precisely judge the situation of vehicle traveling.
In addition, being that monitoring driver's row can be greatly shortened using the great advantage of LKAS image sensor output informations
The time sailed.Judge that foundation that whether vehicle keeps straight on is all from the signal of vehicle itself in Fig. 3 method, therefore susceptibility is relative
It is relatively low, and only vehicle could be acted in the case of very clearly, so the required monitoring time is relatively long (about
10 seconds), this reduces the control efficiency of crosswind compensation logic, that is to say, that can only carry out the crosswind compensation of fewer number, this
It is a shortcoming.But as shown in Fig. 5 methods, if it is possible to the information of real-time Graphics Application sensor, driving information is carried out anti-
Feedback, then the monitoring time in step S550 will be considerably less than the original required time, has very big excellent in terms of efficiency
Point.Fig. 6 is to embody the exemplary plot for applying crosswind compensating torque using the system of crosswind compensation logic according to Fig. 5 method.Wherein
The positional representation of label 1. holds the crosswind for putting on vehicle, the crosswind compensation that the positional representation application arrow of label 2. embodies
Torque, can thus alleviate the steering sense of fatigue of driver.
On the one hand, the steering moment that driver maintains in steer motor moment end applies Fig. 3, i.e., in step S340
The motor torque suitable with steering moment that is being held that is calculating.But if in steer motor moment end force, also only having
In the case where understanding MDPS logics in itself, could correctly it be controlled, if so using the MDPS of other companies, it is simultaneous
There will be very big inferior position in terms of capacitive.Can be by being carried out to steering angle as the control unit of one of form of the present invention
PID control (proportional integral derivative control) (formula (1)), which applies, is able to maintain that steering angle
Steering moment, this just makes it possible intuitively to control.Formula (1) gives compensating torque to carry out PID control
(Tcompensation) and entirety MDPS auxiliary torques (Tassist, Total) calculation formula, it is specific as follows：
SWAerr=SWATg-SWAcurrent
TAssist, Total=TAssist, MDPS+Tcompensation
(1)
SWA is writing a Chinese character in simplified form for Steering wheel angle；
SWATgIt is writing a Chinese character in simplified form for target steering wheel angle；
SWAcurrentIt is writing a Chinese character in simplified form for current steering wheel angle；
G1,G2It is constant (the experimental value determined according to car type)；
TcompensationIt is compensating torque；
TAssist, MDPSIt is the steering moment calculated by PID control；
TAssist, TotalIt is the steering moment finally compensated by PID control；
It is illustrated so far centered on embodiments of the invention.The ordinary skill of correlative technology field of the present invention
Personnel should be understood that on the premise of substantive characteristics of the present invention is not changed, and can use the form of other deformations to the present invention
Realized.In addition, above-described embodiment is only illustrating, rather than limit the invention.The scope of the present invention is not limited to
Above-mentioned explanation, but carried out detailed elaboration in detail in the claims, that is to say, that with claim identical scope
Interior, all differences belong to the scope of the present invention.
Claims (1)
1. a kind of electric powered steering crosswind compensation method based on track holding accessory system imaging sensor, it is characterised in that
Including following steps：
Judge whether the travel speed of vehicle exceeds the stage of standard speed；
If the travel speed exceeds standard speed, according to what is obtained at the imaging sensor that accessory system is kept from track
The lateral displacement information of road ahead curvature information, track azimuth information and opposite lane judges whether the vehicle is straight
The capable stage；
If it is determined that the vehicle is in straight-going state, then enters and judge whether vehicle generates the stage of steering moment；And
If generating the steering moment, enter the stage compensated to the steering moment；
Whether the vehicle keeps straight on the stage judged, it is also contemplated that steering angle and steering angular velocity,
When the steering angle and the steering angular velocity, the road ahead curvature and front azimuth, the lateral displacement are each
From value be satisfied by specified range, and when persistently meeting the specified range within a certain period of time, judge the vehicle straight trip；
In the compensated stage, according to the steering moment of generation, by carrying out PID control to steering angle, in steer motor power
Square end exerts a force；
The steering compensating torque T inputted in steer motor torquecompensationIt is basisCalculate,
Wherein, SWAerr=SWATg-SWAcurrent。
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2011-0103480 | 2011-10-11 | ||
| KR1020110103480A KR101859759B1 (en) | 2011-10-11 | 2011-10-11 | Method for compensating side-wind based on Camera sensor of LKAS in MotorDriven Power Steering |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103112452A CN103112452A (en) | 2013-05-22 |
| CN103112452B true CN103112452B (en) | 2017-08-01 |
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ID=48410856
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210383394.4A Active CN103112452B (en) | 2011-10-11 | 2012-10-11 | The electric powered steering crosswind compensation method of accessory system imaging sensor is kept based on track |
Country Status (2)
| Country | Link |
|---|---|
| KR (1) | KR101859759B1 (en) |
| CN (1) | CN103112452B (en) |
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| KR102159555B1 (en) * | 2014-05-07 | 2020-09-24 | 주식회사 만도 | Measuring Method of Rear Wheel Steering Angle |
| US20160096546A1 (en) * | 2014-10-03 | 2016-04-07 | Delphi Technologies, Inc. | Lane departure steering correction with road camber and crosswind compensation |
| CN105774901B (en) * | 2014-12-26 | 2019-01-29 | 比亚迪股份有限公司 | System for lane-keeping control and method and vehicle |
| CN104608817B (en) * | 2015-01-08 | 2017-01-25 | 奇瑞汽车股份有限公司 | Intelligent crosswind influence early-warning method based on electric steering device |
| US10479357B2 (en) | 2016-05-23 | 2019-11-19 | Aptiv Technologies Limited | Lane keeping system for autonomous vehicle in wind conditions |
| US10179607B2 (en) * | 2016-08-03 | 2019-01-15 | Aptiv Technologies Limited | Lane keeping system for autonomous vehicle in wind conditions using vehicle roll |
| KR102548784B1 (en) * | 2016-10-11 | 2023-06-29 | 에이치엘만도 주식회사 | Steering Control Device for Compensating Cross Wind and Control Method thereof |
| CN108162959B (en) * | 2016-12-07 | 2019-11-29 | 财团法人车辆研究测试中心 | Vehicle automated lane follows control system and method |
| KR102202752B1 (en) * | 2017-06-30 | 2021-01-14 | 현대모비스 주식회사 | Method for controlling rear wheel steering in vehicle and apparatus thereof |
| JP6503585B2 (en) | 2017-09-01 | 2019-04-24 | 本田技研工業株式会社 | Vehicle control system, vehicle control method, and program |
| CN110949373B (en) * | 2018-09-25 | 2021-04-20 | 长城汽车股份有限公司 | Vehicle control method and system and vehicle |
| KR102155817B1 (en) * | 2019-01-30 | 2020-09-16 | 주식회사 만도 | Steering device for enhancing convenience in straight traveling of a vehicle and controlling method thereof |
| JP2020152222A (en) * | 2019-03-20 | 2020-09-24 | 本田技研工業株式会社 | Vehicle control device, vehicle control method and program |
| CN111002976B (en) * | 2019-09-20 | 2021-05-18 | 江苏理工学院 | Intelligent vehicle crosswind-resistant control method based on fuzzy self-adaptive PID control |
| CN112644581B (en) * | 2019-10-10 | 2022-06-10 | 中车时代电动汽车股份有限公司 | Steering zero offset automatic compensation method, controller and system of wire-controlled vehicle |
| CN110722949B (en) * | 2019-10-22 | 2021-06-29 | 北京经纬恒润科技股份有限公司 | Crosswind compensation method of vehicle, suspension controller and steering controller |
| CN112455534B (en) * | 2020-12-03 | 2022-04-29 | 北京车和家信息技术有限公司 | Zero position angle adjusting method and device for vehicle, vehicle-mounted system and vehicle |
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2011
- 2011-10-11 KR KR1020110103480A patent/KR101859759B1/en active IP Right Grant
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| US5774819A (en) * | 1994-07-27 | 1998-06-30 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle steering control system |
| JP2001001923A (en) * | 1999-06-21 | 2001-01-09 | Koyo Seiko Co Ltd | Steering device for vehicle |
| KR20040035144A (en) * | 2002-10-18 | 2004-04-29 | 현대모비스 주식회사 | Electronic Power Steering system with control function of aerodynamic force from cross wind |
| CN1903633A (en) * | 2005-07-25 | 2007-01-31 | 丰田自动车株式会社 | Power steering system and control method of the same |
| CN1907786A (en) * | 2005-08-02 | 2007-02-07 | 日产自动车株式会社 | Vehicle steering apparatus and vehicle steering method |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20130039046A (en) | 2013-04-19 |
| KR101859759B1 (en) | 2018-05-21 |
| CN103112452A (en) | 2013-05-22 |
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