CN108423069B - Abnormality detection method and apparatus for steering gear of vehicle, and vehicle - Google Patents
Abnormality detection method and apparatus for steering gear of vehicle, and vehicle Download PDFInfo
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- CN108423069B CN108423069B CN201810436383.5A CN201810436383A CN108423069B CN 108423069 B CN108423069 B CN 108423069B CN 201810436383 A CN201810436383 A CN 201810436383A CN 108423069 B CN108423069 B CN 108423069B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
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Abstract
The invention discloses an abnormality detection method and device for a steering gear of a vehicle and the vehicle, wherein the abnormality detection method comprises the following steps: acquiring the speed of a vehicle, the torque of a steering wheel, the displacement of a rack in a steering gear and the actual meshing clearance of a rack and pinion in the steering gear; judging whether the meshing wear degree of the gear and the rack is within a preset wear degree range according to the vehicle speed, the torque of the steering wheel and the displacement of the rack; and if the meshing wear degree of the gear rack is within the preset wear degree range, judging whether the steering gear is in an abnormal state or not according to the actual meshing clearance of the gear rack. The method can realize automatic detection of the meshing wear degree of the gear and the rack in the steering gear and automatic judgment of whether the steering gear is in an abnormal state or not, so that a user is reminded to replace the steering gear according to a judgment result, the problems of abnormal sound and jamming of the steering gear are effectively avoided, the reliability and the safety of a vehicle are improved, and the driving experience of the user is improved.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a method and an apparatus for detecting an abnormality of a steering gear of a vehicle, and a vehicle.
Background
At present, the mechanical rack and pinion steering gear and the electric power steering system are more and more closely matched, and along with the application of functions such as power assisting along with speed, active return, active damping, tail end protection and the like and the gradual development of functions such as automatic parking, auxiliary lane keeping and the like, the mechanical rack and pinion steering gear is required to be capable of bearing larger torque, and not only is the resistance such as the friction between tires and the ground and the axle load of the whole vehicle to be overcome, but also the friction resistance of the self-movement of the steering gear is required to be overcome.
However, the rack and pinion guiding mechanism of traditional structure, after driving a section mileage, because the inherent characteristic of material, rack and pinion has certain wearing and tearing, and then arouses unfavorable problems such as loose, abnormal sound to vibration that loose arouses can also clearly transmit driver's hand in, thereby has not only reduced the security and the reliability of vehicle, has reduced driver's driving experience moreover.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present invention is to provide an anomaly detection method for a steering gear of a vehicle, which can automatically detect the degree of meshing wear of a rack and pinion in the steering gear and automatically judge whether the steering gear is in an abnormal state, so as to remind a user to replace the steering gear according to a judgment result, thereby effectively avoiding the problems of looseness, abnormal sound and the like caused by an excessively large gap of the meshing wear of the rack and pinion, further preventing the problems of abnormal sound and jamming of the steering gear, effectively improving the reliability and safety of the vehicle, and improving the driving experience of the user.
A second object of the invention is to propose a storage medium.
A third object of the present invention is to propose an abnormality detection device for a steering gear of a vehicle.
A fourth object of the invention is to propose a vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides an abnormality detection method for a steering gear of a vehicle, including the steps of: acquiring the speed of the vehicle, the torque of a steering wheel, the displacement of a rack in the steering gear and the actual meshing clearance of a rack and pinion in the steering gear; judging whether the meshing wear degree of the gear and the rack is within a preset wear degree range according to the vehicle speed, the torque of the steering wheel and the displacement of the rack; and if the meshing wear degree of the gear rack is within the preset wear degree range, judging whether the steering gear is in an abnormal state or not according to the actual meshing clearance of the gear rack.
According to the abnormality detection method for the steering gear of the vehicle, firstly, the vehicle speed of the vehicle, the torque of a steering wheel, the displacement of a rack in the steering gear and the actual meshing clearance of a rack and pinion in the steering gear are obtained, then whether the meshing wear degree of the rack and pinion is within the preset wear degree range is judged according to the vehicle speed, the torque of the steering wheel and the displacement of the rack, and if yes, whether the steering gear is in an abnormal state is further judged according to the actual meshing clearance of the rack and pinion. The method can realize automatic detection of the meshing wear degree of the gear and the rack in the steering gear and automatic judgment of whether the steering gear is in an abnormal state or not, so that a user can be reminded to replace the steering gear according to the judgment result, the problems of looseness, abnormal sound and the like caused by too large gaps of the meshing wear of the gear and the rack can be effectively avoided, the problems of abnormal sound and blocking of the steering gear are further prevented, the reliability and safety of a vehicle are effectively improved, and the driving experience of the user is improved.
In addition, the abnormality detecting method for a steering gear of a vehicle according to the above-described embodiment of the present invention may also have the following additional technical features:
in one embodiment of the invention, when the vehicle speed is less than a first preset vehicle speed, the torque of the steering wheel is greater than or equal to a first preset torque, the displacement of the rack is less than a first preset displacement, and the number of times of torque change of the steering wheel is greater than or equal to a first preset number of times; or the vehicle speed is greater than or equal to the first preset vehicle speed and less than a second preset vehicle speed, the torque of the steering wheel is greater than or equal to a second preset torque, the displacement of the rack is less than a second preset displacement, and the torque change frequency of the steering wheel is greater than or equal to the first preset frequency; or the vehicle speed is greater than or equal to the second preset vehicle speed and less than a third preset vehicle speed, the torque of the steering wheel is greater than or equal to a third preset torque, the displacement of the rack is less than a third preset displacement, and the torque change frequency of the steering wheel is greater than or equal to the first preset frequency; or, the vehicle speed is more than or equal to the third preset vehicle speed, the torque of the steering wheel is more than or equal to the fourth preset torque, the displacement of the rack is less than the fourth preset displacement, and the number of times of torque change of the steering wheel is more than or equal to the first preset number of times, the meshing wear degree of the gear and the rack is judged to be in the preset wear degree range.
In an embodiment of the present invention, the fourth predetermined torque is smaller than the third predetermined torque and smaller than the second predetermined torque and smaller than the first predetermined torque, and the fourth predetermined displacement is larger than the third predetermined displacement and larger than the second predetermined displacement and larger than the first predetermined displacement.
In an embodiment of the present invention, when the meshing wear degree of the rack and pinion is within the preset wear degree range and the actual meshing clearance of the rack and pinion is smaller than the preset meshing clearance and is greater than or equal to a product of the preset meshing clearance and a first preset coefficient, or the actual meshing clearance of the rack and pinion is greater than or equal to the preset meshing clearance, it is determined that the steering gear is in the abnormal state.
In an embodiment of the present invention, the above-mentioned abnormality detection method for a steering gear of a vehicle further includes: and acquiring the indirect clearance of the gear and the rack, and acquiring the actual meshing clearance of the gear and the rack according to the indirect clearance of the gear and the rack.
In one embodiment of the present invention, the actual meshing gap of the rack and pinion is obtained by the following formula:
A＝K*&，
wherein, A is the actual meshing clearance of the gear rack, K is a second preset coefficient, and K is the indirect clearance of the gear rack.
In an embodiment of the present invention, when the steering gear is determined to be in the abnormal state, an alarm prompt may be issued.
In order to achieve the above object, a second aspect of the present invention provides a storage medium for storing an application program for executing the above-described abnormality detection method for a steering gear.
This storage medium, through carrying out the above-mentioned unusual detection method of steering gear, can realize the automated inspection to rack and pinion's meshing degree of wear in the steering gear and whether to be in the automated inspection of abnormal state to whether be in the steering gear according to the judgement result warning user change steering gear, thereby can effectively avoid the too big loose spacious of clearance brought of rack and pinion meshing wearing and tearing, abnormal sound scheduling problem, and then prevent steering gear abnormal sound and the dead problem of card, the reliability and the security of vehicle have effectively been improved, user's driving experience has been promoted.
To achieve the above object, an embodiment of a third aspect of the present invention proposes an abnormality detection device for a steering gear of a vehicle, including: the acquisition module is used for acquiring the speed of the vehicle, the torque of a steering wheel, the displacement of a rack in the steering gear and the actual meshing clearance of a rack and pinion in the steering gear; and the judging module is used for judging whether the meshing wear degree of the rack and the pinion is in a preset wear degree range according to the vehicle speed, the torque of the steering wheel and the displacement of the rack, and further judging whether the steering gear is in an abnormal state according to the actual meshing clearance of the rack and the pinion when the meshing wear degree of the rack and the pinion is in the preset wear degree range.
According to the abnormality detection device for the steering gear of the vehicle, the acquisition module is used for acquiring the vehicle speed of the vehicle, the torque of a steering wheel, the displacement of a rack in the steering gear and the actual meshing clearance of a rack and pinion in the steering gear, then the judgment module is used for judging whether the meshing wear degree of the rack and pinion is within the preset wear degree range according to the vehicle speed, the torque of the steering wheel and the displacement of the rack, and if so, the judgment module is used for further judging whether the steering gear is in an abnormal state according to the actual meshing clearance of the rack and pinion. The device can realize the automated inspection to the meshing degree of wear of rack and pinion in the steering gear and whether to be in the automatic judgement of abnormal state to the steering gear, so that remind the user to change the steering gear according to the judged result, thereby can effectively avoid the too big pine spacious, the abnormal sound scheduling problem that brings in clearance of rack and pinion meshing wearing and tearing, and then prevent steering gear abnormal sound and the dead problem of card, effectively improved the reliability and the security of vehicle, promoted user's driving experience.
In addition, the abnormality detection device for a steering gear of a vehicle according to the above-described embodiment of the invention may also have the following additional technical features:
in one embodiment of the invention, when the vehicle speed is less than a first preset vehicle speed, the torque of the steering wheel is greater than or equal to a first preset torque, the displacement of the rack is less than a first preset displacement, and the number of times of torque change of the steering wheel is greater than or equal to a first preset number of times; or the vehicle speed is greater than or equal to the first preset vehicle speed and less than a second preset vehicle speed, the torque of the steering wheel is greater than or equal to a second preset torque, the displacement of the rack is less than a second preset displacement, and the torque change frequency of the steering wheel is greater than or equal to the first preset frequency; or the vehicle speed is greater than or equal to the second preset vehicle speed and less than a third preset vehicle speed, the torque of the steering wheel is greater than or equal to a third preset torque, the displacement of the rack is less than a third preset displacement, and the torque change frequency of the steering wheel is greater than or equal to the first preset frequency; or, the vehicle speed is more than or equal to the third preset vehicle speed, the torque of the steering wheel is more than or equal to the fourth preset torque, the displacement of the rack is less than the fourth preset displacement, and the torque change frequency of the steering wheel is more than or equal to the first preset frequency, and the judgment module judges that the meshing wear degree of the gear and the rack is in the preset wear degree range.
In an embodiment of the present invention, the fourth predetermined torque is smaller than the third predetermined torque and smaller than the second predetermined torque and smaller than the first predetermined torque, and the fourth predetermined displacement is larger than the third predetermined displacement and larger than the second predetermined displacement and larger than the first predetermined displacement.
In an embodiment of the present invention, when the meshing wear degree of the rack and pinion is within the preset wear degree range and the actual meshing clearance of the rack and pinion is smaller than a preset meshing clearance and is greater than or equal to a product of the preset meshing clearance and a first preset coefficient, or the actual meshing clearance of the rack and pinion is greater than or equal to the preset meshing clearance, the determining module determines that the steering gear is in the abnormal state.
In an embodiment of the present invention, the obtaining module is further configured to obtain an indirect gap between the rack and the pinion, and obtain an actual meshing gap between the rack and the pinion according to the indirect gap between the rack and the pinion.
In one embodiment of the present invention, the obtaining module obtains the actual meshing gap of the rack and pinion by the following formula:
A＝K*&，
wherein, A is the actual meshing clearance of the gear rack, K is a second preset coefficient, and K is the indirect clearance of the gear rack.
In an embodiment of the present invention, the above-described abnormality detection device for a steering gear of a vehicle further includes: and the alarm module is connected with the judgment module, and the judgment module is also used for sending an alarm prompt through the alarm module when judging that the steering gear is in the abnormal state.
In order to achieve the above object, a fourth aspect embodiment of the invention proposes a vehicle that includes the above-described abnormality detection device for a steering gear of the vehicle.
According to the vehicle provided by the embodiment of the invention, through the abnormity detection device of the steering gear, the meshing abrasion degree of the gear and the rack in the steering gear can be automatically detected, and whether the steering gear is in an abnormal state or not can be automatically judged, so that a user can be reminded to replace the steering gear according to the judgment result, the problems of looseness, abnormal sound and the like caused by overlarge meshing abrasion clearance of the gear and the rack can be effectively avoided, the problems of abnormal sound and deadlocking of the steering gear can be further prevented, the reliability and the safety of the vehicle are effectively improved, and the driving experience of the user is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of an abnormality detection method for a steering gear of a vehicle according to one embodiment of the invention;
fig. 2 is a sectional view of a conventional rack support structure;
FIG. 3 is a schematic view of the mounting position of a position sensor in a steering gear according to one embodiment of the present invention;
FIG. 4 is a block schematic diagram of an abnormality detection device for a steering gear of a vehicle according to one embodiment of the invention;
fig. 5 is a block schematic diagram of an abnormality detection device for a steering gear of a vehicle according to another embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
An abnormality detection method and apparatus for a steering gear of a vehicle, and a vehicle according to an embodiment of the present invention will be described below with reference to the accompanying drawings.
First, an abnormality detection method for a steering gear of a vehicle proposed according to an embodiment of the invention is described with reference to the drawings.
Fig. 1 is a flowchart of an abnormality detection method for a steering gear of a vehicle according to one embodiment of the invention. As shown in fig. 1, the abnormality detecting method for a steering gear of a vehicle includes the steps of:
in step S101, the vehicle speed of the vehicle, the torque of the steering wheel, the displacement of the rack in the steering gear, and the actual backlash of the rack and pinion in the steering gear are acquired.
Specifically, in the embodiment of the invention, the vehicle speed of the vehicle may be acquired by a speed sensor; acquiring the torque of a steering wheel through a torque sensor arranged in a steering column of the steering wheel; the rotation angle of the steering column is obtained through an angle sensor arranged in the steering column of the steering wheel (in order to improve the detection precision, the middle position can be calibrated before the detection is carried out), and then the movement position, namely the displacement, of the rack in the steering gear is calculated according to the rotation angle.
In addition, in the embodiment of the present invention, the actual meshing gap of the rack and pinion may be obtained by obtaining the indirect gap of the rack and pinion and according to the indirect gap of the rack and pinion. Further, the actual meshing gap of the rack and pinion can be obtained by the following formula 1:
A＝K*&(1)
wherein, A is the actual meshing clearance of the gear rack, K is a second preset coefficient, and K is the indirect clearance of the gear rack.
Specifically, the indirect gap of the rack and pinion may be acquired by a position sensor provided in the steering gear, and then the actual meshing gap of the rack and pinion may be acquired from the indirect gap. Further, taking the rack support structure shown in fig. 2 as an example, as shown in fig. 2, the rack support structure may include an adjusting screw 1, a pressing spring 2, a rack support bushing 3, a gear 4, a rack 5, and a steering gear housing 6, wherein a gap between the gear 4 and the rack 5 may be adjusted by adjusting the pressing spring 2 to press the rack support bushing 3 by the adjusting screw 1. In the measurement, the position sensor 7 can be arranged in the steering gear according to the installation position shown in fig. 3, so that the indirect gap &ofthe rack and pinion is obtained by the position sensor 7, and then the actual meshing gap a of the rack and pinion can be obtained through calculation according to the indirect gap & the actual meshing gap a.
In step S102, it is determined whether the degree of meshing wear of the rack and pinion is within a preset wear range based on the vehicle speed, the torque of the steering wheel, and the displacement of the rack.
In one embodiment of the invention, when the vehicle speed is less than a first preset vehicle speed, the torque of the steering wheel is greater than or equal to a first preset torque, the displacement of the rack is less than a first preset displacement, and the torque change frequency of the steering wheel is greater than or equal to a first preset frequency; or the vehicle speed is greater than or equal to a first preset vehicle speed and less than a second preset vehicle speed, the torque of the steering wheel is greater than or equal to a second preset torque, the displacement of the rack is less than a second preset displacement, and the torque change frequency of the steering wheel is greater than or equal to a first preset frequency; or the vehicle speed is greater than or equal to a second preset vehicle speed and less than a third preset vehicle speed, the torque of the steering wheel is greater than or equal to a third preset torque, the displacement of the rack is less than a third preset displacement, and the torque change frequency of the steering wheel is greater than or equal to a first preset frequency; or when the vehicle speed is greater than or equal to a third preset vehicle speed, the torque of the steering wheel is greater than or equal to a fourth preset torque, the displacement of the rack is smaller than a fourth preset displacement, and the torque change frequency of the steering wheel is greater than or equal to a first preset frequency, judging that the meshing wear degree of the gear and the rack is within a preset wear degree range.
The fourth preset torque is smaller than the third preset torque and smaller than the second preset torque and smaller than the first preset torque, and the fourth preset displacement is larger than the third preset displacement and larger than the second preset displacement and larger than the first preset displacement. The specific first preset torque to the fourth preset torque, the first preset displacement to the fourth preset displacement, the first preset vehicle speed to the third preset vehicle speed and the first preset times can be calibrated according to actual conditions.
Specifically, the first case: when the vehicle speed is less than a first preset vehicle speed such as 10Km/h, the torque of the steering wheel is more than or equal to a first preset torque such as 3 N.m, the displacement of the rack is less than a first preset displacement such as 30% of the total displacement, and the torque change frequency of the steering wheel is more than or equal to a first preset frequency such as 105And judging that the meshing wear degree of the gear rack is within a preset wear degree range. It should be noted that the displacement of the rack may also be referred to as a stroke of the steering column, and the displacement of the rack is less than a first preset displacement, for example, 30% of the total displacement, or may be expressed as a stroke of the steering column being less than a first preset stroke, for example, 30% of the total stroke.
In the second case: when the first preset vehicle speed is less than or equal to 10Km/h and less than the second preset vehicle speed is 60Km/h, the torque of the steering wheel is greater than or equal to the second preset torque, such as 2 N.m, the displacement of the rack is less than the second preset displacement, such as 45 percent of the total displacement, and the torque change frequency of the steering wheel is greater than or equal to the first preset frequency, such as 105And judging that the meshing wear degree of the gear rack is within a preset wear degree range.
In the third case: when the second preset vehicle speed is less than or equal to 60Km/h and less than the third preset vehicle speed is less than or equal to 100Km/h, the torque of the steering wheel is greater than or equal to the third preset torque, such as 1.5 N.m, the displacement of the rack is less than the third preset displacement, such as 75% of the total displacement, and the torque change frequency of the steering wheel is greater than or equal to the first preset frequency, such as 105And judging that the meshing wear degree of the gear rack is within a preset wear degree range.
In a fourth case: when the vehicle speed is larger than or equal to a third preset vehicle speed such as 100Km/h, the torque of the steering wheel is larger than or equal to a fourth preset torque such as 1 N.m, the displacement of the rack is smaller than the fourth preset displacement such as 90% of the total displacement, and the torque change frequency of the steering wheel is larger than or equal to a first preset frequency such as 105And judging that the meshing wear degree of the gear rack is within a preset wear degree range.
That is, when any one of the four situations occurs, the meshing wear degree of the gear rack is judged to be within the preset wear degree range, namely, the wear is more serious.
In step S103, if the meshing wear degree of the rack and pinion is within the preset wear degree range, it is further determined whether the steering gear is in an abnormal state according to the actual meshing clearance of the rack and pinion.
In an embodiment of the present invention, when the meshing wear degree of the rack and pinion is within the predetermined wear degree range and the actual meshing clearance of the rack and pinion is smaller than the predetermined meshing clearance and is greater than or equal to the product of the predetermined meshing clearance and the first predetermined coefficient, or the actual meshing clearance of the rack and pinion is greater than or equal to the predetermined meshing clearance, it is determined that the steering gear is in an abnormal state. The preset meshing clearance and the first preset coefficient can be calibrated according to actual conditions.
Specifically, it is preliminarily determined that the steering gear is in an abnormal wear state based on the vehicle speed, the torque of the steering wheel, and the displacement of the rack in the steering gear, and it is subsequently further determined whether the steering gear is in an abnormal state based on the detected actual meshing gap a of the rack and pinion in the steering gear. For example, when the meshing wear degree of the rack and pinion is within the preset wear degree range, and the actual meshing clearance a of the rack and pinion is smaller than the preset meshing clearance B and is greater than or equal to the product of the preset meshing clearance B and a first preset coefficient h (i.e., B × h), it is determined that the steering gear is in an abnormal state, where the first preset coefficient h may be 95%. And if the actual meshing clearance A of the gear rack is larger than or equal to the preset meshing clearance B, directly judging that the steering gear is in an abnormal state.
That is to say, in the embodiment of the present invention, two determination conditions may be included, one is that the meshing wear degree of the rack and pinion is within the preset wear degree range, and B × h is less than or equal to a, and the other is that a is greater than or equal to B, and as long as one of the determination conditions is satisfied, it can be determined that the steering gear is in an abnormal state, that is, the meshing gap of the rack and pinion is too large, thereby causing problems such as wear, looseness, abnormal sound, and the like.
In addition, in the embodiment of the present invention, the determination may be performed directly according to the indirect gap & of the gear and the rack without calculating the actual meshing gap a of the gear and the rack, for example, the actual meshing gap a in the above embodiment is replaced by the indirect gap &, and the corresponding preset meshing gap B is replaced by a threshold corresponding to the indirect gap (there is a K-fold relationship), which is not described in detail herein.
Further, according to an embodiment of the present invention, when it is determined that the steering gear is in an abnormal state, an alarm prompt is also issued. For example, a sound and light alarm can be given through a meter on the vehicle to remind the driver of replacing the steering gear in time.
Therefore, according to the method provided by the embodiment of the invention, when the vehicle is steered in situ or in the driving process, the meshing clearance of the rack and pinion in the steering gear, the vehicle speed, the steering wheel torque and the displacement of the rack and pinion in the steering gear can be measured in real time through the position sensor, the speed sensor, the torque sensor arranged in the steering column of the steering wheel and the angle sensor arranged in the steering column of the steering wheel, and then the current meshing wear degree of the rack and pinion is judged through the electronic control unit, so that a user is reminded to replace the steering gear according to the judgment result, and therefore, the problems of looseness, abnormal sound and the like caused by the overlarge meshing wear clearance of the rack and pinion are effectively avoided, the problems of abnormal sound and blocking of the steering gear are further prevented, and the purpose of active safety defense is achieved. When the invention is applied to the traditional gear and rack clearance adjusting device, the clearance adjustment of the gear and the rack can be realized, and the problems of abrasion, looseness, abnormal sound and the like caused by overlarge gear and rack clearance after the gear and rack clearance adjusting device is excessively abraded can be prevented, so that the efficiency of a steering mechanism is improved, and the NVH (Noise, Vibration and Harshness) performance and the safety of a vehicle are improved.
In summary, according to the abnormality detection method for the steering gear of the vehicle in the embodiment of the present invention, the vehicle speed of the vehicle, the torque of the steering wheel, the displacement of the rack in the steering gear, and the actual meshing gap of the rack and pinion in the steering gear are first obtained, and then whether the meshing wear degree of the rack and pinion is within the preset wear degree range is determined according to the vehicle speed, the torque of the steering wheel, and the displacement of the rack and pinion, and if so, whether the steering gear is in the abnormal state is further determined according to the actual meshing gap of the rack and pinion. The method can realize automatic detection of the meshing wear degree of the gear and the rack in the steering gear and automatic judgment of whether the steering gear is in an abnormal state or not, so that a user is reminded to replace the steering gear according to the judgment result, the problems of wear, looseness, abnormal sound and the like caused by too large gaps of the meshing wear of the gear and the rack can be effectively avoided, the problems of abnormal sound and blocking of the steering gear are prevented, the reliability and safety of a vehicle are effectively improved, and the driving experience of the user is improved.
In addition, an embodiment of the present invention further provides a storage medium for storing an application program for executing the above-described abnormality detection method for a steering gear.
This storage medium, through carrying out the above-mentioned unusual detection method of steering gear, can realize the automated inspection to rack and pinion's meshing degree of wear in the steering gear and whether to be in the automated inspection of abnormal state to whether be in the steering gear according to the judgement result warning user change steering gear, thereby can effectively avoid the too big loose spacious of clearance brought of rack and pinion meshing wearing and tearing, abnormal sound scheduling problem, and then prevent steering gear abnormal sound and the dead problem of card, the reliability and the security of vehicle have effectively been improved, user's driving experience has been promoted.
An abnormality detection device for a steering gear of a vehicle proposed according to an embodiment of the invention is described below with reference to the accompanying drawings.
Fig. 4 is a block schematic diagram of an abnormality detection device for a steering gear of a vehicle according to one embodiment of the invention. As shown in fig. 4, the abnormality detection device 10 for a steering gear of a vehicle includes: an acquisition module 100 and a judgment module 200.
The obtaining module 100 is configured to obtain a vehicle speed of a vehicle, a torque of a steering wheel, a displacement of a rack in a steering gear, and an actual meshing gap of a rack and a pinion in the steering gear. The judging module 200 is configured to judge whether the meshing wear degree of the rack and pinion is within a preset wear degree range according to the vehicle speed, the torque of the steering wheel, and the displacement of the rack, and further judge whether the steering gear is in an abnormal state according to the actual meshing clearance of the rack and pinion when the meshing wear degree of the rack and pinion is within the preset wear degree range.
Specifically, in the embodiment of the invention, as shown in fig. 5, the vehicle speed of the vehicle may be acquired by the speed sensor 104; acquiring the torque magnitude of a steering wheel through a torque sensor 101 arranged in a steering column of the steering wheel; the rotation angle of the steering column is acquired by an angle sensor 102 provided in the steering column of the steering wheel (for the purpose of improving detection accuracy, the neutral position can be calibrated before detection), and then the movement position, i.e., the displacement, of the rack in the steering is calculated from the rotation angle.
In addition, in one embodiment of the present invention, the actual meshing gap of the rack and pinion may be obtained by obtaining the indirect gap of the rack and pinion and obtaining the actual meshing gap of the rack and pinion according to the indirect gap of the rack and pinion. Further, the obtaining module 100 may obtain the actual meshing gap of the rack and pinion by the following formula 1:
A＝K*&， (1)
wherein, A is the actual meshing clearance of the gear rack, K is a second preset coefficient, and K is the indirect clearance of the gear rack.
Specifically, the indirect gap of the rack and pinion may be acquired by the position sensor 103 provided in the steering gear, and then the actual meshing gap of the rack and pinion may be acquired from the indirect gap. Further, taking the rack support structure shown in fig. 2 as an example, as shown in fig. 2, the rack support structure may include an adjusting screw 1, a pressing spring 2, a rack support bushing 3, a gear 4, a rack 5, and a steering gear housing 6, wherein a gap between the gear 4 and the rack 5 may be adjusted by adjusting the pressing spring 2 to press the rack support bushing 3 by the adjusting screw 1. In the measurement, the position sensor 7 (i.e., the position sensor 103 in fig. 5) may be disposed in the steering gear according to the installation position shown in fig. 3 to acquire the indirect gap &ofthe rack and pinion through the position sensor 7 (i.e., the position sensor 103 in fig. 5), and then the actual meshing gap a of the rack and pinion may be calculated and acquired according to the indirect gap &.
In one embodiment of the invention, when the vehicle speed is less than a first preset vehicle speed, the torque of the steering wheel is greater than or equal to a first preset torque, the displacement of the rack is less than a first preset displacement, and the torque change frequency of the steering wheel is greater than a preset frequency; or the vehicle speed is greater than or equal to a first preset vehicle speed and less than a second preset vehicle speed, the torque of the steering wheel is greater than or equal to a second preset torque, the displacement of the rack is less than a second preset displacement, and the torque change frequency of the steering wheel is greater than the preset frequency; or the vehicle speed is greater than or equal to a second preset vehicle speed and less than a third preset vehicle speed, the torque of the steering wheel is greater than or equal to a third preset torque, the displacement of the rack is less than a third preset displacement, and the torque change frequency of the steering wheel is greater than a first preset frequency; or when the vehicle speed is greater than or equal to a third preset vehicle speed, the torque of the steering wheel is greater than or equal to a fourth preset torque, the displacement of the rack is smaller than a fourth preset displacement, and the torque change frequency of the steering wheel is greater than the first preset frequency, the judgment module 200 judges that the meshing wear degree of the rack and the pinion is within the preset wear degree range.
The fourth preset torque is smaller than the third preset torque and smaller than the second preset torque and smaller than the first preset torque, and the fourth preset displacement is larger than the third preset displacement and larger than the second preset displacement and larger than the first preset displacement. Specifically, the first preset torque to the fourth preset torque, the first preset displacement to the fourth preset displacement, the first preset vehicle speed to the third preset vehicle speed and the first preset times can be calibrated according to actual conditions.
Specifically, the first case: when the vehicle speed is less than a first preset vehicle speed such as 10Km/h, the torque of the steering wheel is more than or equal to a first preset torque such as 3 N.m, the displacement of the rack is less than a first preset displacement such as 30% of the total displacement, and the torque change frequency of the steering wheel is more than or equal to a first preset frequency such as 105The determining module 200 determines that the meshing wear degree of the rack and the pinion is within a preset wear degree range. It should be noted that the displacement of the rack may also be referred to as a stroke of the steering column, and the displacement of the rack is less than a first preset displacement, for example, 30% of the total displacement, or may be expressed as a stroke of the steering column being less than a first preset stroke range, for example, 30% of the total stroke.
In the second case: when the first preset vehicle speed is less than or equal to 10Km/h and less than the second preset vehicle speed, such as 60KmH, the torque of the steering wheel is larger than or equal to a second preset torque such as 2 N.m, the displacement of the rack is smaller than the second preset displacement such as 45% of the total displacement, and the torque change frequency of the steering wheel is larger than or equal to a first preset frequency such as 105The determining module 200 determines that the meshing wear degree of the rack and the pinion is within a preset wear degree range.
In the third case: when the second preset vehicle speed is less than or equal to 60Km/h and less than the third preset vehicle speed is less than or equal to 100Km/h, the torque of the steering wheel is greater than or equal to the third preset torque, such as 1.5 N.m, the displacement of the rack is less than the third preset displacement, such as 75% of the total displacement, and the torque change frequency of the steering wheel is greater than or equal to the first preset frequency, such as 105The determining module 200 determines that the meshing wear degree of the rack and the pinion is within a preset wear degree range.
In a fourth case: when the vehicle speed is larger than or equal to a third preset vehicle speed such as 100Km/h, the torque of the steering wheel is larger than or equal to a fourth preset torque such as 1 N.m, the displacement of the rack is smaller than the fourth preset displacement such as 90% of the total displacement, and the torque change frequency of the steering wheel is larger than or equal to a first preset frequency such as 105The determining module 200 determines that the meshing wear degree of the rack and the pinion is within a preset wear degree range.
That is, when any one of the four situations occurs, the determining module 200 determines that the meshing wear degree of the rack and pinion is within the preset wear degree range, i.e., the wear is relatively severe.
In an embodiment of the present invention, the determining module 200 determines that the steering gear is in the abnormal state when the meshing wear degree of the rack and pinion is within the predetermined wear degree range and the actual meshing gap of the rack and pinion is smaller than the predetermined meshing gap and is greater than or equal to a product of the predetermined meshing gap and a first predetermined coefficient, or the actual meshing gap of the rack and pinion is greater than or equal to the predetermined meshing gap. The preset meshing clearance and the first preset coefficient can be calibrated according to actual conditions.
Specifically, the determination module 200 primarily determines that the steering gear is in an abnormal wear state according to the vehicle speed, the torque of the steering wheel and the displacement of the rack in the steering gear, and subsequently determines whether the steering gear is in an abnormal state according to the detected actual meshing gap a of the rack and the pinion in the steering gear. For example, when the meshing wear degree of the rack and pinion is within the preset wear degree range, and the actual meshing clearance a of the rack and pinion is smaller than the preset meshing clearance B and is greater than or equal to the product of the preset meshing clearance B and a first preset coefficient h (i.e., B × h), the determining module 200 determines that the steering gear is in an abnormal state, where the first preset coefficient h may be 95%. If the actual meshing gap a of the rack and pinion is greater than or equal to the predetermined meshing gap B, the determining module 200 directly determines that the steering gear is in an abnormal state.
That is to say, in the embodiment of the present invention, two determination conditions may be included, one is that the meshing wear degree of the rack and pinion is within the preset wear degree range, and B × h is less than or equal to a, and the other is that a is greater than or equal to B, and as long as one of the determination conditions is satisfied, it can be determined that the steering gear is in an abnormal state, that is, the meshing gap of the rack and pinion is too large, thereby causing problems such as wear, looseness, abnormal sound, and the like.
In addition, in the embodiment of the present invention, the determination may be performed directly according to the indirect gap & of the gear and the rack without calculating the actual meshing gap a of the gear and the rack, for example, the actual meshing gap a in the above embodiment is replaced by the indirect gap &, and the corresponding preset meshing gap B is replaced by a threshold corresponding to the indirect gap (there is a K-fold relationship), which is not described in detail herein.
Further, in one embodiment of the present invention, the above-described abnormality detection device 10 for a steering gear of a vehicle further includes: an alarm module 300. The alarm module 300 is connected to the judgment module 200, and the judgment module 200 is further configured to send an alarm prompt through the alarm module 300 when the steering gear is judged to be in an abnormal state. For example, the alarm module 300 may be a meter on the vehicle, and sound and light alarm is performed through the meter on the vehicle to remind the driver to replace the steering gear in time.
According to the abnormality detection device for the steering gear of the vehicle, the acquisition module is used for acquiring the vehicle speed of the vehicle, the torque of a steering wheel, the displacement of a rack in the steering gear and the actual meshing clearance of a rack and pinion in the steering gear, then the judgment module is used for judging whether the meshing wear degree of the rack and pinion is within the preset wear degree range according to the vehicle speed, the torque of the steering wheel and the displacement of the rack, and if so, the judgment module is used for further judging whether the steering gear is in an abnormal state according to the actual meshing clearance of the rack and pinion. The device can realize the automated inspection to the meshing degree of wear of rack and pinion in the steering gear and whether to be in the automatic judgement of abnormal state to the steering gear, so that remind the user to change the steering gear according to the judged result, thereby can effectively avoid the too big pine spacious, the abnormal sound scheduling problem that brings in clearance of rack and pinion meshing wearing and tearing, and then prevent steering gear abnormal sound and the dead problem of card, effectively improved the reliability and the security of vehicle, promoted user's driving experience.
Further, an embodiment of the present invention also proposes a vehicle including the above-described abnormality detection device for a steering gear of a vehicle and the above-described storage medium.
According to the vehicle provided by the embodiment of the invention, through the abnormity detection device of the steering gear, the meshing abrasion degree of the gear and the rack in the steering gear can be automatically detected, and whether the steering gear is in an abnormal state or not can be automatically judged, so that a user can be reminded to replace the steering gear according to the judgment result, the problems of looseness, abnormal sound and the like caused by overlarge meshing abrasion clearance of the gear and the rack can be effectively avoided, the problems of abnormal sound and deadlocking of the steering gear can be further prevented, the reliability and the safety of the vehicle are effectively improved, and the driving experience of the user is improved.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In addition, in the description of the present invention, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (12)
1. An abnormality detection method for a steering gear of a vehicle, characterized by comprising the steps of:
acquiring the speed of the vehicle, the torque of a steering wheel, the displacement of a rack in the steering gear and the actual meshing clearance of a rack and pinion in the steering gear;
judging whether the meshing wear degree of the gear and the rack is within a preset wear degree range or not according to the vehicle speed, the torque of the steering wheel and the displacement of the rack, wherein when the vehicle speed is less than a first preset vehicle speed, the torque of the steering wheel is greater than or equal to a first preset torque, the displacement of the rack is less than a first preset displacement, and the torque change frequency of the steering wheel is greater than or equal to a first preset frequency; or the vehicle speed is greater than or equal to the first preset vehicle speed and less than a second preset vehicle speed, the torque of the steering wheel is greater than or equal to a second preset torque, the displacement of the rack is less than a second preset displacement, and the torque change frequency of the steering wheel is greater than or equal to the first preset frequency; or the vehicle speed is greater than or equal to the second preset vehicle speed and less than a third preset vehicle speed, the torque of the steering wheel is greater than or equal to a third preset torque, the displacement of the rack is less than a third preset displacement, and the torque change frequency of the steering wheel is greater than or equal to the first preset frequency; or when the vehicle speed is greater than or equal to the third preset vehicle speed, the torque of the steering wheel is greater than or equal to a fourth preset torque, the displacement of the rack is smaller than a fourth preset displacement, and the torque change frequency of the steering wheel is greater than or equal to the first preset frequency, judging that the meshing wear degree of the gear and the rack is within the preset wear degree range;
if the meshing wear degree of rack and pinion is in predetermine the wear degree within range, then further according to the actual meshing clearance of rack and pinion judges whether the steering gear is in abnormal state, wherein, work as the meshing wear degree of rack and pinion is in predetermine the wear degree within range just the actual meshing clearance of rack and pinion is less than predetermine the meshing clearance and more than or equal to predetermine the product of meshing clearance and first predetermined coefficient, perhaps, the actual meshing clearance of rack and pinion more than or equal to during predetermineeing the meshing clearance, judge the steering gear is in abnormal state.
2. The abnormality detection method for a steering gear for a vehicle according to claim 1, characterized in that the fourth preset torque is smaller than the third preset torque, the third preset torque is smaller than the second preset torque, the second preset torque is smaller than the first preset torque, the fourth preset displacement is larger than the third preset displacement, the third preset displacement is larger than the second preset displacement, and the second preset displacement is larger than the first preset displacement.
3. The abnormality detection method for a steering gear of a vehicle according to claim 1, characterized by further comprising: and acquiring the indirect clearance of the gear and the rack, and acquiring the actual meshing clearance of the gear and the rack according to the indirect clearance of the gear and the rack.
4. The abnormality detection method for a steering gear for a vehicle according to claim 3, characterized in that an actual meshing gap of the rack and pinion is obtained by the following formula:
A＝K*&，
wherein, A is the actual meshing clearance of the gear rack, K is a second preset coefficient, and K is the indirect clearance of the gear rack.
5. The abnormality detection method for a steering gear for a vehicle according to claim 1, characterized in that an alarm prompt is also issued when it is determined that the steering gear is in the abnormal state.
6. A storage medium characterized by storing an application program for executing the abnormality detection method of a diverter according to any one of claims 1 to 5.
7. An abnormality detection device for a steering gear of a vehicle, characterized by comprising:
the acquisition module is used for acquiring the speed of the vehicle, the torque of a steering wheel, the displacement of a rack in the steering gear and the actual meshing clearance of a rack and pinion in the steering gear;
a judging module, configured to judge whether the meshing wear degree of the rack and pinion is within a preset wear degree range according to the vehicle speed, the torque of the steering wheel, and the displacement of the rack, and further judge whether the steering gear is in an abnormal state according to an actual meshing clearance of the rack and pinion when the meshing wear degree of the rack and pinion is within the preset wear degree range,
when the vehicle speed is less than a first preset vehicle speed, the torque of the steering wheel is greater than or equal to a first preset torque, the displacement of the rack is less than a first preset displacement, and the torque change frequency of the steering wheel is greater than or equal to a first preset frequency; or the vehicle speed is greater than or equal to the first preset vehicle speed and less than a second preset vehicle speed, the torque of the steering wheel is greater than or equal to a second preset torque, the displacement of the rack is less than a second preset displacement, and the torque change frequency of the steering wheel is greater than or equal to the first preset frequency; or the vehicle speed is greater than or equal to the second preset vehicle speed and less than a third preset vehicle speed, the torque of the steering wheel is greater than or equal to a third preset torque, the displacement of the rack is less than a third preset displacement, and the torque change frequency of the steering wheel is greater than or equal to the first preset frequency; or when the vehicle speed is greater than or equal to the third preset vehicle speed, the torque of the steering wheel is greater than or equal to a fourth preset torque, the displacement of the rack is smaller than a fourth preset displacement, and the torque change frequency of the steering wheel is greater than or equal to the first preset frequency, judging that the meshing wear degree of the gear and the rack is within the preset wear degree range;
when the meshing wear degree of the gear rack is in the preset wear degree range, the actual meshing clearance of the gear rack is smaller than the preset meshing clearance and larger than or equal to the product of the preset meshing clearance and a first preset coefficient, or the actual meshing clearance of the gear rack is larger than or equal to the preset meshing clearance, the steering gear is judged to be in the abnormal state.
8. The abnormality detection device for a steering gear of a vehicle according to claim 7, characterized in that the fourth preset torque is smaller than the third preset torque, the third preset torque is smaller than the second preset torque, the second preset torque is smaller than the first preset torque, the fourth preset displacement is larger than the third preset displacement, the third preset displacement is larger than the second preset displacement, and the second preset displacement is larger than the first preset displacement.
9. The abnormality detection device for the steering gear of the vehicle according to claim 7, characterized in that the acquisition module is further configured to acquire the indirect gap of the rack and pinion, and acquire the actual meshing gap of the rack and pinion from the indirect gap of the rack and pinion.
10. The abnormality detection device for a steering gear of a vehicle according to claim 9, characterized in that the acquisition module acquires an actual meshing gap of the rack and pinion by the following formula:
A＝K*&，
wherein, A is the actual meshing clearance of the gear rack, K is a second preset coefficient, and K is the indirect clearance of the gear rack.
11. The abnormality detection device for a steering gear of a vehicle according to claim 7, characterized by further comprising: and the alarm module is connected with the judgment module, and the judgment module is also used for sending an alarm prompt through the alarm module when judging that the steering gear is in the abnormal state.
12. A vehicle characterized by comprising the abnormality detection device of the steering gear according to any one of claims 7 to 11.
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| CN201810436383.5A CN108423069B (en) | 2018-05-09 | 2018-05-09 | Abnormality detection method and apparatus for steering gear of vehicle, and vehicle |
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| CN201810436383.5A CN108423069B (en) | 2018-05-09 | 2018-05-09 | Abnormality detection method and apparatus for steering gear of vehicle, and vehicle |
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| US20070032932A1 (en) * | 2005-08-05 | 2007-02-08 | Yeoh Chin H | Method and apparatus for providing a visual indication of a position of a steerable wheel, and components thereof |
| JP2009001243A (en) * | 2007-06-25 | 2009-01-08 | Nsk Ltd | Electric power steering device |
| CN201110370Y (en) * | 2007-08-29 | 2008-09-03 | 比亚迪股份有限公司 | Electric power-assisted steering apparatus |
| JP5969407B2 (en) * | 2013-01-30 | 2016-08-17 | 日立オートモティブシステムズ株式会社 | Steering angle sensor |
| CN204736917U (en) * | 2015-07-22 | 2015-11-04 | 神龙汽车有限公司 | Electron power assisted steering machine |
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