CN110027605A - Adjustment wire-controlled steering system is suitable for the control unit and method of automobile driver - Google Patents
Adjustment wire-controlled steering system is suitable for the control unit and method of automobile driver Download PDFInfo
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- CN110027605A CN110027605A CN201810031569.2A CN201810031569A CN110027605A CN 110027605 A CN110027605 A CN 110027605A CN 201810031569 A CN201810031569 A CN 201810031569A CN 110027605 A CN110027605 A CN 110027605A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/008—Changing the transfer ratio between the steering wheel and the steering gear by variable supply of energy, e.g. by using a superposition gear
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Abstract
The present invention relates to control units and method that adjustment wire-controlled steering system is suitable for automobile driver, specifically disclose in motor vehicle for adjusting method (20) and control unit (10) that wire-controlled steering system is suitable for driver.Firstly, obtaining signal from one group of sensor for including at least one of vehicle speed sensor, vehicle acceleration sensor, steering angle sensor, steering torque sensor and yaw rate sensor.The signal from the sensor is handled to determine that driver is well-trained driver or unbred driver.Secondly, obtaining signal from one group of sensor including at least vehicle acceleration sensor, steering angle sensor, steering torque sensor.Then, using fuzzy logic processes signal to determine that driver is low sensitivity driver or high sensitive driver.It is handling above it is a technical advantage that turning rate is applied to wire-controlled steering system to reduce driver fatigue and improve the easiness of driving.
Description
Technical field
The present invention relates to the control units and method that are suitable for driver for adjusting wire-controlled steering system in motor vehicle.
Background technique
Steering system is one of many components in motor vehicle, and the importance of steering system is without overemphasizing.Turn
Vehicle is maintained to the driver of system help vehicle or motor vehicle on stable path and direction, and also helped any
It turns when needs.Accident or calamity can occur really sometimes, this other than many other reasons for leading to accident, also because
Vehicle can not correctly be redirect on desired direction for the driver of vehicle.
Detailed description of the invention
Below with reference to the accompanying drawings embodiment of the disclosure is illustrated in principle.Attached drawing is:
Fig. 1 illustrates the schematic diagram of the first arragement construction, the first arragement construction includes being connected to the control unit of multiple sensors；
Fig. 2 illustrates the schematic diagram of the second arragement construction, and the second arragement construction includes being connected to the control unit of electric network；
Fig. 3 is illustrated and is adjusted the step that wire-controlled steering system is suitable in the method for driver in motor vehicle；
Fig. 4 a illustrates the fuzzy logic membership function of the change for acceleration；
Fig. 4 b illustrates the fuzzy logic membership function of the change for steering angle；
Fig. 4 c illustrates the fuzzy logic membership function of the change for steering moment；And
Fig. 4 d illustrates the fuzzy logic membership function for steering correction rate.
Specific embodiment
Fig. 1 illustrates the schematic diagram of the first arragement construction, the first arragement construction include be connected to multiple sensors (101,
102,103,104 and control unit 10 105).In the arragement construction, control unit 10 from multiple sensors (101,102,
103,104 and 105) directly receive signal.In the context of upper sentence, " direct " is referred to: not any other or external
Hardware entities any intervention or participate in the case where, by control unit 10 from multiple sensors receive signal.In other words, institute
Including hardware entities be only control unit 10 and multiple sensors (101,102,103,104 and 105).Fig. 2 illustrates second
The schematic diagram of arragement construction, the second arragement construction include being connected to the control unit 10 of electric network 110.Electric network 110 can
To be controller local area network (CAN) or be typically mounted on motor vehicle and any similar network in network.In the second cloth
It sets in structure, electric network 110 receives signal, and control unit 10 from multiple sensors (101,102,103,104 and 105)
Signal is received from electric network 110.Control unit 10 can be micro process used in any electronic control unit or motor vehicle
Device, to obtain and handle the information generated in motor vehicle and the function of controlling motor vehicle.The example of control unit 10 can be logical
The ECU or electronic control unit used in a motor vehicle and in a motor vehicle is often installed.Those of ordinary skill in the art understand logical
To electric network 110 and the information exchange from electric network 110.In above-mentioned first arragement construction and the second arragement construction with
And multiple sensors (101,102,103,104 and 105) in the context of the present application are not limited to five.Five are only shown
Example, and multiple sensors can use any number.Multiple sensors will be described below.
The control unit 10 for being suitable for driver in motor vehicle for adjusting wire-controlled steering system was suitable in the scheduled time
Signal is obtained from first group of sensor in section.Control unit 10 is further adapted for handling the signal obtained from first group of sensor with determination
Whether driver is any of well-trained driver and unbred driver.Control unit 10 is further adapted for
Signal is obtained from second group sensor in another predetermined time period.After acquisition, control unit 10 is further adapted for processing another
The signal obtained in a predetermined time section from second group sensor is to determine whether driver is low sensitivity
(sensitivity) any of driver and high sensitive driver.Control unit 10 is further adapted for
It is no be any of well-trained driver or unbred driver and whether be low sensitivity driver with
Turning rate (steering ratio) is applied to wire-controlled steering system by any of hypersensitivity driver.This field
The wire-controlled steering system that those of ordinary skill is understood is the combined steering system with both Mechanical course and electronic control.
In other words, in wire-controlled steering system, many mechanical parts in conventional steering system are substituted by electronic component.
Fig. 3 is illustrated and is adjusted the step that wire-controlled steering system is suitable in the method 20 of driver in motor vehicle.Method 20
Including first step 205: obtaining signal from the first group of sensor in motor vehicle in predetermined time period by control unit 10.
Method 20 includes second step 210: the signal that obtains from first group of sensor is handled by control unit 10, to determine that driver is
No is any of well-trained driver and unbred driver.Method 20 includes third step 215: by controlling
Unit 10 processed obtains signal from second group sensor in another predetermined time period.Method 20 includes four steps 220: by controlling
The signal that the processing of unit 10 processed obtains in another predetermined time period from second group sensor, to determine whether driver is low
Any of susceptibility driver and high sensitive driver.Method 20 includes the 5th step 225: whether being based on driver
It is any of well-trained driver and unbred driver and whether is low sensitivity driver and high
Turning rate is applied to wire-controlled steering system by control unit 10 by any of susceptibility driver.
First group of sensor includes at least one of following: vehicle speed sensor, vehicle acceleration sensor, steering
Angle transducer, steering torque sensor and yaw-rate (yaw rate) sensor.The sensor is described before being formed
Multiple sensors.As its title implied, vehicle speed sensor measures the speed of vehicle, vehicle acceleration sensor measurement
The acceleration of vehicle, the rotational angle that steering angle sensor measurement turns to, steering torque sensor measurement are applied to steering wheel
The yaw-rate of torque and yaw rate sensor measurement vehicle.Yaw-rate is the angular speed that vehicle surrounds vehicle vertical axis.The
One group of sensor can be the sensor or multiple in above-mentioned multiple sensors.Second group sensor includes in following
At least one: vehicle speed sensor, vehicle acceleration sensor, steering angle sensor, steering torque sensor and cross
Slew Rate sensor.Second group sensor can be the sensor or multiple in above-mentioned multiple sensors.
In method 20, obtaining signal from first group of sensor by control unit 10 includes directly connecing from first group of sensor
The collection of letters number.In present description, " directly reception signal " has been described before.It is alternatively, single by control in method 20
It includes receiving signal by the electric network 110 in vehicle or motor vehicle that member 10, which obtains signal from first group of sensor,.In method
In 20, obtaining signal from second group sensor by control unit 10 includes directly receiving signal from second group sensor.In method
In 20, alternatively, obtaining signal from second group sensor by control unit 10 includes by the electronic network in vehicle or motor vehicle
Network 110 receives signal.
In method 20, the letter obtained in another predetermined time period from second group sensor is handled by control unit 10
Number with determine driver whether be any of low parachute sensitivity region and high parachute sensitivity region include benefit
The signal obtained with fuzzy logic processes from second group sensor.
Under the context of this application, " group " may include any numerical value, i.e., from one to any value greater than one.As showing
Example, group may include only one value.As another example, group may include 2 values.As another other example, group can
To include 5 values.As other example, group may include 10 values.
Described hereafter is the working methods of method 20.In step 205, from first group of sensing in predetermined time period
Device obtains signal.First group of sensor has been described before.First group of sensor may include from multiple sensors only
One sensor or more than one sensor.As an example, first group of sensor only includes steering angle sensor.Therefore, in step
In rapid 205, signal is obtained up to 5 seconds from steering angle sensor.Predetermined time period is not limited to only 5 seconds, and can also be used other
Value.
The signal obtained in step 205 is handled in step 210, to determine whether driver is well-trained drive
Any of the person of sailing and unbred driver.As an example, the signal from steering angle sensor is processed, with inspection
Look into whether they fall in scheduled threshold value.For example, when driver just continues road or highway extending in a straight line,
Well-trained driver will not usually continue to keep making steering wheel correction with along route, and unbred
Driver would generally keep making steering wheel correction.After driver has turned right or turns left or turns around, identical ratio
According to still setting up.Steering angle sensor measurement direction is spiraled the angle gone to.Steering wheel is rotated more, is sensed by steering angle
The angle of device measurement is higher.If the signal obtained in predetermined time period from steering angle sensor crosses scheduled threshold
Value, then driver is classified as unbred driver.If obtained in predetermined time period from steering angle sensor
Signal is fallen in scheduled threshold value, then driver is classified as well-trained driver.For example, if the predetermined threshold of steering angle
Value is 5 °, and if acquired signal corresponds to the steering angle less than 5 °, driver is well-trained driver.And
If acquired signal corresponds to the steering angle greater than 5 °, driver is unbred driver.However, scheduled
In period, multiple signals are individually obtained from steering angle sensor.All signals in not multiple signals can all be fallen into
In or beyond the predetermined threshold of any measurement result of any sensor in multiple sensors.Identical shown using as above
If example explains in detail, for the well-trained driver driven along straight line path, in acquired multiple signals
It is most of to fall in scheduled threshold value, but the minority in multiple signals acquired in possibility is fallen in outside threshold limits, because
Driver may avoid hollow and may turn to vehicle hastily.Therefore, in step 210, during processing, right
It is configured in acquired multiple signals and uses predetermined percentage boundary.The scheduled percentage boundary is to compensate acquired
Signal in because environmental condition generate exception, the environmental condition is not by the control of well-trained driver.Only when right
When the processing of the multiple signals obtained shows that driver can be well-trained driver, scheduled percentage circle is just applied
Limit.If explaining in detail, if most of in all but acquired multiple signals in not multiple signals fall in
It is in threshold limits, then most of beyond scheduled percentage boundary to check whether using scheduled percentage boundary.If big
Majority is fallen in outside threshold percentage boundary, then driver is well-trained driver.For example, for steering angle sensor, such as
The scheduled percentage boundary of fruit is 75%, and if there is 8 signaling points to fall in scheduled threshold value in 10 signaling points, is driven
The person of sailing is well-trained driver, because 80% in signal is in predetermined threshold and 80% is greater than predetermined percentage boundary
75%.If only 7 signaling points are in predetermined threshold, driver will be classified as unbred driver.The processing exists
It is completed in control unit 10.
Described above is only example, and the processing in step 210 also can use and obtain from more than one sensor
The signal that takes is completed.
In step 215, signal is obtained from second group sensor in another predetermined time period by control unit 10.Just
For the sensor that multiple sensors are selected, second group sensor can be identical or different with first group of sensor.For example, the
One group of sensor can have two sensors, and second group sensor can have three sensors.In detail using example
If explanation, second group sensor may include vehicle acceleration sensor, steering angle sensor and steering torque sensor.
Another predetermined time period in step 215 can be identical or different with the predetermined time period in step 205.
In a step 220, the signal obtained in step 215 is handled to determine that driver is muting sensitive sense by control unit 10
Spend driver or high sensitive driver.Compared with high sensitive driver, low sensitivity driver takes action relatively
Slowly.High sensitive driver makes fast reaction to situation.Low sensitivity driver tends to ovdersteering, and high sensitive is driven
The person of sailing tends to understeer.Fuzzy logic is used for the treatment of calculating done in step 220.Utilize fuzzy logic algorithm, thing
Part and membership function are for the calculating to sensitivity value.Processing in step 220 is described below with example.
Those of ordinary skill in the art understand the membership function for being used for fuzzy logic.Membership function is limited in the input space
Each point how to be mapped to the curves of the membership values between 0 and 1.The fuzzy logic that Fig. 4 a illustrates the change for acceleration is subordinate to
Membership fuction.The small change of acceleration is indicated that the big change of acceleration is by 310 table of triangular sections by triangular sections 305
Show, and is indicated without change or very small change by rectangular section 315.The example of the small change of acceleration can be -5
km/s2To+5 km/s2.The very small change of acceleration or the example not changed can be -2 km/s2To+2 km/s2,
And the example of the big change of acceleration can be -20 km/s2To+20 km/s2.Fig. 4 b illustrates changing for steering angle
Become blurred logic membership function.The small change of steering angle is indicated that the big change of acceleration is by three by triangular sections 405
Angular section 410 indicates, and very small change or no change are indicated by rectangular section 415.The small change of steering angle
Example can be 2.5 degree to 10 degree, very small change or the example not changed can be 0 to 2.5 degree, and big change
The example of change can be 10 to 30 degree.
Fig. 4 c illustrates the fuzzy logic membership function of the change for steering moment.The small change of steering moment is by three
Angular section 505 indicates that the big change of steering moment is indicated by triangular sections 510, and very small change or does not have
Change is indicated by rectangular section 515.The example of small change can be 0.1 Nm to 1 Nm, and the example of big change can be 1
Nm to 3 Nm, and very small change or the example not changed can be 0 to 0.1 Nm.
Fig. 4 d illustrates the fuzzy logic membership function for steering correction rate.The small change of steering correction rate is by rectangle
Section 605 indicates that the big change of steering correction rate indicates by rectangular section 610, and very small change or does not change
It is indicated by rectangular section 615.Steering correction rate is obtained by the change of steering moment.Any change of steering moment can be considered as turning
Steering correction to correction, and in a period of time is steering correction rate.The example of the small change of steering correction rate is 0.1
Nm/s, the example of the big change of steering correction rate are 1 Nm/s to 3 Nm/s, and very small are changed to not changing
Example is 0 to 0.1 Nm/s.
In this example, if fallen in from the signal that vehicle acceleration sensor obtains by rectangular section 315(acceleration
Very small change does not change) in the region defined, the signal obtained from steering torque sensor is fallen in by delta
The small change of section 505(steering moment) in the region defined, the signal obtained from steering angle sensor is fallen in by rectangular section
The very small change of 415(steering angle does not change) in the region defined, and steering correction rate is fallen in by rectangular section
The small change of 605(steering correction rate) in the region defined, then parachute sensitivity is low.And similarly, if from
The signal that vehicle acceleration sensor obtains falls in the very small change by rectangular section 315(acceleration or does not change) boundary
In fixed region, the signal obtained from steering torque sensor is fallen in by the big change of delta-shaped region 510(steering moment)
In the region defined, from steering angle sensor obtain signal fall in by rectangular section 415(steering angle very small change or
Do not change) in the region defined, and steering correction rate is fallen in by the small change of rectangular section 605(steering correction rate) or
The big change of section 610(steering correction rate) in the region defined, then parachute sensitivity is high.
In the 5th step 225, control unit 10 is turned by selecting specific turning rate that turning rate is applied to line traffic control
To system.Turning rate refers to the ratio between the rotation of the steering wheel indicated with angle and the rotation of wheel.Higher turning rate
It is meant that steering wheel must rotate more to turn a wheel, and low turning rate it is meant that steering wheel must rotate less with
It turns a wheel.Control unit 10 stores multiple turning rates, and appropriate than being selected and being applied to wire-controlled steering system.This
Change the angle that driver needs steering wheel rotation for rotation needed for executing wheel of vehicle.Applied higher steering
The range of ratio can be in the range of from 11:1 to 20:1, this is for well-trained driver.Applied lower turn
To than range can be in the range of from 3:1 to 10:1, this is for unbred driver.In general, without instruction
Driver that is experienced or lacking experience tends to the steering direction for continually correcting route or correcting them, and therefore, at this
In the case of kind, it will be helpful and advantageous using lower turning rate.This is because the small rotation of steering angle can
Bring required route correction.On the other hand, because in contrast well-trained driver is less likely continually to correct road
Line, higher steering angle are applicable to well-trained driver.Range in each of turning rate, i.e., higher turning rate range
With lower turning rate range, it is segmented into high sensitive range and low sensitivity range.If explaining in detail, higher turning rate
The high sensitive range of range is from 16:1 to 20:1, and the low sensitivity range of higher turning rate range is from 11:1 to 15:1.
Similarly, the high sensitive range of lower turning rate range is from 7:1 to 10:1, and the low sensitivity model of lower turning rate range
It encloses from 3:1 to 6:1.In general, high sensitive driver tend under any outside stimulus to change in spite of oneself or
Person reacts immediately, and is also possible to turn to somewhat excessive for any external change.Therefore, high sensitive driver
The above tendency can be offset or be balanced by turning rate with higher.Therefore, higher turning rate range and lower turning rate
High sensitive range in range the two is applied to high sensitive driver.Similarly, higher turning rate range with lower turn
Low sensitivity driver is applied to than the low sensitivity range in range the two.Range above is exemplary.In industry
In, identical range or similar range can be applied.
Therefore, to the well-trained driver of then high sensitive driver, the turning rate from 16:1 to 20:1 is selected.
To the well-trained driver of then low sensitivity driver, the turning rate from 11:1 to 15:1 is selected.To then high sensitivity
The unbred driver of driver is spent, the turning rate from 7:1 to 10:1 is selected.To then low sensitivity driver without
Trained driver selects the turning rate from 3:1 to 6:1.Model, availability of turning rate depending on motor vehicle etc. are from described
Single turning rate is selected in range.
The advantages of adjustment (adaptation) of above method and control unit 10, to facilitate wire-controlled steering system
Depending on driver performance and qualification and adjust or change.It is driven it reduce the driving fatigue of driver and improving
The easiness that the person of sailing drives.This causes accident and calamity to reduce.
It will be appreciated that foregoing description intention be only illustrate the principle of disclosed technology, rather than it is exhaustive disclosed in
Technology, and those skilled in the art will be appreciated that change and modification, and the present invention is not intended to be restricted, in addition to such as institute
As being expressly recited in attached claim.
Claims (9)
1. a kind of wire-controlled steering system of adjustment in a motor vehicle is suitable for the method for driver, which comprises
Signal is obtained from the first group of sensor in the motor vehicle in predetermined time period by control unit (10)；
Handle the signal that obtains from the first group of sensor by described control unit (10), with the determination driver whether be
Any of well-trained driver and unbred driver；
Signal is obtained from second group sensor in another predetermined time period by described control unit (10)；
The signal obtained in another predetermined time period from the second group sensor by described control unit (10) processing, with
Determine whether the driver is any of low sensitivity driver and high sensitive driver；And
Whether it is any of well-trained driver and unbred driver based on the driver and is
No is any of low sensitivity driver and high sensitive driver, by described control unit (10) by turning rate application
To the wire-controlled steering system.
2. the method as described in claim 1 (20), wherein the first group of sensor includes at least one of following: vehicle
Velocity sensor, vehicle acceleration sensor, steering angle sensor, steering torque sensor and yaw rate sensor.
3. the method as described in claim 1 (20), wherein the second group sensor includes at least one of following: vehicle
Velocity sensor, vehicle acceleration sensor, steering angle sensor, steering torque sensor and yaw rate sensor.
4. the method as described in claim 1 (20), wherein obtained by described control unit (10) from the first group of sensor
Signal includes directly receiving signal from the first group of sensor.
5. the method as described in claim 1 (20), wherein obtained by described control unit (10) from the first group of sensor
Signal includes receiving signal by the electric network (110) in the motor vehicle.
6. the method as described in claim 1 (20), wherein obtained by described control unit (10) from the second group sensor
Signal includes directly receiving signal from the second group sensor.
7. the method as described in claim 1 (20), wherein obtained by described control unit (10) from the second group sensor
Signal includes receiving signal by the electric network (110) in the motor vehicle.
8. the method as described in claim 1 (20), wherein handled by described control unit (10) in another predetermined time period
Whether the interior signal obtained from the second group sensor is low sensitivity driver and high sensitive with the determination driver
The signal that any of driver obtains including the use of fuzzy logic processes from the second group sensor.
9. for adjusting the control unit (10) that wire-controlled steering system is suitable for driver, described control unit in a kind of motor vehicle
(10) it is suitable for:
Signal is obtained from first group of sensor in predetermined time period；
Handle the signal that obtains from the first group of sensor, with the determination driver whether be well-trained driver and
Any of unbred driver；
Signal is obtained from second group sensor in another predetermined time period；
Handle in another predetermined time period from the second group sensor obtain signal, with the determination driver whether
It is any of low sensitivity driver and high sensitive driver；And
Whether it is any of well-trained driver and unbred driver based on the driver and is
No is any of low sensitivity driver and high sensitive driver, and turning rate is applied to the steering-by-wire system
System.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810031569.2A CN110027605A (en) | 2018-01-12 | 2018-01-12 | Adjustment wire-controlled steering system is suitable for the control unit and method of automobile driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810031569.2A CN110027605A (en) | 2018-01-12 | 2018-01-12 | Adjustment wire-controlled steering system is suitable for the control unit and method of automobile driver |
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| CN110027605A true CN110027605A (en) | 2019-07-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810031569.2A Pending CN110027605A (en) | 2018-01-12 | 2018-01-12 | Adjustment wire-controlled steering system is suitable for the control unit and method of automobile driver |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113895518A (en) * | 2021-10-29 | 2022-01-07 | 集度汽车有限公司 | Method and device for adjusting vehicle steering ratio and storage medium |
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| CN113895518B (en) * | 2021-10-29 | 2022-11-18 | 上海集度汽车有限公司 | Method and device for adjusting vehicle steering ratio and storage medium |
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