CN111605607A - Steering power-assisted control and priority distribution method during vehicle running - Google Patents
Steering power-assisted control and priority distribution method during vehicle running Download PDFInfo
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- CN111605607A CN111605607A CN202010299824.9A CN202010299824A CN111605607A CN 111605607 A CN111605607 A CN 111605607A CN 202010299824 A CN202010299824 A CN 202010299824A CN 111605607 A CN111605607 A CN 111605607A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention relates to the technical field of automobile control, in particular to a method for controlling steering power assistance and distributing priority when a vehicle runs, which comprises the following steps of S1: the electric power steering system controller interacts with the CAN network of the whole vehicle; step S2: determining whether the vehicle is in a high-speed running state, step S3: judging whether the vehicle is triggered to a threshold value set by a system, if the vehicle triggers the threshold value, entering a step S4, otherwise, entering a step S5; step S4: judging whether the driver has a direction-changing intention, if so, reducing the steering wheel steering assistance by the power-assisted motor, and preferentially steering the vehicle, and step S5: the invention analyzes and warns, corrects, controls and the like the operation of the driver such as emergency lane change, sudden direction change and the like caused by the front emergency situation in the normal running of the vehicle, or allows the strategic control such as priority lane change and the like, thereby ensuring the safety of the driver.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to a method for controlling steering power-assisted steering and distributing priority when a vehicle runs.
Background
With the development of automobile intellectualization in China, electric power steering is accepted by more and more consumers, and although the traffic road condition of a vehicle running at high speed is lower than that of a city road condition, the operation of emergency lane change, emergency direction hitting and the like of a driver caused by emergency situations in front of the vehicle can cause the vehicle to generate unexpected response, so that serious traffic accidents are caused, and lives, properties, safety and the like are damaged.
The intention of simply monitoring a steering wheel angle signal, a moment signal and the like of a driver can easily cause confusion and driver dislike, particularly how an electric power steering system controller executes operation when the driver really needs emergency lane change avoidance, logic interaction control is required to be carried out with ESP, LKA and the like when the driver does not need to hit a steering lamp in time of emergency lane change, a vehicle yaw angular velocity signal, a vehicle longitudinal acceleration signal and a vehicle lateral acceleration signal are added, detection is required to be carried out according to a millimeter wave radar, a camera and the like, and logic strategy setting is carried out according to the set priority level.
Therefore, if the electric power steering system controller monitors road conditions, driver hand force, whole vehicle swing postures and the like in real time when the vehicle runs, and performs reasonable transverse and longitudinal auxiliary control in cooperation with ESP and LKA to warn in advance, so that a vehicle rollover event caused by large-angle steering can be avoided, the accident occurrence probability can be reduced to a certain extent, and the safety and the driving stability of a driver running the vehicle at a high speed are improved.
Disclosure of Invention
The present invention is directed to a method for controlling steering assist and assigning priority when a vehicle is traveling, so as to solve the problems of the related art.
The technical scheme of the invention is as follows:
a method for controlling steering power assistance and allocating priority when a vehicle runs comprises the following steps:
step S1: the electric power steering system controller interacts with the CAN network of the whole vehicle;
step S2: the electric power steering system controller receives the engine speed signal and the vehicle speed signal, judges whether the vehicle is in a high-speed running state, if the vehicle is in the high-speed state, the step S3 is carried out, otherwise, the step S1 is carried out;
step S3: the electric power steering system controller receives a yaw velocity signal and a lateral acceleration signal of a synchronous monitoring receiving whole vehicle, judges whether the vehicle is triggered to a threshold value set by a system, if the vehicle triggers the threshold value, the step S4 is carried out, otherwise, the step S5 is carried out;
step S4: the electric power steering system controller receives the steering wheel angular acceleration signal, the steering wheel acceleration signal and the torque signal to judge whether a driver has a direction-changing intention, if the driver has the direction-changing intention, the power-assisted motor reduces the steering wheel steering assistance, the lane departure early warning control unit is distributed through the ECU central processing unit to control the vehicle to preferentially steer, and if the driver does not have the direction-changing intention, the step S3 is returned;
step S5: the electric power-assisted steering system controller receives the steering wheel angular acceleration signal, the steering wheel acceleration signal and the torque signal to judge whether a driver has a direction-changing intention, if the driver has the direction-changing intention, the power-assisted motor reduces the steering wheel steering assistance, the lane departure early warning control unit controls the vehicle to brake preferentially, the instrument controller controls the steering lamp and the hazard warning flash lamp to flash, and if the driver does not have the direction-changing intention, the step S3 is returned;
further, the step S3 is preceded by a step S21, and the step S21: and the electric power steering system controller receives the accelerator pedal signal and the brake pedal signal, judges whether the vehicle is in an acceleration state, outputs a brake signal through the ABS system controller if the vehicle is in the acceleration state, until the vehicle enters a non-acceleration state, and directly enters step S3 if the vehicle is not in the acceleration state.
Further, if the yaw rate signal and the lateral acceleration signal in the step S3 are both in the range of 25 °/S to 30 °/S, the system-set threshold value is not triggered, the process proceeds to a step S4, and if the yaw rate signal and the lateral acceleration signal are both greater than 30 °/S, the system-set threshold value is triggered, the process proceeds to a step S5;
further, if the steering wheel angular acceleration signal is greater than 10 °/S, the steering wheel acceleration signal is greater than 30 °/S and the torque signal is greater than 2.5 μm in the step S4, the power-assisted motor reduces the steering wheel steering power assistance, the lane departure warning control unit is distributed through the ECU central processing unit to control the vehicle to steer preferentially, otherwise, the step S3 is returned to.
Further, if the steering wheel angular acceleration signal is greater than 10 °/S, the steering wheel acceleration signal is greater than 30 °/S and the torque signal is greater than 2.5 μm in the step S5, the power-assisted motor reduces the steering wheel steering power assistance, the vehicle is controlled to brake by the lane departure warning control unit, the turn light and the hazard warning flash light are controlled to flash by the instrument controller, otherwise, the step S3 is returned.
Further, when the received radar signal of the electric power steering system controller is smaller than 50 meters, the electric power steering system controller controls the vehicle to brake.
Further, in the step S5, the turn signal lamp and the hazard warning flash lamp are controlled by the instrument controller to flash on for 3S to 5S.
Compared with the prior art, the invention analyzes, warns, corrects and controls the operation of emergency lane change, emergency driving direction and the like of a driver caused by the front emergency situation in the normal running of the vehicle aiming at the high-speed complex comprehensive road condition, reduces the power of a steering motor, actively reduces the vehicle speed, or allows the strategy control of priority lane change and the like, maximally corrects the state of the whole vehicle, and ensures the safety of the driver.
Drawings
The invention is further explained below with reference to the figures and examples:
FIG. 1 is a schematic diagram of a power steering control strategy for a normal lane change during high speed operation of a vehicle according to the present invention;
FIG. 2 is a schematic diagram of an emergency lane change power steering strategy of the present invention during high speed operation of a vehicle;
FIG. 3 is a block diagram of the logic decision of the present invention;
Detailed Description
The present invention is described in detail below, and technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a method for controlling steering power assistance and distributing priority when a vehicle runs by improvement, which comprises the following steps as shown in figures 1-3:
step S1: the electric power steering system controller interacts with a whole vehicle CAN network, data of all detection signals of a vehicle CAN be acquired through the CAN network, and when the vehicle runs, the electric power steering system controller interacts with the whole vehicle CAN network, receives an engine rotating speed signal and a vehicle speed signal respectively, and judges whether the vehicle runs at a low speed or a high speed. Whether the vehicle is in an accelerating or decelerating state is judged according to an accelerator pedal signal, a brake pedal signal and the like.
Step S2: the electric power steering system controller receives the engine speed signal and the vehicle speed signal, judges whether the vehicle is in a high-speed running state, if the vehicle is in the high-speed state, the step S3 is carried out, otherwise, the step S1 is carried out; when the speed of the conventional vehicle is more than 80km/h,
when the vehicle runs, the electric power steering system controller interacts with the whole vehicle CAN network, receives an engine rotating speed signal and a vehicle speed signal respectively, and judges whether the vehicle runs at a low speed or a high speed. And judging whether the vehicle is in an accelerating or decelerating state according to an accelerator pedal signal, a brake pedal signal and the like, wherein if the vehicle runs at a low speed, the lane changing behavior belongs to normal lane changing operation of a driver, and the controller of the electric power steering system is kept unchanged.
The step S3 is preceded by a step S21, and the step S21: the electric power steering system controller receives an accelerator pedal signal and a brake pedal signal, judges whether the vehicle is in an acceleration state, outputs a brake signal through the ABS system controller if the vehicle is in the acceleration state, controls the vehicle to brake until the acceleration signal disappears, then enters step S3, and directly enters step S3 if the vehicle is not in the acceleration state.
Step S3: the electric power steering system controller receives a yaw velocity signal and a lateral acceleration signal of a synchronous monitoring receiving whole vehicle, judges whether the vehicle is triggered to a threshold value set by a system, if the vehicle triggers the threshold value, the step S4 is carried out, otherwise, the step S5 is carried out;
synchronously monitoring the yaw velocity signal, the lateral acceleration signal and the like of the whole automobile, if the yaw velocity signal, the lateral acceleration signal and the like are not triggered to a system set threshold value through internal calculation of the system, the method belongs to normal lane change of the automobile running on a high-speed channel at a high speed, and the step S4 is entered.
And synchronously monitoring the yaw velocity signal, the lateral acceleration signal and the like of the whole automobile, triggering to a system set threshold value through internal calculation of the system, belonging to the emergency lane change of the automobile running at high speed on a high-speed channel, and entering the step S5.
Step S4: the electric power steering system controller receives the steering wheel angular acceleration signal, the steering wheel acceleration signal and the torque signal to judge whether a driver has a direction-changing intention, if the driver has the direction-changing intention, the power-assisted motor reduces the steering wheel steering assistance, the lane departure early warning control unit is distributed through the ECU central processing unit to control the vehicle to preferentially steer, and if the driver does not have the direction-changing intention, the step S3 is returned;
when the situation that the vehicle runs on a highway is detected, a driver normally changes lanes, at the moment, an electric power steering system controller feeds back an ECU (electronic control unit) central processing unit through a torque signal, a steering wheel angular velocity signal and a steering wheel acceleration signal when the steering intention of the driver is monitored, priority authority distribution is rapidly carried out, the whole vehicle starts changing lanes, a power-assisted motor reduces the steering wheel steering power assistance, and then a lane departure early warning control unit is distributed through the ECU central processing unit to control the vehicle to preferentially steer.
Step S5: the electric power-assisted steering system controller receives the steering wheel angular acceleration signal, the steering wheel acceleration signal and the torque signal to judge whether a driver has a direction-changing intention, if the driver has the direction-changing intention, the power-assisted motor reduces the steering wheel steering assistance, the lane departure early warning control unit controls the vehicle to brake preferentially, the instrument controller controls the steering lamp and the hazard warning flash lamp to flash, and if the driver does not have the direction-changing intention, the step S3 is returned;
when the fact that the vehicle runs on a highway is detected, the front camera and the millimeter wave radar detect lane lines and front sudden road conditions, the driver is warned in advance, the driver performs emergency lane changing action, and when the electric power steering system controller monitors the steering intention of the driver through an EPS torque signal, a steering wheel angular velocity signal, a steering wheel acceleration signal and the like, the electric power steering system controller feeds back to an ECU central processing unit and performs priority authority allocation rapidly.
If the yaw rate signal and the lateral acceleration signal in the step S3 are both in the range of 25 °/S to 30 °/S, the threshold set by the system is not triggered, the process proceeds to a step S4, and if the yaw rate signal and the lateral acceleration signal are both greater than 30 °/S, the threshold set by the system is triggered, the process proceeds to a step S5;
when the yaw velocity signal and the lateral acceleration signal in the step S3 are both in the range of 25 °/S to 30 °/S, the lane change action is normal, and if the yaw velocity signal and the lateral acceleration signal are both greater than 30 °/S, the lane change action is emergency, and when the millimeter wave radar detects a lane line and a sudden road condition ahead, the driver is warned, and the driver performs the emergency lane change action.
If the angular acceleration signal of the steering wheel in the step S4 is more than 10 degrees/S, the acceleration signal of the steering wheel is more than 30 degrees/S and the torque signal is more than 2.5 mu m, the power-assisted motor reduces the steering power of the steering wheel, a lane departure early warning control unit is distributed by the ECU central processing unit to control the vehicle to turn preferentially, otherwise, the step S3 is returned;
at the moment, the ECU central processing unit distributes an LKA lane departure early warning control unit to intervene initiative, the LKA lane departure early warning control unit works together with the electric power steering system controller, the electric power steering system controller feeds back the lane departure early warning control unit to normally perform steering action if detecting a steering lamp signal, and feeds back the lane departure early warning control unit if not detecting the steering lamp signal, after an instruction is obtained, the steering power steering system greatly reduces the motor assistance, and meanwhile, an instrument sends out warning sound or voice prompt, the control aims to remind a driver of cautious driving, the steering lamp needs to be turned on during lane changing, and good driving operation habits are developed.
And if the angular acceleration signal of the steering wheel is more than 10 degrees/S, the acceleration signal of the steering wheel is more than 30 degrees/S and the torque signal is more than 2.5 mu m in the step S5, reducing the steering power of the steering wheel by the power-assisted motor, controlling the vehicle to brake by the lane departure early-warning control unit, controlling the turn light and the hazard warning flash lamp to flash by the instrument controller, and otherwise, returning to the step S3.
The system is triggered to a system setting threshold value through internal calculation of the system, an electric power steering system controller is fed back to intervene initiative, the electric power steering system controller monitors a whole vehicle yaw angular velocity signal, a lateral acceleration signal and the like, the power steering system greatly reduces motor power and provides corresponding compensation, the lateral overturning force of the vehicle is reduced, the electric power steering system controller works together with an ESC system controller, an ABS (anti-lock braking system) of the vehicle actively reduces the vehicle speed, an electronic stability control system corrects the whole vehicle posture according to the detected whole vehicle response, a safety belt is tightened in advance, and the personal safety of a driver is protected.
When the electric power steering system controller receives a radar signal smaller than 50 meters, the electric power steering system controller controls the vehicle to brake, and when the vehicle is detected to run on a highway through the radar signal, the millimeter wave radar detects a lane line and a front sudden road condition, and warns a driver to perform emergency lane change or brake.
In the step S5, the turn signal lamp and the hazard warning flash lamp are controlled by the instrument controller to flash and turn on for 3S to 5S, and when the driver has no time to turn on the turn signal lamp due to an emergency lane change, the instrument is waken to give out a warning sound or a voice prompt and rapidly turn on the turn signal lamp or turn on the hazard warning flash lamp for 3 to 5S, so that the driving intention and the hazard condition of the vehicle can be timely recognized by the vehicle behind, and the stable driving state and the driving safety of the vehicle can be ensured to the maximum extent.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A method for controlling steering assist and assigning priority when a vehicle is running, characterized in that: the method comprises the following steps:
step S1: the electric power steering system controller interacts with the CAN network of the whole vehicle;
step S2: the electric power steering system controller receives the engine speed signal and the vehicle speed signal, judges whether the vehicle is in a high-speed running state, if the vehicle is in the high-speed state, the step S3 is carried out, otherwise, the step S1 is carried out;
step S3: the electric power steering system controller receives a yaw velocity signal and a lateral acceleration signal of a synchronous monitoring receiving whole vehicle, judges whether the vehicle is triggered to a threshold value set by a system, if the vehicle triggers the threshold value, the step S4 is carried out, otherwise, the step S5 is carried out;
step S4: the electric power steering system controller receives the steering wheel angular acceleration signal, the steering wheel acceleration signal and the torque signal to judge whether a driver has a direction-changing intention, if the driver has the direction-changing intention, the power-assisted motor reduces the steering wheel steering assistance, the lane departure early warning control unit is distributed through the ECU central processing unit to control the vehicle to preferentially steer, and if the driver does not have the direction-changing intention, the step S3 is returned;
step S5: the electric power-assisted steering system controller receives the steering wheel angular acceleration signal, the steering wheel acceleration signal and the torque signal to judge whether the driver has a direction-changing intention, if the driver has the direction-changing intention, the power-assisted motor reduces the steering wheel steering assistance, the lane departure early warning control unit controls the vehicle to brake preferentially, the instrument controller controls the steering lamp and the hazard warning flash lamp to flash, and if the driver does not have the direction-changing intention, the step S3 is returned.
2. The steering assist control and priority assignment method for vehicle traveling according to claim 1, characterized in that:
the step S3 is preceded by a step S21, and the step S21: and the electric power steering system controller receives the accelerator pedal signal and the brake pedal signal, judges whether the vehicle is in an acceleration state, outputs a brake signal through the ABS system controller if the vehicle is in the acceleration state, until the vehicle enters a non-acceleration state, and directly enters step S3 if the vehicle is not in the acceleration state.
3. The steering assist control and priority assignment method for vehicle traveling according to claim 1, characterized in that: if the yaw rate signal and the lateral acceleration signal in step S3 are both within the range of 25 °/S to 30 °/S, the process proceeds to step S4 without being triggered to the threshold set by the system, and if the yaw rate signal and the lateral acceleration signal are both greater than 30 °/S, the process proceeds to step S5.
4. The steering assist control and priority assignment method for vehicle traveling according to claim 1, characterized in that: and if the angular acceleration signal of the steering wheel is more than 10 degrees/S, the acceleration signal of the steering wheel is more than 30 degrees/S and the torque signal is more than 2.5 mu m in the step S4, reducing the steering power of the steering wheel by the power-assisted motor, controlling the vehicle to turn preferentially by distributing a lane departure early warning control unit through the central processing unit of the ECU, and otherwise, returning to the step S3.
5. The steering assist control and priority assignment method for vehicle traveling according to claim 1, characterized in that: and if the angular acceleration signal of the steering wheel is more than 10 degrees/S, the acceleration signal of the steering wheel is more than 30 degrees/S and the torque signal is more than 2.5 mu m in the step S5, reducing the steering power of the steering wheel by the power-assisted motor, controlling the vehicle to brake by the lane departure early-warning control unit, controlling the turn light and the hazard warning flash lamp to flash by the instrument controller, and otherwise, returning to the step S3.
6. The steering assist control and priority assignment method for vehicle traveling according to claim 1, characterized in that: when the received radar signal of the electric power steering system controller is less than 50 meters, the electric power steering system controller controls the vehicle to brake.
7. The steering assist control and priority assignment method for vehicle traveling according to claim 1, characterized in that: and in the step S5, the turn light and the danger alarm flash light are controlled by the instrument controller to flash for 3S-5S.
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| CN202010299824.9A CN111605607A (en) | 2020-04-16 | 2020-04-16 | Steering power-assisted control and priority distribution method during vehicle running |
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| CN202010299824.9A CN111605607A (en) | 2020-04-16 | 2020-04-16 | Steering power-assisted control and priority distribution method during vehicle running |
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Cited By (3)
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| CN112744289A (en) * | 2021-02-24 | 2021-05-04 | 华晨鑫源重庆汽车有限公司 | Steering power-assisted control method for anti-interference signals |
| CN115497300A (en) * | 2022-11-16 | 2022-12-20 | 四川省公路规划勘察设计研究院有限公司 | Vehicle safety shunting scheduling method and device based on vehicle-road cooperative system |
| CN115783038A (en) * | 2022-12-09 | 2023-03-14 | 中国第一汽车股份有限公司 | Low-temperature compensation method and compensation device of electric steering gear |
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