CN112407035A - Steering power-assisted mode switching method, device and equipment and readable storage medium - Google Patents
Steering power-assisted mode switching method, device and equipment and readable storage medium Download PDFInfo
- Publication number
- CN112407035A CN112407035A CN202011255402.8A CN202011255402A CN112407035A CN 112407035 A CN112407035 A CN 112407035A CN 202011255402 A CN202011255402 A CN 202011255402A CN 112407035 A CN112407035 A CN 112407035A
- Authority
- CN
- China
- Prior art keywords
- steering
- mode switching
- power
- assisted
- switching
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention provides a steering power-assisted mode switching method, a steering power-assisted mode switching device, steering power-assisted mode switching equipment and a readable storage medium. The method comprises the following steps: receiving a mode switching request message; detecting whether a switching condition is met; if the switching condition is met, gradually adjusting the proportion of the steering power-assisted output of the original steering power-assisted mode in the total steering power-assisted output from 100% to 0, and gradually adjusting the proportion of the steering power-assisted output of the target steering power-assisted mode corresponding to the mode switching request message in the total steering power-assisted output from 0 to 100%. According to the invention, when the steering power-assisted mode is switched, the proportion of the steering power-assisted output of the two steering power-assisted modes in the total steering power-assisted output is gradually adjusted, the hand feeling is expressed as flexible hand feeling, and compared with hard switching, the driving safety can be ensured.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to a steering power-assisted mode switching method, device and equipment and a readable storage medium.
Background
An electric power steering system EPS is currently the most widely used form of power steering in the passenger vehicle market. In the prior art, only one type of steering assistance style is provided, but in daily life, male and female drivers generally have different requirements on steering force, the male driver usually prefers a steady and sporty steering mode, and the female driver usually prefers a light and comfortable steering style, so that the requirement that the vehicle has multiple types of assistance styles is brought. Meanwhile, along with the trend that the personalized demands of market customers are gradually increased and the current situation that the same vehicle is used by different people under the background of automobile sharing, the situation that one vehicle type only provides one assistance style in the past is not met by customers with different driving preferences any more, so that the demand of multi-mode assistance is more obvious.
The existing steering power-assisted mode switching scheme carries out hard switching among different steering power-assisted modes without transition process, and the sudden change of hand feeling brought by the scheme easily causes the transverse instability of the automobile, thereby increasing the possibility of driving accidents.
Disclosure of Invention
The invention mainly aims to provide a steering power-assisted mode switching method, a device, equipment and a readable storage medium, and aims to solve the technical problem that in the prior art, hard switching is carried out among different steering power-assisted modes, no transition process exists, and transverse instability of an automobile is easily caused.
In a first aspect, the present invention provides a steering assist mode switching method, including:
receiving a mode switching request message;
detecting whether a switching condition is met;
if the switching condition is met, gradually adjusting the proportion of the steering power-assisted output of the original steering power-assisted mode in the total steering power-assisted output from 100% to 0, and gradually adjusting the proportion of the steering power-assisted output of the target steering power-assisted mode corresponding to the mode switching request message in the total steering power-assisted output from 0 to 100%.
Optionally, after the step of receiving the mode switching request message, the method further includes:
acquiring switching request data and a first check value from the mode switching request message;
calculating a second check value corresponding to the switching request data based on a check algorithm corresponding to the first check value;
and if the first check value is consistent with the second check value, executing the step of detecting whether the switching condition is met.
Optionally, the step of detecting whether the handover condition is satisfied includes:
detecting whether the vehicle speed is less than or equal to a preset vehicle speed, whether the steering wheel torque is less than or equal to a preset torque, whether the steering wheel rotating speed is less than or equal to a preset rotating speed and whether the electric power steering system has a fault;
if the vehicle speed is less than or equal to a preset vehicle speed, the steering wheel torque is less than or equal to a preset torque, the steering wheel rotating speed is less than or equal to a preset rotating speed, and the electric power steering system has no fault, determining that a switching condition is met;
and if at least one of the conditions that the vehicle speed is greater than the preset vehicle speed, the steering wheel moment is greater than the preset moment, the steering wheel rotating speed is greater than the preset rotating speed and the electric power steering system has faults is satisfied, determining that the switching condition is not satisfied.
Optionally, after the step of determining that the handover condition is not satisfied, the method further includes:
and outputting a corresponding switching failure prompt based on items established in the conditions that the vehicle speed is greater than the preset vehicle speed, the steering wheel torque is greater than the preset torque, the steering wheel rotating speed is greater than the preset rotating speed and the electric power steering system has faults.
Optionally, after the step of determining that the handover condition is not satisfied, the method further includes:
if the electric power steering system has no fault, returning to execute the steps of detecting whether the vehicle speed is less than or equal to the preset vehicle speed, whether the steering wheel torque is less than or equal to the preset torque, whether the steering wheel rotating speed is less than or equal to the preset rotating speed and whether the electric power steering system has the fault until the switching condition is determined to be met.
Optionally, after the step of gradually adjusting the percentage of the steering assist output of the target steering assist mode corresponding to the mode switching request message in the total steering assist output from 0 to 100%, the method further includes:
and updating the mode identifier from the original identifier information corresponding to the original power steering mode to the identifier information corresponding to the target power steering mode.
In a second aspect, the present invention provides a steering assist mode switching apparatus including:
a receiving module, configured to receive a mode switching request message;
the detection module is used for detecting whether the switching condition is met;
and the switching module is used for gradually adjusting the proportion of the steering power-assisted output of the original steering power-assisted mode in the total steering power-assisted output from 100% to 0 if the switching condition is met, and gradually adjusting the proportion of the steering power-assisted output of the target steering power-assisted mode corresponding to the mode switching request message in the total steering power-assisted output from 0 to 100%.
Optionally, the steering assist mode switching device further includes a verification module, configured to:
acquiring switching request data and a first check value from the mode switching request message;
calculating a second check value corresponding to the switching request data based on a check algorithm corresponding to the first check value;
and if the first check value is consistent with the second check value, executing the step of detecting whether the switching condition is met.
In a third aspect, the present invention also provides a steering assist mode switching device, which includes a processor, a memory, and a steering assist mode switching program stored on the memory and executable by the processor, wherein the steering assist mode switching program, when executed by the processor, implements the steps of the steering assist mode switching method as described above.
In a fourth aspect, the present invention further provides a readable storage medium, which stores a steering assist mode switching program, wherein the steering assist mode switching program, when executed by a processor, implements the steps of the steering assist mode switching method as described above.
In the invention, a mode switching request message is received; detecting whether a switching condition is met; if the switching condition is met, gradually adjusting the proportion of the steering power-assisted output of the original steering power-assisted mode in the total steering power-assisted output from 100% to 0, and gradually adjusting the proportion of the steering power-assisted output of the target steering power-assisted mode corresponding to the mode switching request message in the total steering power-assisted output from 0 to 100%. According to the invention, when the steering power-assisted mode is switched, the proportion of the steering power-assisted output of the two steering power-assisted modes in the total steering power-assisted output is gradually adjusted, the hand feeling is expressed as flexible hand feeling, and compared with hard switching, the driving safety can be ensured.
Drawings
Fig. 1 is a schematic hardware configuration diagram of a steering assist mode switching apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a method for switching between power-assisted steering modes according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an exemplary embodiment of a system for switching between power steering modes;
FIG. 4 is a schematic flow chart corresponding to FIG. 3;
fig. 5 is a functional block diagram of an embodiment of the power steering mode switching device of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In a first aspect, an embodiment of the present invention provides a steering assist mode switching apparatus.
Referring to fig. 1, fig. 1 is a schematic diagram of a hardware configuration of a steering assist mode switching apparatus according to an embodiment of the present invention. In this embodiment of the present invention, the steering assist mode switching device may include a processor 1001 (e.g., a Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used for realizing connection communication among the components; the user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WI-FI interface, WI-FI interface); the memory 1005 may be a Random Access Memory (RAM) or a non-volatile memory (non-volatile memory), such as a magnetic disk memory, and the memory 1005 may optionally be a storage device independent of the processor 1001. Those skilled in the art will appreciate that the hardware configuration depicted in FIG. 1 is not intended to be limiting of the present invention, and may include more or less components than those shown, or some components in combination, or a different arrangement of components.
With continued reference to fig. 1, a memory 1005, which is one type of computer storage medium in fig. 1, may include an operating system, a network communication module, a user interface module, and a steering assist mode switching program. The processor 1001 may call a steering assist mode switching program stored in the memory 1005, and execute the steering assist mode switching method according to the embodiment of the present invention.
In a second aspect, an embodiment of the present invention provides a steering assist mode switching method.
Referring to fig. 2, fig. 2 is a flowchart illustrating a power steering mode switching method according to an embodiment of the invention. As shown in fig. 2, in an embodiment, the steering assist mode switching method includes:
step S10, receiving a mode switching request message;
in this embodiment, the main executing body of the steering assist mode switching method is the EPS ECU, that is, the EPS ECU receives the mode switching request message. Specifically, a user selects a target power steering mode (i.e., a power steering mode that the user wants to use) by clicking, touching and the like on the touch screen, and the touch screen and the ECU assembly encapsulate a switching request signal corresponding to the target power steering mode into a mode switching request message and send the mode switching request message to the EPS ECU based on a communication protocol with the EPS ECU.
Step S20, detecting whether a switching condition is satisfied;
in this embodiment, after receiving the mode switching request message, the EPS ECU needs to determine whether the switching condition is currently satisfied, and this step is based on the consideration of driving safety. Because, under the condition that the vehicle is driven at a high speed, a user quickly or vigorously beats a steering wheel and the like, if the steering assistance mode is switched, the driving experience is easily influenced, and thus a driving accident is caused.
Further, in one embodiment, step S20 includes:
step S201, detecting whether the vehicle speed is less than or equal to a preset vehicle speed, whether the steering wheel torque is less than or equal to a preset torque, whether the steering wheel rotating speed is less than or equal to a preset rotating speed and whether the electric power steering system has a fault;
in this embodiment, the preset vehicle speed, the preset torque and the rotating speed of the steering wheel are all set according to actual needs. For example, the preset vehicle speed is set to 60km/h, the preset torque is set to 3Nm, and the steering wheel rotation speed is set to 120 deg/s. The vehicle speed, the steering wheel torque and the steering wheel speed are obtained according to sensors on the vehicle.
Step S202, if the vehicle speed is less than or equal to a preset vehicle speed, the steering wheel torque is less than or equal to a preset torque, the steering wheel rotating speed is less than or equal to a preset rotating speed, and no fault exists in the electric power steering system, determining that a switching condition is met;
in the present embodiment, when the vehicle speed is less than or equal to the preset vehicle speed (condition 1), the steering wheel torque is less than or equal to the preset torque (condition 2), the steering wheel rotation speed is less than or equal to the preset rotation speed (condition 3), and there is no failure in the electric power steering system (condition 4), it is determined that the switching condition is satisfied.
Step S203, if at least one of the conditions that the vehicle speed is greater than the preset vehicle speed, the steering wheel moment is greater than the preset moment, the steering wheel rotating speed is greater than the preset rotating speed and the electric power steering system has faults is met, it is determined that the switching condition is not met.
In this embodiment, when one or more of the four conditions are not satisfied, it is determined that the handover condition is not satisfied.
Step S30, if the switching condition is satisfied, gradually adjusting the percentage of the steering assist output in the original steering assist mode in the total steering assist output from 100% to 0, and gradually adjusting the percentage of the steering assist output in the target steering assist mode corresponding to the mode switching request message in the total steering assist output from 0 to 100%.
In this embodiment, when the switching condition is satisfied, the original steering assist mode is not directly switched to the target steering assist mode, but the proportion of the steering assist output in the original steering assist mode in the total steering assist output is gradually reduced, and the proportion of the steering assist output in the target steering assist mode in the total steering assist output is gradually increased. I.e. by linear or non-linear switching patterns that vary with time. For example, within the preset time period, through five changes, each change amount is 20%, that is, after the first change, the proportion of the steering assist output of the original steering assist mode in the total steering assist output is 80%, and the proportion of the steering assist output of the target steering assist mode in the total steering assist output is 20%; after the second change, the proportion of the steering power-assisted output of the original steering power-assisted mode in the total steering power-assisted output is 60 percent, and the proportion of the steering power-assisted output of the target steering power-assisted mode in the total steering power-assisted output is 40 percent; after the third change, the proportion of the steering power-assisted output of the original steering power-assisted mode in the total steering power-assisted output is 40 percent, and the proportion of the steering power-assisted output of the target steering power-assisted mode in the total steering power-assisted output is 60 percent; after the fourth change, the proportion of the steering power-assisted output of the original steering power-assisted mode in the total steering power-assisted output is 20%, and the proportion of the steering power-assisted output of the target steering power-assisted mode in the total steering power-assisted output is 80%; after the fifth change, the proportion of the steering assist output in the original steering assist mode to the total steering assist output is 0%, and the proportion of the steering assist output in the target steering assist mode to the total steering assist output is 100%.
In the embodiment, a mode switching request message is received; detecting whether a switching condition is met; if the switching condition is met, gradually adjusting the proportion of the steering power-assisted output of the original steering power-assisted mode in the total steering power-assisted output from 100% to 0, and gradually adjusting the proportion of the steering power-assisted output of the target steering power-assisted mode corresponding to the mode switching request message in the total steering power-assisted output from 0 to 100%. Through this embodiment, when switching power-assisted steering mode, adopt the ratio of gradually adjusting the power-assisted steering output of two kinds of power-assisted steering modes in total power-assisted steering output, show and then embody the feel of flexibility on feeling, compare and switch over in hard and more can guarantee driving safety.
Further, in an embodiment, after step S10, the method further includes:
acquiring switching request data and a first check value from the mode switching request message; calculating a second check value corresponding to the switching request data based on a check algorithm corresponding to the first check value; and if the first check value is consistent with the second check value, executing the step of detecting whether the switching condition is met.
In this embodiment, when the touch screen and the ECU assembly obtain the switching request signal based on the user operation, a first check value corresponding to the switching request signal is calculated based on a preset check algorithm, and the switching request signal and the first check value are encapsulated into a mode switching request message and then sent to the EPS ECU. And after receiving the mode switching request message, the EPS ECU acquires a switching request signal and a first check value from the mode switching request message, calculates the acquired switching request signal through a preset check algorithm to obtain a second check value, and if the first check value is consistent with the second check value, the EPS ECU indicates that the received mode switching request message is valid, and executes a step of detecting whether the switching condition is met. The preset check algorithm may be an exclusive or value assignment method, a CRC algorithm, or the like.
In the embodiment, the validity of the request can be ensured through verification, the mode switching from the mode which is not expected by a driver due to abnormal jumping in the ECU is avoided, and the driving safety is improved.
Further, in an embodiment, after step S203, the method further includes:
and outputting a corresponding switching failure prompt based on items established in the conditions that the vehicle speed is greater than the preset vehicle speed, the steering wheel torque is greater than the preset torque, the steering wheel rotating speed is greater than the preset rotating speed and the electric power steering system has faults.
In this embodiment, when it is determined that the switching condition is not satisfied because one or more of the vehicle speed is greater than the preset vehicle speed, the steering wheel torque is greater than the preset torque, the steering wheel rotation speed is greater than the preset rotation speed, and the electric power steering system has a fault, a corresponding switching failure prompt is output, so that a user is informed of the reason why the current switching failure is caused, and the human-computer interaction friendliness is improved. Specifically, the prompting mode may be a text display, a voice broadcast, and a light flashing, which is not limited herein.
Further, in an embodiment, after step S203, the method further includes:
if the electric power steering system has no fault, returning to execute the steps of detecting whether the vehicle speed is less than or equal to the preset vehicle speed, whether the steering wheel torque is less than or equal to the preset torque, whether the steering wheel rotating speed is less than or equal to the preset rotating speed and whether the electric power steering system has the fault until the switching condition is determined to be met.
In this embodiment, if it is determined that the switching condition is not satisfied but the electric power steering system has no failure, and the switching failure is caused by human factors, the process returns to step S201 until it is determined that the switching condition is satisfied. After the switching fails, the user does not need to perform related operation triggering mode switching request again, and convenience is improved.
Further, in an embodiment, after step S30, the method further includes:
and updating the mode identifier from the original identifier information corresponding to the original power steering mode to the identifier information corresponding to the target power steering mode.
In this embodiment, the current steering assist mode identification information is stored in the address of the storage medium EEPROM inside the EPS ECU, and after the mode is switched, the stored original identification information is updated to the identification information corresponding to the target steering assist mode. Through the embodiment, after the vehicle is restarted after being powered off, the steering power-assisted mode needing to be used can be determined according to the stored identification information.
Referring to fig. 3, fig. 3 is a schematic diagram of an exemplary power steering mode switching system. As shown in fig. 3, the system includes: the electric Power Steering system comprises a storage battery, a liquid crystal touch screen and ECU (Electronic Control Unit) assembly, an HMI display instrument and ECU, an EPS (Electronic Power Steering) and ECU and motor assembly, ESCECU, TAS sensors, a vehicle speed sensor and the like. The storage battery supplies power for the liquid crystal touch screen, the ECU, the HMI display instrument, the ECU, the electric power steering system and the ECU; the EPSECU supplies power to the TAS Sensor and simultaneously acquires signals of steering wheel Torque, steering wheel rotation Angle, steering wheel rotation speed and the like acquired by a TAS (Torque and Angle Sensor) Sensor; an Electronic Stability Controller (ESC) ECU (Electronic Stability Controller) supplies power to a vehicle speed sensor and acquires a vehicle speed signal; the liquid crystal touch screen and ECU assembly, the HMI display instrument and ECU, the EPS ECU and the ESC ECU all carry out signal interaction through a CAN (Controller Area Network) bus Network.
In FIG. 3, the standard voltage of the storage battery is 12V, but the voltage fluctuation is allowed to occur, so that the voltage of the storage battery is within 9-15V; the liquid crystal touch screen is internally provided with a virtual power-assisted mode switching button, different modes CAN be selected by touching and clicking by hands, and a selected mode request signal sig _1 is sent to the CAN network through a message A by the ECU, different values are set for the sig _1 to represent different power-assisted modes, for example, 0 represents a request portable mode, 1 represents a request standard mode, and 2 represents a request motion mode; when the liquid crystal touch screen ECU sends a periodic CAN message A related to a turning multi-mode, the interior of the message A is verified according to a sending period, and a verification method Checksum1 is consistent with a verification algorithm when the EPS ECU receives the message A; when the ESC ECU sends a periodic CAN message containing a vehicle speed signal sig _2, checking the interior of the message B according to a sending period, wherein a checking algorithm Checksum2 is consistent with a checking algorithm when the EPS ECU receives the message B; after receiving the message A, the EPS ECU verifies by using a Checksum1 algorithm, and when the verification values of the message A of the liquid crystal touch screen ECU and the EPS ECU are consistent, a power-assisted mode request signal sig _1 in the A is used as a power-assisted mode requested by a driver; the Checksum1 verification algorithm checks as follows: a contains 8-byte binary data, and the sequence according to the byte sequence is as follows:
a _ Byte [ i ] (i ═ 0,1,2,3,4,5,6, 7). The Checksum1 verifies that the result is the 8 th Byte of the message a, i.e., a _ Byte [7], and the initial value is 0 xFF. The Checksum1 calculation is by XOR assignment, i.e.:
A_Byte[7]＝A_Byte[0]XORA_Byte[1]XORA_Byte[2]XORA_Byte[3]XOR
A_Byte[4]XORA_Byte[5]XORA_Byte[6]XORA_Byte[7]_Pre；
in the formula, a _ Byte [ i ] (i ═ 0,1,2,3,4,5,6) indicates (i +1) (i ═ 0,1,2,3,4,5,6) Byte data of the message a, a _ Byte [7] is data of the Checksum1 calculated this time, and a _ Byte [7] _ Pre is data of the Checksum1 calculated last time. A _ Byte [7] is updated every transmission according to the period. After receiving the B message, the EPS ECU verifies by using a Checksum2 algorithm, and when the ESC ECU and the EPS ECU verify the B message, the ESC ECU adopts a vehicle speed signal sig _2 in the B as the actual vehicle longitudinal speed; the Checksum2 verification algorithm checks as follows: b contains 8-Byte binary data, and is B _ Byte [ i ] (i ═ 0,1,2,3,4,5,6,7) in order according to the Byte order. The Checksum2 verifies that the result is the 8 th Byte of the message B, i.e., B _ Byte [7], and the initial value is 0 xFF. Checksum2 adopts the international CRC algorithm: CRC8-SAE J1850, with an initial value of 0xFF, polynomial computation code 0x 1D. EPS
The ECU is internally provided with allowable monitoring conditions for power-assisted mode switching, and the recommended conditions are as follows:
A. the vehicle speed is less than or equal to 60km/h (more than 60km/h can be regarded as a high-speed driving state);
B. the steering wheel torque is less than or equal to 3Nm (the driving environment of the vehicle is in a large torque steering state when the steering wheel torque exceeds 3 Nm);
C. the rotating speed of the steering wheel is less than or equal to 120deg/s (the normal speed of a common person is used for rotating the steering wheel);
D. the EPS has no internal fault (EPS controller maintains the necessary condition for power assist).
When the four conditions are met, the power-assisted mode switching is allowed in the EPS, and when any one condition is not met, the mode switching is not allowed.
The EPS ECU sends a periodic message C containing a current power-assisted mode signal sig _3 and a signal sig _4 indicating whether mode switching is allowed or not, wherein the value of the current power-assisted mode signal sig _3 corresponding to sig _1 is set to indicate different power-assisted modes, for example, 0 indicates the current portable mode, 1 indicates the current standard mode, and 2 indicates the current motion mode. For the signal sig _4 for allowing or not allowing mode switching, 5 signal values are set to indicate a switching monitoring state, for example, 0 indicates that switching is allowed, 1 indicates that switching is prohibited when the vehicle speed is too high, 2 indicates that switching is prohibited when the hand torque is too large, 3 indicates that switching is prohibited when the steering wheel rotation speed is too large, and 4 indicates that switching is prohibited by an EPS internal fault.
The EPS ECU is internally provided with power-assisted calibration data in different modes, and when the message A and the message B are received and are confirmed to be effective through a corresponding verification algorithm, and when the switching permission monitoring condition is confirmed to be met in the EPS, the power-assisted mode switching request from the liquid crystal touch screen and the ECU is responded, and the power-assisted mode is flexibly switched. For example, if the switching request sig _1 is 0 (light mode), sig _1 is 2 (sport mode), and the EPS ECU receives the switching request from the light mode to the sport mode, and determines that switching is allowed inside the EPS, the EPS ECU uses time t1 as the maximum switching time, step1 as the switching step, and n as the number of step times (n ≦ t1/step1 according to the switching process), and switches the assist mode to the sport mode when the switching time t2 is t1/step 1. The power-assisted output T of the EPS within the time of 0 to T2assistOutput T following portable modelightAnd a motion mode output TsportThe ratio changes, namely:
Tassist＝{Tlight*(t1-n*step1)+Tsportn step1}/T1 formula, TlightAnd TsportThe outputs of the portable mode and the sport mode under the independent action can be calibrated at t1 and step 1. T isassistActing on EPS bottom layer control software, the bottom layer software is driven and controlled by an EPS motor, and outputting and TassistMatched motor current drives the motor to assist (general assisting T)assistLinear relationship to motor current). Then as n increases from 0 to t2, the lightweight mode output fraction changes from 100% to 0% and the sporty mode output fraction changes from 0% to 100%. After the switching is completed, sig _4 is equal to 0 and is sent to the CAN network along with the message C.
If the switching is forbidden in the EPS, the mode switching request is not responded, the output of the current mode is kept in the EPS, sig _3 is still 0, and sig _4 is set to be a corresponding numerical value according to the forbidden reason and is sent to the CAN along with the message C. The EPS receives the request message A at the moment, if the EPS is not forbidden to switch due to internal faults, the interior of the EPS is switched according to the requested mode when external conditions are met (the vehicle speed is less than or equal to 60km/hAND steering wheel torque is less than or equal to 3NmAND steering wheel rotating speed is less than or equal to 120 deg/s).
The address Addr1 of the internal storage medium EEPROM of the EPSECU can store the current boost mode code, for example, Addr1 is 0 in the portable mode; standard mode, Addr1 ═ 1; motion mode, Addr1 ═ 2. When the vehicle power-assisted mode is switched successfully, the Addr1 stores the corresponding mode code according to the switched mode; when the vehicle is powered off, Addr1 stores the power-assisted mode code before power off for reading when the vehicle is powered on next time.
The HMI display instrument is internally provided with a character prompt after multi-mode switching, the power-assisted mode switching is successful when the switching is successful, and the HMI display instrument prompts according to forbidden reasons when the switching is failed. The HMI display instrument ECU receives the periodic message A from the liquid crystal touch screen ECU and the periodic message C of the EPS ECU. The HMI display instrument ECU enters a state of a monitoring message C when monitoring that a numerical value jump occurs in sig _1 in the a message (representing that a mode switching request occurs), displays characters to indicate "power mode switching success" if sig _4 is 0, "indicates" vehicle speed is too high and switching is prohibited "if sig _4 is 1," indicates "hand torque is too large and switching is prohibited" if sig _4 is 2, "indicates" steering wheel rotation speed is too large and switching is prohibited "if sig _4 is 3," and indicates "EPS internal fault switching is prohibited" if sig _4 is 1. When sig _1 of message a is equal to sig _3 of message C (representing the same pattern), HMI display meter ECU no longer monitors message C. Referring to fig. 4, fig. 4 is a schematic flow chart corresponding to fig. 3. The embodiment corresponding to fig. 4 is substantially the same as the embodiment corresponding to fig. 3, and is not repeated herein.
In a third aspect, an embodiment of the present invention further provides a steering assist mode switching device.
Referring to fig. 5, fig. 5 is a functional block diagram of an embodiment of the power steering mode switching device of the present invention. In one embodiment, the steering assist mode switching device includes:
a receiving module 10, configured to receive a mode switching request message;
a detecting module 20, configured to detect whether a handover condition is met;
and the switching module 30 is configured to gradually adjust the percentage of the steering assist output in the original steering assist mode in the total steering assist output from 100% to 0 if the switching condition is met, and gradually adjust the percentage of the steering assist output in the target steering assist mode corresponding to the mode switching request message in the total steering assist output from 0 to 100%.
Further, in an embodiment, the steering assist mode switching apparatus further includes a checking module, configured to:
acquiring switching request data and a first check value from the mode switching request message;
calculating a second check value corresponding to the switching request data based on a check algorithm corresponding to the first check value;
and if the first check value is consistent with the second check value, executing the step of detecting whether the switching condition is met.
Further, in an embodiment, the detection module 20 is configured to:
detecting whether the vehicle speed is less than or equal to a preset vehicle speed, whether the steering wheel torque is less than or equal to a preset torque, whether the steering wheel rotating speed is less than or equal to a preset rotating speed and whether the electric power steering system has a fault;
if the vehicle speed is less than or equal to a preset vehicle speed, the steering wheel torque is less than or equal to a preset torque, the steering wheel rotating speed is less than or equal to a preset rotating speed, and the electric power steering system has no fault, determining that a switching condition is met;
and if at least one of the conditions that the vehicle speed is greater than the preset vehicle speed, the steering wheel moment is greater than the preset moment, the steering wheel rotating speed is greater than the preset rotating speed and the electric power steering system has faults is satisfied, determining that the switching condition is not satisfied.
Further, in an embodiment, the steering assist mode switching apparatus further includes a prompt module, configured to:
and outputting a corresponding switching failure prompt based on items established in the conditions that the vehicle speed is greater than the preset vehicle speed, the steering wheel torque is greater than the preset torque, the steering wheel rotating speed is greater than the preset rotating speed and the electric power steering system has faults.
Further, in an embodiment, the detection module 20 is configured to:
if the electric power steering system has no fault, returning to execute the steps of detecting whether the vehicle speed is less than or equal to the preset vehicle speed, whether the steering wheel torque is less than or equal to the preset torque, whether the steering wheel rotating speed is less than or equal to the preset rotating speed and whether the electric power steering system has the fault until the switching condition is determined to be met.
Further, in an embodiment, the steering assist mode switching apparatus further includes an updating module, configured to:
and updating the mode identifier from the original identifier information corresponding to the original power steering mode to the identifier information corresponding to the target power steering mode.
The function implementation of each module in the above-mentioned power steering mode switching device corresponds to each step in the above-mentioned power steering mode switching method embodiment, and the function and implementation process thereof are not described in detail here.
In a fourth aspect, the embodiment of the present invention further provides a readable storage medium.
The readable storage medium of the present invention stores a steering assist mode switching program, wherein the steering assist mode switching program, when executed by a processor, implements the steps of the steering assist mode switching method as described above.
The method implemented when the power steering mode switching program is executed can refer to various embodiments of the power steering mode switching method of the present invention, and details thereof are not repeated herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for causing a terminal device to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A steering assist mode switching method, characterized by comprising:
receiving a mode switching request message;
detecting whether a switching condition is met;
if the switching condition is met, gradually adjusting the proportion of the steering power-assisted output of the original steering power-assisted mode in the total steering power-assisted output from 100% to 0, and gradually adjusting the proportion of the steering power-assisted output of the target steering power-assisted mode corresponding to the mode switching request message in the total steering power-assisted output from 0 to 100%.
2. The steering assist mode switching method according to claim 1, further comprising, after the step of receiving a mode switching request message:
acquiring switching request data and a first check value from the mode switching request message;
calculating a second check value corresponding to the switching request data based on a check algorithm corresponding to the first check value;
and if the first check value is consistent with the second check value, executing the step of detecting whether the switching condition is met.
3. The steering assist mode switching method according to claim 1, wherein the step of detecting whether a switching condition is satisfied includes:
detecting whether the vehicle speed is less than or equal to a preset vehicle speed, whether the steering wheel torque is less than or equal to a preset torque, whether the steering wheel rotating speed is less than or equal to a preset rotating speed and whether the electric power steering system has a fault;
if the vehicle speed is less than or equal to a preset vehicle speed, the steering wheel torque is less than or equal to a preset torque, the steering wheel rotating speed is less than or equal to a preset rotating speed, and the electric power steering system has no fault, determining that a switching condition is met;
and if at least one of the conditions that the vehicle speed is greater than the preset vehicle speed, the steering wheel moment is greater than the preset moment, the steering wheel rotating speed is greater than the preset rotating speed and the electric power steering system has faults is satisfied, determining that the switching condition is not satisfied.
4. The steering assist mode switching method according to claim 3, further comprising, after the step of determining that the switching condition is not satisfied:
and outputting a corresponding switching failure prompt based on items established in the conditions that the vehicle speed is greater than the preset vehicle speed, the steering wheel torque is greater than the preset torque, the steering wheel rotating speed is greater than the preset rotating speed and the electric power steering system has faults.
5. The steering assist mode switching method according to claim 3, further comprising, after the step of determining that the switching condition is not satisfied:
if the electric power steering system has no fault, returning to execute the steps of detecting whether the vehicle speed is less than or equal to the preset vehicle speed, whether the steering wheel torque is less than or equal to the preset torque, whether the steering wheel rotating speed is less than or equal to the preset rotating speed and whether the electric power steering system has the fault until the switching condition is determined to be met.
6. The steering assist mode switching method according to any one of claims 1 to 5, further comprising, after the step of gradually adjusting the proportion of the steering assist output of the target steering assist mode corresponding to the mode switching request message in the total steering assist output from 0 to 100%:
and updating the mode identifier from the original identifier information corresponding to the original power steering mode to the identifier information corresponding to the target power steering mode.
7. A steering assist mode switching apparatus, characterized by comprising:
a receiving module, configured to receive a mode switching request message;
the detection module is used for detecting whether the switching condition is met;
and the switching module is used for gradually adjusting the proportion of the steering power-assisted output of the original steering power-assisted mode in the total steering power-assisted output from 100% to 0 if the switching condition is met, and gradually adjusting the proportion of the steering power-assisted output of the target steering power-assisted mode corresponding to the mode switching request message in the total steering power-assisted output from 0 to 100%.
8. The power steering mode switching apparatus according to claim 7, further comprising a verification module for:
acquiring switching request data and a first check value from the mode switching request message;
calculating a second check value corresponding to the switching request data based on a check algorithm corresponding to the first check value;
and if the first check value is consistent with the second check value, executing the step of detecting whether the switching condition is met.
9. A steering assist mode switching apparatus characterized by comprising a processor, a memory, and a steering assist mode switching program stored on the memory and executable by the processor, wherein the steering assist mode switching program, when executed by the processor, implements the steps of the steering assist mode switching method according to any one of claims 1 to 6.
10. A readable storage medium having a steering assist mode switching program stored thereon, wherein the steering assist mode switching program, when executed by a processor, implements the steps of the steering assist mode switching method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011255402.8A CN112407035A (en) | 2020-11-11 | 2020-11-11 | Steering power-assisted mode switching method, device and equipment and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011255402.8A CN112407035A (en) | 2020-11-11 | 2020-11-11 | Steering power-assisted mode switching method, device and equipment and readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112407035A true CN112407035A (en) | 2021-02-26 |
Family
ID=74781105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011255402.8A Pending CN112407035A (en) | 2020-11-11 | 2020-11-11 | Steering power-assisted mode switching method, device and equipment and readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112407035A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114162216A (en) * | 2022-01-12 | 2022-03-11 | 大运汽车股份有限公司 | Voice-assisted steering multi-mode switching control method |
| CN114454953A (en) * | 2022-02-22 | 2022-05-10 | 东风商用车有限公司 | Multi-mode steering power-assisted method, device and equipment for vehicle |
| CN115320703A (en) * | 2022-08-31 | 2022-11-11 | 东风汽车集团股份有限公司 | Vehicle power steering adjustment method, device, equipment and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5743351A (en) * | 1996-05-29 | 1998-04-28 | Trw Inc. | Method and apparatus for controlling an electric assist steering sysem by linearizing system input-output torque gain |
| CN102574542B (en) * | 2009-10-20 | 2015-03-18 | 本田技研工业株式会社 | Electric power steering apparatus |
| CN103930757B (en) * | 2012-10-23 | 2015-07-08 | 日本精工株式会社 | Torque detection device, electric power steering device, and vehicle |
| CN105262589B (en) * | 2014-07-16 | 2019-01-18 | 阿里巴巴集团控股有限公司 | Security Check method, apparatus and calibration equipment |
| CN106828591B (en) * | 2017-01-13 | 2019-03-26 | 合肥工业大学 | A kind of electric boosting steering system multi-mode method for handover control |
| CN109367619B (en) * | 2018-11-16 | 2020-04-28 | 华晨鑫源重庆汽车有限公司 | EPS-based power steering mode switching system and method |
-
2020
- 2020-11-11 CN CN202011255402.8A patent/CN112407035A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5743351A (en) * | 1996-05-29 | 1998-04-28 | Trw Inc. | Method and apparatus for controlling an electric assist steering sysem by linearizing system input-output torque gain |
| CN102574542B (en) * | 2009-10-20 | 2015-03-18 | 本田技研工业株式会社 | Electric power steering apparatus |
| CN103930757B (en) * | 2012-10-23 | 2015-07-08 | 日本精工株式会社 | Torque detection device, electric power steering device, and vehicle |
| US9164010B2 (en) * | 2012-10-23 | 2015-10-20 | Nsk Ltd. | Torque detection apparatus, electric power steering system and vehicle |
| CN105262589B (en) * | 2014-07-16 | 2019-01-18 | 阿里巴巴集团控股有限公司 | Security Check method, apparatus and calibration equipment |
| CN106828591B (en) * | 2017-01-13 | 2019-03-26 | 合肥工业大学 | A kind of electric boosting steering system multi-mode method for handover control |
| CN109367619B (en) * | 2018-11-16 | 2020-04-28 | 华晨鑫源重庆汽车有限公司 | EPS-based power steering mode switching system and method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114162216A (en) * | 2022-01-12 | 2022-03-11 | 大运汽车股份有限公司 | Voice-assisted steering multi-mode switching control method |
| CN114162216B (en) * | 2022-01-12 | 2023-04-25 | 大运汽车股份有限公司 | Voice-assisted steering multi-mode switching control method |
| CN114454953A (en) * | 2022-02-22 | 2022-05-10 | 东风商用车有限公司 | Multi-mode steering power-assisted method, device and equipment for vehicle |
| CN115320703A (en) * | 2022-08-31 | 2022-11-11 | 东风汽车集团股份有限公司 | Vehicle power steering adjustment method, device, equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112407035A (en) | Steering power-assisted mode switching method, device and equipment and readable storage medium | |
| EP1508502B1 (en) | Steering device | |
| CN109367619B (en) | EPS-based power steering mode switching system and method | |
| US7537082B2 (en) | Electric power steering system | |
| CN112114542B (en) | Vehicle remote control method, vehicle and readable storage medium | |
| US20200047806A1 (en) | Steering angle detection device | |
| US6827177B2 (en) | Torque detector and electric power steering controller provided with torque detector | |
| US11613303B2 (en) | Turning system | |
| EP2628645A1 (en) | Method and device for diagnosis of power source state | |
| EP1518776B1 (en) | Control apparatus for an electrically driven power steering | |
| JP6451192B2 (en) | Electric steering device | |
| CN104960574A (en) | Middle-position calibrating method for electric power-assisted steering tube column | |
| JPH10166891A (en) | Operation abnormality detecting device and operation alarm device | |
| CN116442928A (en) | Vehicle control method, device and readable storage medium | |
| EP3822150B1 (en) | Electric power steering control device | |
| CN114919655B (en) | Vehicle control method, system, vehicle and computer readable storage medium | |
| CN112537250B (en) | Vehicle steering lamp control method, device and equipment | |
| JP3397065B2 (en) | Electric steering system | |
| JP2005059721A (en) | Display device for vehicle | |
| CN108382455A (en) | Adjusting method, device and the computer readable storage medium of steering dynamics | |
| JP2001122144A (en) | Electric power steering device for vehicle | |
| JP2007290561A (en) | Vehicular power supply alarm device | |
| US20240067261A1 (en) | Method and apparatus for controlling electronic power steering system | |
| EP2085294A1 (en) | Vehicle steering control device | |
| CN115158451B (en) | Control device, steering system, vehicle, and steering control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210226 |
|
| RJ01 | Rejection of invention patent application after publication |