CN112918549A - Rear wheel steering control method and rear wheel steering control system - Google Patents

Rear wheel steering control method and rear wheel steering control system Download PDF

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Publication number
CN112918549A
CN112918549A CN202110128576.6A CN202110128576A CN112918549A CN 112918549 A CN112918549 A CN 112918549A CN 202110128576 A CN202110128576 A CN 202110128576A CN 112918549 A CN112918549 A CN 112918549A
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angle
rear wheel
verification
wheel steering
target angle
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CN112918549B (en
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徐俊
王玮
周以勤
李莽
姚宾
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Wuhan Lotus Cars Co Ltd
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Wuhan Lotus Cars Co Ltd
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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
    • B62D5/046—Controlling the motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters

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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)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)

Abstract

The invention provides a rear wheel steering control method and a rear wheel steering control system. The rear wheel steering control method includes: acquiring a vehicle state signal input by a steering wheel; enabling the target angle generation controller to output a target angle instruction containing a rear wheel steering target angle according to the vehicle state signal; performing first verification before the target angle instruction is sent to the actuator angle position controller, wherein the result of the first verification is used for indicating whether the target angle instruction is sent to the actuator angle position controller or not; performing second verification when the first verification result is yes, wherein the second verification result is used for indicating whether the actuator angle position controller converts the target angle command into a torque demand command or a rotating speed demand command in a calculation mode; when the second verification result is yes, the actuator angular position controller is caused to send a torque demand command or a rotational speed demand command to the motor controller. The scheme of the invention can reduce unnecessary rear wheel steering intervention in some scenes.

Description

Rear wheel steering control method and rear wheel steering control system
Technical Field
The invention relates to the technical field of vehicles, in particular to a rear wheel steering control method and a rear wheel steering control system.
Background
With the development of the automobile industry, the active rear wheel steering function configured in the chassis field gradually becomes the development trend of the automobile industry, the rear wheel steering function can effectively improve the agility of the automobile in low-speed driving and the stability of the automobile in high-speed driving, and the control performance of the automobile is greatly improved.
However, the active control system inevitably generates a certain amount of system energy consumption, and with the gradual increase of environmental protection and emission requirements and the gradual deepening of the motorization of the automobile industry, the problems of energy consumption and energy management are of particular concern, the system energy consumption should be optimized according to the characteristics of the control logic and the actuator of the rear wheel steering function, and the energy consumption which does not generate benefits should be eliminated as much as possible.
Disclosure of Invention
The inventor of the application finds that the actual wheel angle generated by the actuator position request with a small angle can be ignored at all positions of a rear axle, particularly the influence of the mechanical clearance between the tie rods with the toe-in angle and the nonlinear elasticity of the bush, according to the vehicle motion geometric analysis and the K & C experiment. In addition, under the driving environment of medium and low speed, the speed of which is lower than 40 kilometers per hour, the tiny rear wheel steering output caused by the steering wheel input with small angle and slow change does not have the recognizable influence on the vehicle running track for the driver. The control gain produced by the rear wheel steering is negligible in this condition. In addition, the free steering wheel stroke caused by the mechanical backlash of the steering system is greatly reduced by the application of the front steering controller, but the existence of the mechanical backlash of the steering system still makes the steering wheel sensor angle generate small disturbance at the middle position more easily, so the generated unnecessary rear wheel steering control angle can also make the controller in an active state, and the energy consumption of the motor controller is a negative factor.
It is an object of the present application to reduce unnecessary rear wheel steering interventions in certain scenarios to reduce the energy consumption of the rear wheel steering system as a whole.
It is a further object of the present application to provide a controller that is not affected by designs designed to reduce unnecessary rear wheel steering interventions in certain scenarios, in driving scenarios where fast response is required, thereby quickly achieving the required steering request.
In particular, the present invention provides a rear wheel steering control method for controlling a rear wheel steering control device including a target angle generation controller, an actuator angle position controller communicatively connected to the target angle generation controller, and a motor controller connected to the actuator angle position controller, the rear wheel steering control method including the steps of:
acquiring a vehicle state signal input by a steering wheel;
enabling the target angle generation controller to output a target angle instruction containing a rear wheel steering target angle according to the vehicle state signal;
performing first verification before the target angle instruction is sent to the actuator angle position controller, wherein the result of the first verification is used for indicating whether the target angle instruction is sent to the actuator angle position controller or not;
performing second verification when the first verification result is yes, wherein the second verification result is used for indicating whether the actuator angular position controller converts the target angle command calculation into a torque demand command or a rotating speed demand command;
when the second verification result is yes, enabling the actuator angular position controller to send the torque demand command or the rotating speed demand command to the motor controller;
causing the motor controller to execute the torque demand command or the rotational speed demand command.
Optionally, the first verification result is determined according to the following steps:
obtaining an angle value T of a steering wheel input of the vehiclefVehicle speed VdAnd the rate of change of angle Δ T of the steering wheelf；
Judging the vehicle speed VdThe angle value TfAnd the rate of change of angle Δ TfWhether the following conditions are simultaneously satisfied:
Vd≤V0、Tf≤T0and Δ Tf≤ΔT0Wherein V is0、T0And Δ T0Is a constant;
if yes, determining that the first verification result is no, and executing the following steps: replacing the rear wheel steering target angle in the target angle instruction with a zero-degree angle, and sending the angle instruction replaced with the zero-degree angle to the actuator angle position controller;
otherwise, determining that the first verification result is yes, and executing the following steps: and sending the target angle instruction to the actuator angle position controller.
Optionally, the rear wheel steering control method further includes the steps of: performing the first verification and the second verification according to a preset period;
if yes, determining that the first verification result is no, and executing the following steps: in the step of replacing the target angle in the target angle command with a zero angle and sending the angle command replaced with the zero angle to the actuator angle position controller, if the first verification result in the last verification is yes and the first verification result in the current verification is no, replacing the target angle in the target angle command with a sequence gradually approaching to zero at a first change rate, and sending values in the sequence to the actuator angle position controller one by one according to a fixed period.
Optionally, if not, determining that the first verification result is yes, and performing the following steps: the step of sending the target angle command to the actuator angular position controller includes the steps of:
and if the first verification result in the last verification is negative and the first verification result in the current verification is positive, gradually increasing the angle value in the target angle instruction from the zero-degree angle to the rear wheel steering target angle by using a second change rate.
Optionally, the second verification result is determined according to the following steps:
the current actual angle value T of the motor is comparedzAnd the rear wheel steering target angle ThAbsolute value of the difference of (1) | Tz-ThAnd a first preset threshold value T1The comparison is carried out in such a way that,
if Tz-Th|＜T1If yes, determining that the second verification result is negative, and executing the following steps: inhibiting the actuator angular position controller from converting the target angle command calculation into the torque demand command or the rotational speed demand command;
the actual angle value T of the motor is comparedzAnd the rear wheel steering target angle ThRespectively with a second preset threshold value T2The comparison is carried out in such a way that,
if Tz-Th|＞T2If yes, the second verification result is determined to be yes, and the following steps are executed: causing the actuator angular position controller to convert the target angle command calculation into the torque demand command or the rotational speed demand command.
Optionally, the rear wheel steering control method further includes the steps of:
acquiring a free stroke a of a steering wheel, a maximum steering angle value b of a rear wheel and a minimum steering wheel angle value c required to be input when the steering angle of the rear wheel reaches the maximum steering angle value;
and calculating according to the formula A, (b/c) a to obtain the maximum possible influence value A of the free stroke of the steering wheel on the steering angle of the rear wheels.
Optionally, the rear wheel steering control method further includes the steps of: acquiring a system deviation C between the steering angle of the rear wheel and the zero-angle position of the motor controller;
the first preset threshold T1 satisfies the following condition: a + C-y0≤T1≤A+C+y1And T is1＜T2Wherein, y0≥0，y1Is not less than 0, and y0And y1Are all constants.
Optionally, the second preset threshold T2The following conditions are satisfied: a + C + x0≤T2≤A+C+x1Wherein, 0 < x0＜x1And x is0And x1Are all constants.
Optionally, the angle value TfThe included angle between the current position of the steering wheel and the middle position of the steering wheel at the zero angle is TfAngle value T0The included angle between the preset position of the steering wheel and the middle position is T0Said angle value T0The following conditions are satisfied: t is0＞T2*(c/b)。
In particular, the invention also provides a rear wheel steering control system, which comprises a control device and a processor, wherein the control device comprises a memory and the memory stores a control program, and the control program is used for realizing the rear wheel steering control method according to the foregoing when being executed by the processor.
According to the scheme of the embodiment of the invention, through two times of verification, namely, the target angle command is sent to the actuator angle position controller only when the first verification result is yes, and the actuator angle position controller is enabled to send the torque demand command or the rotating speed demand command to the motor controller only when the second verification result is yes. This may reduce unnecessary rear wheel steering interventions in certain scenarios to reduce the energy consumption of the rear wheel steering system as a whole.
In addition, the simple establishment of a response dead zone of the rear wheel steering is considered, so that the use scenes that the quick vehicle response needs to be established by means of the rear wheel steering are not facilitated, and the influence of the response dead zone is eliminated when the angle of the steering wheel is changed quickly by using the angle change rate of the steering wheel as a limiting condition.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a schematic block diagram illustrating a rear wheel steering control method according to one embodiment of the present invention;
fig. 2 is a schematic block diagram showing a rear wheel steering control apparatus according to an embodiment of the present invention;
fig. 3 shows a schematic block diagram of a rear wheel steering control system according to an embodiment of the present invention.
Detailed Description
Fig. 1 shows a schematic flow chart of a rear wheel steering control method according to an embodiment of the present invention. The rear wheel steering control method is used for controlling the rear wheel steering control device. Fig. 2 shows a schematic block diagram of a rear wheel steering control apparatus according to an embodiment of the present invention. As shown in fig. 2, the rear wheel steering control device includes a target angle generation controller 1, an actuator angle position controller 2, and a motor controller 3, and the actuator angle position controller 2 is connected to the target angle generation controller 1 in communication and to the motor controller 3. As shown in fig. 1, the rear wheel steering control method includes:
step S100, acquiring a vehicle state signal input by a steering wheel;
step S200, enabling the target angle generation controller to output a target angle instruction containing a rear wheel steering target angle according to the vehicle state signal;
step S300, performing first verification before the target angle instruction is sent to the actuator angle position controller, wherein the result of the first verification is used for indicating whether the target angle instruction is sent to the actuator angle position controller or not;
step S400, performing second verification when the first verification result is yes, wherein the second verification result is used for indicating whether the actuator angle position controller calculates and converts the target angle command into a torque demand command or a rotating speed demand command;
step S500, when the second verification result is yes, enabling the actuator angle position controller to send a torque demand instruction or a rotating speed demand instruction to the motor controller;
step S600 causes the motor controller to execute a torque demand command or a rotational speed demand command.
According to the scheme of the embodiment of the invention, through two times of verification, namely, the target angle command is sent to the actuator angle position controller only when the first verification result is yes, and the actuator angle position controller is enabled to send the torque demand command or the rotating speed demand command to the motor controller only when the second verification result is yes. This may reduce unnecessary rear wheel steering interventions in certain scenarios to reduce the energy consumption of the rear wheel steering system as a whole.
In step S300, a first verification result is determined according to the following steps:
1) obtaining an angle value T of a steering wheel input of a vehiclefVehicle speed VdAnd the rate of change of angle Δ T of the steering wheelf；
2) Judging the speed V of the vehicledAngle value TfAnd the rate of change of angle Δ TfWhether the following conditions are simultaneously satisfied:
3)Vd≤V0、Tf≤T0and Δ Tf≤ΔT0Wherein V is0、T0And Δ T0Is a constant;
4) if yes, determining that the first verification result is negative, and executing the following steps: replacing the rear wheel steering target angle in the target angle instruction with a zero-degree angle, and sending the angle instruction replaced with the zero-degree angle to the actuator angle position controller;
otherwise, determining that the first verification result is yes, and executing the following steps: and sending the target angle command to an actuator angle position controller.
Wherein, V0It may be set empirically, for example, 40 km/hour. T is0And Δ T0Is as followsAs will be described in detail herein. And the condition of the step 3) is satisfied, so that the vehicle speed can be basically determined to move in a small angle range under the low vehicle speed, and the angle change rate of the steering wheel input is small.
In step 1) above, the angle value TfThe included angle between the current position of the steering wheel and the middle position of the steering wheel at the zero angle is Tf. Angle value T0The included angle between the preset position of the steering wheel and the middle position is T0。
In the step 4), if the first verification result at the last verification is yes and the first verification result at the current verification is no, replacing the target angle in the target angle command with a sequence gradually changing towards zero at a first change rate, and sending values in the sequence to the actuator angle position controller one by one according to a fixed period. And if the first verification result in the last verification is negative and the first verification result in the current verification is positive, gradually increasing the angle value in the target angle instruction from the zero-degree angle to the rear wheel steering target angle by using the second change rate. It is to be explained here that the first verification and the second verification in the rear wheel control method are performed periodically, once every preset period. The first rate of change and the second rate of change are empirical values.
In step S600, a second verification result is determined according to the following steps:
step one, calculating the actual angle value T of the motorzSteering target angle T of rear wheelhAbsolute value of the difference of (1) | Tz-ThAnd a first preset threshold value T1The comparison is carried out in such a way that,
step two, if Tz-Th|＜T1If so, determining that the second verification result is to inhibit the rotor angle command from being sent to the motor rotor actuator;
step three, calculating the actual angle value T of the motorzSteering target angle T of rear wheelhRespectively with a second preset threshold value T2The comparison is carried out in such a way that,
step four, if Tz-Th|＞T2And determining that the second verification result is that the rotor angle command is sent to the motor rotor actuator.
In step one, a first preset threshold value T1The following conditions are satisfied: a + C-y0≤T1≤A+C+y1And T is1＜T2Wherein, y0≥0，y1Is not less than 0, and y0And y1Are all constant, and y0And y1The adjustment can be carried out according to the actual situation, wherein A is the maximum possible influence value of the free stroke of the steering wheel on the steering angle of the rear wheel, and C is the system deviation of the steering angle of the rear wheel and the motor controller at the zero-angle position.
Where a is calculated according to the formula a ═ (b/c) × a, where a is the steering wheel free stroke, which is caused by the mechanical clearance. b is the maximum angle value of the rear wheel steering. c is the minimum steering wheel angle value required to be input when the rear wheel steering angle reaches the maximum angle value.
In step three, a second preset threshold value T2The following conditions are satisfied: a + C + x0≤T2≤A+C+x1Wherein, 0 < x0＜x1And x is0And x1Are all constant, and x0And x1Can be adjusted according to actual conditions.
In a preferred embodiment, T in step 3) above0Satisfies the following conditions: t is0＞T2(c/b). I.e. T0A value is selected from the above conditions being met.
According to the scheme of the embodiment of the invention, the simple establishment of the response dead zone of the rear wheel steering is considered, so that the use scenes that the quick vehicle response needs to be established by means of the rear wheel steering are not facilitated, and the influence of the response dead zone is eliminated when the angle of the steering wheel is changed quickly by taking the angle change rate of the steering wheel as a limiting condition. And through carrying out verification twice, unnecessary control and disturbance are reduced, and the purpose of reducing energy consumption is achieved.
In another embodiment, the effect on the input of small angles of the steering wheel may beBy inputting an angle value T to the steering wheelfFiltering is performed to eliminate small angles of the steering wheel angle measurement value, or input in a specific frequency region, by a filter. In another embodiment, the resolution of the control signal may also be reduced, thereby reducing the sensitivity of the motor rotor actuator.
Correspondingly, the invention also provides a rear wheel steering control system, which comprises a control device 4, wherein the control device 4 comprises a memory 41 and a processor 42, the memory 41 stores a control program, and the control program is used for realizing the rear wheel steering control method according to the foregoing when being executed by the processor 42.
Thus, it should be understood by those skilled in the art that while various exemplary embodiments of the present invention have been illustrated and described in detail herein, many other variations or modifications which conform to the general principles of the invention may be directly determined or derived from the disclosure herein without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.

Claims (10)

1. A rear wheel steering control method for controlling a rear wheel steering control device including a target angle generation controller, an actuator angular position controller communicatively connected to the target angle generation controller, and a motor controller connected to the actuator angular position controller, the rear wheel steering control method comprising the steps of:
acquiring a vehicle state signal input by a steering wheel;
enabling the target angle generation controller to output a target angle instruction containing a rear wheel steering target angle according to the vehicle state signal;
performing first verification before the target angle instruction is sent to the actuator angle position controller, wherein the result of the first verification is used for indicating whether the target angle instruction is sent to the actuator angle position controller or not;
performing second verification when the first verification result is yes, wherein the second verification result is used for indicating whether the actuator angular position controller converts the target angle command calculation into a torque demand command or a rotating speed demand command;
when the second verification result is yes, enabling the actuator angular position controller to send the torque demand command or the rotating speed demand command to the motor controller;
causing the motor controller to execute the torque demand command or the rotational speed demand command.
2. The rear wheel steering control method according to claim 1, wherein the first verification result is determined according to the steps of:
obtaining an angle value T of a steering wheel input of the vehiclefVehicle speed VdAnd the rate of change of angle Δ T of the steering wheelf；
Judging the vehicle speed VdThe angle value TfAnd the rate of change of angle Δ TfWhether the following conditions are simultaneously satisfied:
Vd≤V0、Tf≤T0and Δ Tf≤ΔT0Wherein V is0、T0And Δ T0Is a constant;
if yes, determining that the first verification result is no, and executing the following steps: replacing the rear wheel steering target angle in the target angle instruction with a zero-degree angle, and sending the angle instruction replaced with the zero-degree angle to the actuator angle position controller;
otherwise, determining that the first verification result is yes, and executing the following steps: and sending the target angle instruction to the actuator angle position controller.
3. The rear wheel steering control method according to claim 2, characterized by further comprising the steps of: performing the first verification and the second verification according to a preset period;
if yes, determining that the first verification result is no, and executing the following steps: replacing the target angle in the target angle command with a zero degree angle, and sending the angle command replaced with the zero degree angle to the actuator angle position controller,
and if the first verification result in the last verification is yes and the first verification result in the current verification is no, replacing the target angle in the target angle instruction with a sequence which gradually changes towards zero at a first change rate, and sending values in the sequence to the actuator angle position controller one by one according to a fixed period.
4. The rear wheel steering control method according to claim 2, wherein the otherwise, determining that the first verification result is yes, and performing the steps of: the step of sending the target angle command to the actuator angular position controller includes the steps of:
and if the first verification result in the last verification is negative and the first verification result in the current verification is positive, gradually increasing the angle value in the target angle instruction from the zero-degree angle to the rear wheel steering target angle by using a second change rate.
5. The rear wheel steering control method according to any one of claims 1 to 4, wherein the second verification result is determined according to the steps of:
the current actual angle value T of the motor is comparedzAnd the rear wheel steering target angle ThAbsolute value of the difference of (1) | Tz-Th| and a first preset threshold value T1The comparison is carried out in such a way that,
if Tz-Th|＜T1If yes, determining that the second verification result is negative, and executing the following steps: inhibiting the actuator angular position controller from converting the target angle command calculation into the torque demand command or the rotational speed demand command;
the actual angle value T of the motor is comparedzAnd said rear wheelSteering target angle ThRespectively with a second preset threshold value T2The comparison is carried out in such a way that,
if Tz-Th|＞T2Then, determining that the second verification result is yes, and performing the following steps: causing the actuator angular position controller to convert the target angle command calculation into the torque demand command or the rotational speed demand command.
6. The rear wheel steering control method according to claim 5, characterized by further comprising the steps of:
acquiring a free stroke a of a steering wheel, a maximum steering angle value b of a rear wheel and a minimum steering wheel angle value c required to be input when the steering angle of the rear wheel reaches the maximum steering angle value;
and calculating according to the formula A, (b/c) a to obtain the maximum possible influence value A of the free stroke of the steering wheel on the steering angle of the rear wheels.
7. The rear wheel steering control method according to claim 6, characterized by further comprising the steps of: acquiring a system deviation C between the steering angle of the rear wheel and the zero-angle position of the motor controller;
the first preset threshold T1The following conditions are satisfied: a + C-y0≤T1≤A+C+y1And T is1＜T2Wherein, y0≥0，y1Is not less than 0, and y0And y1Are all constants.
8. The rear wheel steering control method according to claim 7, characterized in that the second preset threshold T2The following conditions are satisfied: a + C + x0≤T2≤A+C+x1Wherein, 0 < x0＜x1And x is0And x1Are all constants.
9. The rear wheel steering control method according to claim 8, characterized in that the angle value TfIndicating the current position of the steering wheelThe included angle between the steering wheel and the middle position when the steering wheel is at a zero angle is TfAngle value T0The included angle between the preset position of the steering wheel and the middle position is T0Said angle value T0The following conditions are satisfied: t is0＞T2*(c/b)。
10. A rear wheel steering control system comprising a control device including a memory and a processor, the memory storing a control program, the control program being executed by the processor to implement the rear wheel steering control method according to any one of claims 1 to 9.
CN202110128576.6A 2021-01-29 2021-01-29 Rear wheel steering control method and rear wheel steering control system Active CN112918549B (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102632923A (en) * 2012-03-30 2012-08-15 郑州宇通客车股份有限公司 Steering control method and system for rear-wheel driving vehicle of wheel rim/hub motor
CN104709341A (en) * 2015-01-19 2015-06-17 盐城工学院 Vehicle rear wheel steering assisting control system and control method thereof
CN111422249A (en) * 2020-04-16 2020-07-17 芜湖汽车前瞻技术研究院有限公司 Rear wheel steering control method, rear wheel steering control device and computer storage medium
CN111717275A (en) * 2020-06-24 2020-09-29 中国第一汽车股份有限公司 Vehicle rear wheel steering control system and control method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102632923A (en) * 2012-03-30 2012-08-15 郑州宇通客车股份有限公司 Steering control method and system for rear-wheel driving vehicle of wheel rim/hub motor
CN104709341A (en) * 2015-01-19 2015-06-17 盐城工学院 Vehicle rear wheel steering assisting control system and control method thereof
CN111422249A (en) * 2020-04-16 2020-07-17 芜湖汽车前瞻技术研究院有限公司 Rear wheel steering control method, rear wheel steering control device and computer storage medium
CN111717275A (en) * 2020-06-24 2020-09-29 中国第一汽车股份有限公司 Vehicle rear wheel steering control system and control method

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