CN114919653A - Vehicle control method, vehicle, and computer-readable storage medium - Google Patents
Vehicle control method, vehicle, and computer-readable storage medium Download PDFInfo
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- CN114919653A CN114919653A CN202210683035.4A CN202210683035A CN114919653A CN 114919653 A CN114919653 A CN 114919653A CN 202210683035 A CN202210683035 A CN 202210683035A CN 114919653 A CN114919653 A CN 114919653A
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- 238000013016 damping Methods 0.000 claims abstract description 28
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- 238000005096 rolling process Methods 0.000 claims description 47
- 238000013507 mapping Methods 0.000 claims description 18
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000005094 computer simulation Methods 0.000 claims description 7
- 238000009825 accumulation Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 description 5
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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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- 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
- B62D5/0466—Controlling the motor for returning the steering wheel to neutral position
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a vehicle control method, a vehicle and a computer-readable storage medium. The method comprises the following steps: acquiring real-time vehicle speed, real-time vehicle steering angle and real-time vehicle running data, and obtaining a plurality of tire aligning torque compensation values according to the real-time vehicle speed, the real-time vehicle steering angle and the real-time vehicle running data; accumulating the tire aligning moment compensation values to obtain a target tire aligning moment compensation value; and acquiring the damping compensation torque and the friction compensation torque of the vehicle, and outputting a control current according to the target tire aligning torque compensation value, the damping compensation torque and the friction compensation torque so as to realize the vehicle steering power-assisted compensation. The invention improves the accuracy of the automobile steering power assistance in the process of compensating the steering power assistance.
Description
Technical Field
The present invention relates to the field of vehicle electronic control technologies, and in particular, to a vehicle control method, a vehicle, and a computer-readable storage medium.
Background
The conventional compensation mode of the steering assistance generally has the problems that the aligning force is increased when the vehicle load is increased and the aligning force is increased to cause overcompensation, or the aligning force is changed to be nonlinear when a user changes a wide tire or the radius of the tire is increased, the aligning force is obviously nonlinear when the user experiences the assistance in the process of starting and accelerating to a stable state, the steering assistance is reduced continuously by the aligning force in the braking process, the fading condition occurs, and the like.
In summary, the conventional compensation method for the steering assistance of the automobile has the problem of inaccuracy in the compensation of the steering assistance.
Disclosure of Invention
The invention mainly aims to provide a vehicle control method, a vehicle and a computer readable storage medium. The method aims to solve the problem that the compensation mode of the automobile steering power assistance is inaccurate when the steering power assistance compensation is carried out.
In order to achieve the above object, the present invention provides a vehicle control method, including:
acquiring real-time vehicle speed, real-time vehicle steering angle and real-time vehicle driving data, and obtaining a plurality of tire aligning torque compensation values according to the real-time vehicle speed, the real-time vehicle steering angle and the real-time vehicle driving data;
accumulating the tire aligning moment compensation values to obtain a target tire aligning moment compensation value;
and acquiring the damping compensation torque and the friction compensation torque of the vehicle, and outputting a control current according to the target tire aligning torque compensation value, the damping compensation torque and the friction compensation torque so as to realize the vehicle steering power-assisted compensation.
Optionally, the tire aligning torque compensation value comprises an initial tire aligning torque, a tire rolling radius compensation torque, a tire width compensation torque, a tire acceleration compensation torque, and a tire braking compensation torque;
the step of obtaining a plurality of tire aligning torque compensation values according to the real-time vehicle speed, the real-time vehicle steering angle and the real-time vehicle running data comprises the following steps:
obtaining an initial tire aligning moment according to the real-time vehicle speed of the vehicle, the real-time steering angle of the vehicle and a preset tire aligning moment compensation list;
obtaining tire acceleration compensation torque according to the vehicle real-time speed, the vehicle real-time steering angle and a preset tire acceleration compensation torque list;
obtaining a tire rolling radius compensation moment according to the vehicle real-time steering angle, the vehicle real-time driving data and a preset tire rolling radius compensation list;
obtaining a tire width compensation torque according to the vehicle real-time steering angle, the vehicle real-time driving data and a preset tire width compensation list;
and obtaining the tire braking compensation torque according to the vehicle real-time steering angle, the vehicle real-time driving data and a preset tire braking compensation list.
Optionally, before the step of obtaining the initial tire aligning torque according to the real-time vehicle speed of the vehicle, the real-time steering angle of the vehicle, and the preset tire aligning torque compensation list, the method further includes:
according to the preset load of the vehicle, the preset caster angle of the kingpin of the vehicle and the preset cornering stiffness of the vehicle, carrying out dynamic simulation on the vehicle to obtain the mapping relation among the vehicle speed, the vehicle steering angle and the vehicle tire aligning moment;
and generating a preset tire revolution moment compensation list according to the mapping relation.
Optionally, the step of obtaining the tire acceleration compensation torque according to the real-time vehicle speed of the vehicle, the real-time steering angle of the vehicle, and a preset tire acceleration compensation torque list includes:
judging whether the vehicle is in an acceleration state or not according to the real-time vehicle speed of the vehicle, and acquiring the real-time acceleration of the vehicle in the acceleration state;
and if the vehicle is in an acceleration state, obtaining the tire acceleration compensation torque according to the vehicle real-time acceleration, the vehicle real-time steering angle and a preset tire acceleration compensation torque list.
Optionally, the vehicle real-time running data comprises the radius of each tire of the vehicle;
the step of obtaining the tire rolling radius compensation torque according to the vehicle real-time steering angle, the vehicle real-time driving data and a preset tire rolling radius compensation list comprises the following steps:
obtaining a first tire rolling radius compensation moment of each tire on the vehicle according to the radius of each tire of the vehicle, the real-time steering angle of the vehicle and a preset tire rolling radius compensation moment list;
and carrying out weighted average on the first tire acceleration compensation moment to obtain the tire rolling radius compensation moment.
Optionally, the vehicle real-time driving data comprises the tread width of each tire of the vehicle;
the step of obtaining the tire width compensation torque according to the vehicle real-time steering angle, the vehicle real-time driving data and a preset tire width compensation list comprises the following steps:
according to the real-time steering angle of the vehicle, the tire width of each tire of the vehicle and a preset tire width compensation list, obtaining a first tire width compensation moment of each tire;
and accumulating and calculating the first tire width compensation moment of each tire to obtain the tire width compensation moment.
Optionally, the step of obtaining the tire braking compensation torque according to the vehicle real-time steering angle, the vehicle real-time driving data, and a preset tire braking compensation list includes:
detecting whether a brake pedal signal is received;
and if the brake pedal signal is detected, obtaining the tire braking compensation torque according to the vehicle real-time steering angle and a preset tire braking compensation list.
Optionally, the step of outputting a control current according to the target tire aligning torque compensation value, the damping compensation torque, and the friction compensation torque includes:
accumulating and calculating the target tire aligning moment compensation value, the damping compensation moment and the friction compensation moment to obtain a target output moment;
and obtaining and outputting a control current corresponding to the target output torque according to the target output torque.
In addition, to achieve the above object, the present invention also provides a vehicle including a memory, a processor, and a vehicle control program stored on the memory and operable on the processor, the vehicle control program, when executed by the processor, implementing the steps of the vehicle control method as described above.
Further, to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a vehicle control program which, when executed by a processor, realizes the steps of the vehicle control method as described above.
The invention provides a vehicle control method, a vehicle and a computer readable storage medium, wherein the vehicle control method comprises the following steps: acquiring real-time vehicle speed, real-time vehicle steering angle and real-time vehicle driving data, and obtaining a plurality of tire aligning torque compensation values according to the real-time vehicle speed, the real-time vehicle steering angle and the real-time vehicle driving data; performing accumulation operation on a plurality of tire aligning moment compensation values to obtain a target tire aligning moment compensation value; and acquiring the damping compensation torque and the friction compensation torque of the vehicle, and outputting a control current according to the target tire aligning torque compensation value, the damping compensation torque and the friction compensation torque so as to realize the vehicle steering power-assisted compensation. By the method, on the basis of damping compensation and friction compensation of the traditional power-assisted steering compensation, the tire rotation power-assisted compensation is introduced to compensate the electric power-assisted steering control, and the key variable of the tire aligning torque is effectively controlled, so that the steering stability and the steering linearity capability of the steering mechanism of the controller are further improved, the accuracy of the power-assisted steering compensation is effectively improved, and the experience of a vehicle owner in the driving process is improved.
Drawings
Fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating a vehicle control method according to an embodiment 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
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention.
The terminal of the embodiment of the invention can be a vehicle.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a DVI interface 1004, a USB interface 1005, and a memory 1006. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The DVI interface 1004 may optionally include a standard wired interface to connect with other external devices via DVI wires. The USB interface 1005 may optionally include a standard wired interface to connect with other external devices via a USB cable. The memory 1006 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). The memory 1006 may alternatively be a storage device separate from the processor 1001.
Optionally, the terminal may further include an audio circuit and the like, which are not described in detail herein.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, the memory 1006, which is a type of computer storage medium, may include therein an operating system, a DVI interface module, a USB interface module, a user interface module, and a vehicle control program.
In the terminal shown in fig. 1, the DVI interface 1004 is mainly used for connecting, and communicating data with, external devices; the USB interface 1005 is mainly used for connecting an external device and performing data communication with the external device; the user interface 1003 is mainly used for connecting a client and performing data communication with the client; and the processor 1001 may be configured to invoke the vehicle control program stored in the memory 1006 and perform the following operations:
acquiring real-time vehicle speed, real-time vehicle steering angle and real-time vehicle running data, and obtaining a plurality of tire aligning torque compensation values according to the real-time vehicle speed, the real-time vehicle steering angle and the real-time vehicle running data;
accumulating the tire aligning moment compensation values to obtain a target tire aligning moment compensation value;
and acquiring the damping compensation torque and the friction compensation torque of the vehicle, and outputting a control current according to the target tire aligning torque compensation value, the damping compensation torque and the friction compensation torque so as to realize the vehicle steering power-assisted compensation.
Further, the processor 1001 may invoke a vehicle control program stored in the memory 1006, and also perform the following operations:
obtaining an initial tire aligning moment according to the real-time vehicle speed of the vehicle, the real-time steering angle of the vehicle and a preset tire aligning moment compensation list;
obtaining tire acceleration compensation torque according to the vehicle real-time speed, the vehicle real-time steering angle and a preset tire acceleration compensation torque list;
obtaining a tire rolling radius compensation moment according to the vehicle real-time steering angle, the vehicle real-time driving data and a preset tire rolling radius compensation list;
obtaining a tire width compensation torque according to the vehicle real-time steering angle, the vehicle real-time driving data and a preset tire width compensation list;
and obtaining the tire braking compensation torque according to the vehicle real-time steering angle, the vehicle real-time driving data and a preset tire braking compensation list.
Further, the processor 1001 may invoke a vehicle control program stored in the memory 1006, and also perform the following operations:
according to the preset load of the vehicle, the preset caster angle of the kingpin of the vehicle and the preset cornering stiffness of the vehicle, carrying out dynamic simulation on the vehicle to obtain a mapping relation among the vehicle speed, the vehicle steering angle and the aligning moment of the vehicle tire;
and generating a preset tire revolution moment compensation list according to the mapping relation.
Further, the processor 1001 may invoke a vehicle control program stored in the memory 1006, and also perform the following operations:
judging whether the vehicle is in an acceleration state or not according to the real-time vehicle speed of the vehicle, and acquiring the real-time acceleration of the vehicle in the acceleration state;
and if the vehicle is in an acceleration state, obtaining the tire acceleration compensation torque according to the vehicle real-time acceleration, the vehicle real-time steering angle and a preset tire acceleration compensation torque list.
Further, the processor 1001 may invoke a vehicle control program stored in the memory 1006, and also perform the following operations:
obtaining a first tire rolling radius compensation moment of each tire on the vehicle according to the radius of each tire of the vehicle, the real-time steering angle of the vehicle and a preset tire rolling radius compensation moment list;
and carrying out weighted average on the first tire acceleration compensation moment to obtain the tire rolling radius compensation moment.
Further, the processor 1001 may invoke a vehicle control program stored in the memory 1006, and also perform the following operations:
obtaining a first tire width compensation moment of each tire according to the real-time steering angle of the vehicle, the tire width of each tire of the vehicle and a preset tire width compensation list;
and accumulating and calculating the first tire width compensation moment of each tire to obtain the tire width compensation moment.
Further, the processor 1001 may invoke a vehicle control program stored in the memory 1006, and also perform the following operations:
detecting whether a brake pedal signal is received;
and if a brake pedal signal is detected, obtaining a tire braking compensation torque according to the vehicle real-time steering angle and a preset tire braking compensation list.
Further, the processor 1001 may invoke a vehicle control program stored in the memory 1006, and also perform the following operations:
accumulating and calculating the target tire aligning moment compensation value, the damping compensation moment and the friction compensation moment to obtain a target output moment;
and obtaining and outputting a control current corresponding to the target output torque according to the target output torque.
The specific embodiment of the vehicle of the present invention is substantially the same as the following embodiments of the vehicle control program, and will not be described herein.
Referring to fig. 2, fig. 2 is a schematic flowchart of a vehicle control method according to a first embodiment of the present invention, and the vehicle control method provided in this embodiment includes the following steps:
step S10, collecting real-time vehicle speed, real-time vehicle steering angle and real-time vehicle driving data, and obtaining a plurality of tire aligning torque compensation values according to the real-time vehicle speed, the real-time vehicle steering angle and the real-time vehicle driving data;
in the present embodiment, the tire aligning torque compensation value includes an initial tire aligning torque, a tire rolling radius compensation torque, a tire width compensation torque, a tire acceleration compensation torque, and a tire braking compensation torque;
in an embodiment, the step S10 further includes:
step A11, obtaining an initial tire aligning torque according to the vehicle real-time speed, the vehicle real-time steering angle and a preset tire aligning torque compensation list;
in this embodiment, the steering angle is an angle formed by turning the vehicle wheel to the left or right to the extreme position and the center line when the wheel does not deflect, that is, an included angle between the vehicle driving direction and the vehicle when the vehicle is driving straight. The preset tire aligning moment compensation list comprises the mapping relation among the vehicle speed, the vehicle steering angle and the vehicle tire aligning moment, and the corresponding initial tire aligning moment can be searched in the preset tire aligning moment compensation list according to the real-time vehicle speed and the real-time vehicle steering angle of the vehicle. For example, when the vehicle real-time vehicle speed is 50Km/h and the vehicle real-time steering angle is 10 °, the corresponding initial tire aligning torque is 20N · m, and the like. By introducing the initial tire aligning moment, the problem that the steering assistance nonlinearity caused by tire aligning moment compensation is not considered in the prior art is solved.
In another embodiment, before the step a11, the method further includes:
a101, dynamically simulating a vehicle according to a preset load of the vehicle, a preset caster angle of a kingpin of the vehicle and a preset cornering stiffness of the vehicle to obtain a mapping relation among a vehicle speed, a vehicle steering angle and a vehicle tire aligning moment;
step A102, generating a preset tire aligning moment compensation list according to the mapping relation;
in this embodiment, the preset load of the vehicle is the maximum load of the vehicle, and 960KG may be taken when the dynamic policy is implemented in this embodiment; the preset kingpin caster angle of the vehicle is an included angle between the axis of the kingpin and a vertical line in a longitudinal vertical plane of the vehicle; the preset cornering stiffness of the vehicle is a ratio of a cornering force of a tire of the vehicle to a cornering angle, it should be noted that the preset load of the vehicle, the preset caster angle of the kingpin of the vehicle and the preset cornering stiffness of the vehicle are constant characteristic parameters of the vehicle, the parameters of the vehicles of each model are different, and in a specific implementation process, simulation can be performed according to the parameters of an actual vehicle, and the invention is not limited herein. Of course, those skilled in the art can perform dynamic simulation according to different loads of different vehicle models, and the invention does not limit the specific value of the preset load. In this embodiment, software can be used to perform dynamic simulation on different vehicle speeds and different vehicle steering angles one by one, so as to obtain a mapping relationship between each vehicle speed and each vehicle steering angle and the vehicle tire aligning torque, and form a preset tire aligning torque compensation list by using the mapping relationship. By the method, the vehicle tire aligning moment can be obtained directly according to the collected real-time vehicle speed and the collected real-time steering angle in the driving process of the vehicle, and the calculation pressure of the vehicle in the driving process is saved.
Step A12, obtaining tire acceleration compensation torque according to the vehicle real-time speed, the vehicle real-time steering angle and a preset tire acceleration compensation torque list;
in one embodiment, the step a12 further includes:
step A121, judging whether the vehicle is in an acceleration state or not according to the real-time vehicle speed of the vehicle, and acquiring the real-time acceleration of the vehicle in the acceleration state;
step A122, if the vehicle is in an acceleration state, obtaining a tire acceleration compensation moment according to the vehicle real-time acceleration, the vehicle real-time steering angle and a preset tire acceleration compensation moment list;
in this embodiment, the preset tire acceleration compensation torque list includes a mapping relationship between a vehicle acceleration, a vehicle steering angle, and a tire acceleration compensation torque, and specifically, the mapping relationship between the preset tire acceleration compensation torque list and the tire acceleration compensation torque may be obtained by dynamically simulating an acceleration and a steering angle of the vehicle in an acceleration process. In this embodiment, in the existing scheme, when the tire aligning torque compensation is not introduced, in the process of turning acceleration of the vehicle, a process of calibrating a parameter of the vehicle, that is, a process of calibrating the steering force is required, so that the compensated steering force is set in advance, but after the tire aligning torque compensation of the scheme is introduced, since the steering force is compensated by the compensated steering force, the compensated steering force performed in the process of calibrating the parameter is not required any more, and therefore, the scheme is accurately implemented by eliminating the compensated steering force, and therefore, the tire acceleration compensation torque in the present embodiment is the compensated steering force. By the method, the problem that steering aligning force is obviously nonlinear in the process of accelerating the vehicle from starting to stabilizing and reflects that a user experiences assistance sometimes is solved.
Step A13, obtaining a tire rolling radius compensation moment according to the vehicle real-time steering angle, the vehicle real-time driving data and a preset tire rolling radius compensation list;
in an embodiment, the step a13 further includes:
step 131, obtaining a first tire rolling radius compensation moment of each tire on the vehicle according to the radius of each tire of the vehicle, the real-time steering angle of the vehicle and a preset tire rolling radius compensation moment list;
and 132, carrying out weighted average on the first tire acceleration compensation moment to obtain a tire rolling radius compensation moment.
In the embodiment, the vehicle real-time running data comprises the rolling radius of each tire on the vehicle, wherein the rolling radius is changed along with the model of the tire and the air quantity of the tire.
The preset tire rolling radius compensation list comprises a vehicle steering angle, a vehicle tire radius and a mapping relation between the vehicle steering angle, the vehicle tire radius and the tire rolling radius compensation moment, and specifically, the preset tire rolling radius compensation list can be obtained by dynamically simulating a vehicle, the rolling radius of each tire of the vehicle is obtained in real time in the vehicle running process, then a first tire rolling radius compensation moment corresponding to the rolling radius is searched according to the preset tire rolling radius compensation moment list, weighted average calculation is carried out on the first tire rolling radius compensation moment, and a final tire rolling radius compensation moment is obtained. In this embodiment, the calculation of the front wheels of the vehicle may be selected, and the calculation of the front wheels and the rear wheels of the vehicle may also be selected, which is not limited herein. In the embodiment, the method creatively increases the influence factors of the radius of the tire, reduces the problem of steering consistency deviation before and after tire replacement, and avoids the problem that the steering aligning force is too large when a user replaces a large-size tire on the same platform.
Step A14, obtaining a tire width compensation torque according to the vehicle real-time steering angle, the vehicle real-time driving data and a preset tire width compensation list;
in an embodiment, the step a14 further includes:
step A141, according to the real-time steering angle of the vehicle, the tire width of each tire of the vehicle and a preset tire width compensation list, obtaining a first tire width compensation moment of each tire;
step A142, performing accumulation calculation on the first tire width compensation torque of each tire to obtain tire width compensation torque;
in this embodiment, the preset tire width compensation list may perform static measurement and dynamic simulation on a tire side inclination angle and a toe-in angle under different tire widths of a vehicle to obtain a tire width compensation torque under the influence of different tire widths of the vehicle type, where the preset tire width compensation list includes a vehicle steering angle, and a mapping relationship between the tire width of the vehicle and the tire width compensation torque, and in a driving process of the vehicle, a first tire width compensation torque corresponding to the real-time tire width and the real-time steering angle may be found in the preset tire width compensation list by detecting the real-time tire width and the real-time steering angle of the vehicle, and then all the first tire width compensation torques are accumulated to obtain the tire width compensation torque. In the embodiment, by introducing the tire width compensation moment, an effective balancing method for the influence of the roll angle and the toe-in angle of the steering wheel under different tire widths on the tire aligning moment in the power-assisted steering control is innovatively provided, and by obtaining the first tire width compensation moment under the influence of different tire widths of the vehicle type, the first tire width compensation moment is accumulated into the tire aligning force compensation in the form of the linear correlation quantity of the steering angle, so that the steering lightness is optimized, and the problem that the aligning force becomes nonlinear when a user replaces a wide tire is avoided.
And A15, obtaining tire braking compensation torque according to the vehicle real-time steering angle, the vehicle real-time driving data and a preset tire braking compensation list.
In an embodiment, the step a15 further includes:
step A151, detecting whether a brake pedal signal is received;
step A152, if a brake pedal signal is detected, obtaining a tire braking compensation torque according to the vehicle real-time steering angle and a preset tire braking compensation list;
in this embodiment, in the existing scheme, when the tire aligning torque compensation is not introduced, in the process of actively decelerating the vehicle, a process of calibrating a parameter of the vehicle, that is, a process of calibrating the steering force is required, so that the compensated steering force is set in advance, but after the tire aligning torque compensation of the scheme is introduced, since the steering force is compensated by the compensated steering force, the compensated steering force performed in the process of calibrating the parameter is not required any more, and therefore, the scheme is accurately implemented by eliminating the compensated steering force, and the tire braking compensation torque in this embodiment is the compensated steering force. The preset tire braking compensation list comprises a mapping relation between a vehicle real-time steering angle and a tire braking compensation moment, and when the vehicle detects active deceleration, namely a brake pedal signal occurs, the corresponding tire braking compensation moment can be found in the preset tire braking compensation list according to the real-time steering angle. In the embodiment, the steering boosting compensation method in the traditional braking process is innovatively changed by introducing the tire braking compensation moment, and after active deceleration occurs, the braking pedal signal is added into the tire aligning moment compensation value to compensate the tire aligning force, so that the condition that the traditional tire aligning moment compensation method is declined in the braking process is improved. It should be noted that the tire acceleration compensation torque and the tire braking compensation torque are mutually exclusive during the actual running of the vehicle, that is, only one of the two is generated, and the other is 0.
Step S20, accumulating a plurality of tire aligning moment compensation values to obtain a target tire aligning moment compensation value;
in the present embodiment, the target tire aligning torque compensation value is obtained by performing an accumulation calculation on the initial tire aligning torque, the tire rolling radius compensation torque, the tire width compensation torque, the tire acceleration compensation torque, and the tire braking compensation torque.
And step S30, obtaining the damping compensation torque and the friction compensation torque of the vehicle, and outputting a control current according to the target tire aligning torque compensation value, the damping compensation torque and the friction compensation torque so as to realize the vehicle steering power-assisted compensation.
In one embodiment, the step S30 further includes:
step A31, performing accumulation calculation on the target aligning torque compensation value, the damping compensation torque and the friction compensation torque to obtain a target output torque;
step A32, obtaining and outputting a control current corresponding to the target output torque according to the target output torque;
in this embodiment, the damping compensation torque may be obtained according to a steering angle and a rotational angular velocity of the vehicle, and the friction compensation torque may be obtained according to a structure of a steering column of the vehicle. It should be noted that damping compensation and friction compensation are both relatively existing power steering compensation methods, and the present invention is not described herein again. Since the steering assist of the vehicle is finally controlled to output according to the control current, after a specific target output torque is obtained, the corresponding control current can be output according to the control current corresponding to the target output torque, so as to realize the output of the target output torque.
The invention provides a vehicle control method, which comprises the following steps: acquiring real-time vehicle speed, real-time vehicle steering angle and real-time vehicle driving data, and obtaining a plurality of tire aligning torque compensation values according to the real-time vehicle speed, the real-time vehicle steering angle and the real-time vehicle driving data; accumulating the tire aligning moment compensation values to obtain a target tire aligning moment compensation value; and acquiring the damping compensation torque and the friction compensation torque of the vehicle, and outputting a control current according to the target tire aligning torque compensation value, the damping compensation torque and the friction compensation torque so as to realize the vehicle steering power-assisted compensation. By the method, on the basis of damping compensation and friction compensation of the traditional power-assisted steering compensation, the tire rotation power-assisted compensation is introduced to compensate the electric power-assisted steering control, and the key variable of the tire aligning torque is effectively controlled, so that the steering stability and the steering linearity capability of the steering mechanism of the controller are further improved, the accuracy of the power-assisted steering compensation is effectively improved, and the experience of a vehicle owner in the driving process is improved.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, on which a vehicle control program is stored, where the vehicle control program, when executed by a processor, implements the following operations:
acquiring real-time vehicle speed, real-time vehicle steering angle and real-time vehicle driving data, and obtaining a plurality of tire aligning torque compensation values according to the real-time vehicle speed, the real-time vehicle steering angle and the real-time vehicle driving data;
accumulating the tire aligning moment compensation values to obtain a target tire aligning moment compensation value;
and acquiring the damping compensation torque and the friction compensation torque of the vehicle, and outputting a control current according to the target tire aligning torque compensation value, the damping compensation torque and the friction compensation torque so as to realize the vehicle steering power-assisted compensation.
Further, the vehicle control program when executed by the processor further performs the operations of:
the tire aligning moment compensation value comprises an initial tire aligning moment, a tire rolling radius compensation moment, a tire width compensation moment, a tire acceleration compensation moment and a tire braking compensation moment;
the step of obtaining a plurality of tire aligning torque compensation values according to the real-time vehicle speed, the real-time vehicle steering angle and the real-time vehicle running data comprises the following steps:
obtaining an initial tire aligning moment according to the vehicle real-time speed, the vehicle real-time steering angle and a preset tire aligning moment compensation list;
obtaining tire acceleration compensation torque according to the vehicle real-time speed, the vehicle real-time steering angle and a preset tire acceleration compensation torque list;
obtaining a tire rolling radius compensation moment according to the vehicle real-time steering angle, the vehicle real-time driving data and a preset tire rolling radius compensation list;
obtaining a tire width compensation torque according to the vehicle real-time steering angle, the vehicle real-time driving data and a preset tire width compensation list;
and obtaining the tire braking compensation torque according to the vehicle real-time steering angle, the vehicle real-time running data and a preset tire braking compensation list.
Further, the vehicle control program when executed by the processor further performs the following:
before the step of obtaining the initial tire aligning torque according to the real-time vehicle speed of the vehicle, the real-time steering angle of the vehicle and the preset tire aligning torque compensation list, the method further comprises the following steps:
according to the preset load of the vehicle, the preset caster angle of the kingpin of the vehicle and the preset cornering stiffness of the vehicle, carrying out dynamic simulation on the vehicle to obtain the mapping relation among the vehicle speed, the vehicle steering angle and the vehicle tire aligning moment;
and generating a preset tire revolution moment compensation list according to the mapping relation.
Further, the vehicle control program when executed by the processor further performs the operations of:
the step of obtaining the tire acceleration compensation torque according to the real-time vehicle speed of the vehicle, the real-time steering angle of the vehicle and a preset tire acceleration compensation torque list comprises the following steps:
judging whether the vehicle is in an acceleration state or not according to the real-time vehicle speed of the vehicle, and acquiring the real-time acceleration of the vehicle in the acceleration state;
and if the vehicle is in an acceleration state, obtaining the tire acceleration compensation torque according to the vehicle real-time acceleration, the vehicle real-time steering angle and a preset tire acceleration compensation torque list.
Further, the vehicle control program when executed by the processor further performs the operations of:
the vehicle real-time running data comprises the radius of each tire of the vehicle;
the step of obtaining the tire rolling radius compensation torque according to the vehicle real-time steering angle, the vehicle real-time driving data and a preset tire rolling radius compensation list comprises the following steps:
obtaining a first tire rolling radius compensation moment of each tire on the vehicle according to the radius of each tire of the vehicle, the real-time steering angle of the vehicle and a preset tire rolling radius compensation moment list;
and carrying out weighted average on the first tire acceleration compensation moment to obtain the tire rolling radius compensation moment.
Further, the vehicle control program when executed by the processor further performs the following:
the vehicle real-time running data comprises the tire width of each tire of the vehicle;
the step of obtaining the tire width compensation torque according to the vehicle real-time steering angle, the vehicle real-time driving data and a preset tire width compensation list comprises the following steps:
obtaining a first tire width compensation moment of each tire according to the real-time steering angle of the vehicle, the tire width of each tire of the vehicle and a preset tire width compensation list;
and accumulating and calculating the first tire width compensation moment of each tire to obtain the tire width compensation moment.
Further, the vehicle control program when executed by the processor further performs the operations of:
the step of obtaining the tire braking compensation torque according to the vehicle real-time steering angle, the vehicle real-time driving data and a preset tire braking compensation list comprises the following steps:
detecting whether a brake pedal signal is received;
and if a brake pedal signal is detected, obtaining a tire braking compensation torque according to the vehicle real-time steering angle and a preset tire braking compensation list.
Further, the vehicle control program when executed by the processor further performs the operations of:
the step of outputting a control current according to the target tire aligning torque compensation value, the damping compensation torque and the friction compensation torque comprises the following steps:
accumulating and calculating the target tire aligning moment compensation value, the damping compensation moment and the friction compensation moment to obtain a target output moment;
and obtaining and outputting a control current corresponding to the target output torque according to the target output torque.
The specific embodiment of the computer-readable storage medium of the present invention is substantially the same as the embodiments of the vehicle control program described above, and will not be described herein again.
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 identical elements in the process, method, article, or system in which the element is included.
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 or the portions contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network 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 vehicle control method, comprising the steps of:
acquiring real-time vehicle speed, real-time vehicle steering angle and real-time vehicle running data, and obtaining a plurality of tire aligning torque compensation values according to the real-time vehicle speed, the real-time vehicle steering angle and the real-time vehicle running data;
accumulating the tire aligning moment compensation values to obtain a target tire aligning moment compensation value;
and acquiring the damping compensation torque and the friction compensation torque of the vehicle, and outputting a control current according to the target tire aligning torque compensation value, the damping compensation torque and the friction compensation torque so as to realize the vehicle steering power-assisted compensation.
2. The vehicle control method according to claim 1, wherein the tire aligning torque compensation value includes an initial tire aligning torque, a tire rolling radius compensation torque, a tire width compensation torque, a tire acceleration compensation torque, and a tire braking compensation torque;
the step of obtaining a plurality of tire aligning torque compensation values according to the real-time vehicle speed, the real-time vehicle steering angle and the real-time vehicle driving data comprises the following steps:
obtaining an initial tire aligning moment according to the vehicle real-time speed, the vehicle real-time steering angle and a preset tire aligning moment compensation list;
obtaining tire acceleration compensation torque according to the vehicle real-time speed, the vehicle real-time steering angle and a preset tire acceleration compensation torque list;
obtaining a tire rolling radius compensation moment according to the vehicle real-time steering angle, the vehicle real-time driving data and a preset tire rolling radius compensation list;
obtaining a tire width compensation torque according to the vehicle real-time steering angle, the vehicle real-time driving data and a preset tire width compensation list;
and obtaining the tire braking compensation torque according to the vehicle real-time steering angle, the vehicle real-time running data and a preset tire braking compensation list.
3. The vehicle control method according to claim 2, wherein the step of obtaining an initial tire aligning torque based on the real-time vehicle speed of the vehicle, the real-time steering angle of the vehicle, and a preset tire aligning torque compensation list further comprises:
according to the preset load of the vehicle, the preset caster angle of the kingpin of the vehicle and the preset cornering stiffness of the vehicle, carrying out dynamic simulation on the vehicle to obtain a mapping relation among the vehicle speed, the vehicle steering angle and the aligning moment of the vehicle tire;
and generating a preset tire revolution moment compensation list according to the mapping relation.
4. The vehicle control method according to claim 2, wherein the step of obtaining the tire acceleration compensation torque based on the vehicle real-time speed, the vehicle real-time steering angle, and a preset tire acceleration compensation torque list comprises:
judging whether the vehicle is in an acceleration state or not according to the real-time vehicle speed of the vehicle, and acquiring the real-time acceleration of the vehicle in the acceleration state;
and if the vehicle is in an acceleration state, obtaining a tire acceleration compensation moment according to the real-time vehicle acceleration, the real-time vehicle steering angle and a preset tire acceleration compensation moment list.
5. The vehicle control method according to claim 2, wherein the vehicle real-time running data includes a radius of each tire of the vehicle;
the step of obtaining the tire rolling radius compensation torque according to the vehicle real-time steering angle, the vehicle real-time driving data and a preset tire rolling radius compensation list comprises the following steps:
obtaining a first tire rolling radius compensation moment of each tire on the vehicle according to the radius of each tire of the vehicle, the real-time steering angle of the vehicle and a preset tire rolling radius compensation moment list;
and carrying out weighted average on the first tire acceleration compensation moment to obtain the tire rolling radius compensation moment.
6. The vehicle control method according to claim 2, wherein the vehicle real-time running data includes a tread width of each tire of the vehicle;
the step of obtaining the tire width compensation torque according to the real-time steering angle of the vehicle, the real-time driving data of the vehicle and a preset tire width compensation list comprises the following steps:
obtaining a first tire width compensation moment of each tire according to the real-time steering angle of the vehicle, the tire width of each tire of the vehicle and a preset tire width compensation list;
and accumulating and calculating the first tire width compensation moment of each tire to obtain the tire width compensation moment.
7. The method as claimed in claim 2, wherein the step of obtaining the tire braking compensation torque based on the real-time steering angle of the vehicle, the real-time driving data of the vehicle, and a preset tire braking compensation list comprises:
detecting whether a brake pedal signal is received;
and if a brake pedal signal is detected, obtaining a tire braking compensation torque according to the vehicle real-time steering angle and a preset tire braking compensation list.
8. The vehicle control method according to claim 1, wherein the step of outputting the control current based on the target tire aligning torque compensation value, the damping compensation torque, and the friction compensation torque includes:
performing accumulation calculation on the target tire aligning torque compensation value, the damping compensation torque and the friction compensation torque to obtain a target output torque;
and obtaining and outputting a control current corresponding to the target output torque according to the target output torque.
9. A vehicle comprising a memory, a processor and a vehicle control program stored on the memory and executable on the processor, the vehicle control program when executed by the processor implementing the steps of the vehicle control method as claimed in any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that a vehicle control program is stored thereon, which when executed by a processor implements the steps of the vehicle control method according to any one of claims 1 to 8.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210683035.4A CN114919653B (en) | 2022-06-16 | 2022-06-16 | Vehicle control method, vehicle, and computer-readable storage medium |
| PCT/CN2022/132071 WO2023240921A1 (en) | 2022-06-16 | 2022-11-15 | Vehicle control method, vehicle, and computer-readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210683035.4A CN114919653B (en) | 2022-06-16 | 2022-06-16 | Vehicle control method, vehicle, and computer-readable storage medium |
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| CN114919653A true CN114919653A (en) | 2022-08-19 |
| CN114919653B CN114919653B (en) | 2024-05-28 |
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| CN202210683035.4A Active CN114919653B (en) | 2022-06-16 | 2022-06-16 | Vehicle control method, vehicle, and computer-readable storage medium |
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| CN (1) | CN114919653B (en) |
| WO (1) | WO2023240921A1 (en) |
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| WO2023240921A1 (en) * | 2022-06-16 | 2023-12-21 | 上汽通用五菱汽车股份有限公司 | Vehicle control method, vehicle, and computer-readable storage medium |
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Also Published As
| Publication number | Publication date |
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| CN114919653B (en) | 2024-05-28 |
| WO2023240921A1 (en) | 2023-12-21 |
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