2083results about "Automatic steering control" patented technology

An electric power assisted steering assembly comprises a steering mechanism which operatively connects a steering wheel to the roadwheels of a vehicle, a torque sensing means adapted to produce a first output signal indicative of the torque carried by a portion of the steering mechanism, a means for producing a second output signal indicative from a signal indicative of the angular velocity of the portion of the steering mechanism, an electric motor operatively connected to the steering mechanism, a signal processing unit adapted to receive the two output signals and to produce therefrom an overall torque demand signal representative of a torque to be applied to the steering mechanism by the motor, and a motor drive stage adapted to provide a drive current to the motor responsive to the torque demand signal. The overall torque demand signal includes a damping component that is dependent upon the second output signal. The means for producing the yaw damping component includes a filter having one pole and one zero, and in use the second signal is passed through the filter to produce the damping component, the frequency of the pole and zero being selected such that the filter provides a band between the pole and zero within which the phase of the filtered second signal and the velocity signal are further out of phase or in phase than within the band.

To provide a controller for rotary electric machine and an electric power steering apparatus which can set a control gain which is used for controlling the d-axis current command value based on the q-axis current deviation between the current command value of q-axis and the current detection value of q-axis, considering the response of the current of q-axis. A controller for rotary electric machine changes the current command value of d-axis, based on a value obtained by multiplying a proportional gain to a q-axis current deviation which is a deviation between the current command value of q-axis and the current detection value of q-axis; and changes the proportional gain in inverse proportion to the rotational angle speed.

A vehicle control method, a vehicle control apparatus (100), a vehicle control system (200), and a computer-readable storage medium (300). The vehicle control method in the embodiments of the present application comprises: acquiring the current yaw rate and the current sideslip angle; acquiring a target yaw rate and a target sideslip angle; and, on the basis of the current yaw rate, the current sideslip angle, the target yaw rate and the target sideslip angle, individually controlling a plurality of front wheels and / or a plurality of rear wheels of a vehicle.

The invention provides a reinforcement learning steering control method and system based on a safety barrier, electronic equipment and a storage medium, and relates to the field of automatic driving safety control. The method comprises the following steps: sensing current states of each participating object and a vehicle in an environment; respectively performing state estimation and future moment position prediction on the participating objects and the vehicle by applying Kalman filtering to obtain relative position probability distribution of each participating object and the vehicle in a plurality of steps in the future; calculating the collision probability of the vehicle and each participating object, and determining the overall collision risk according to the probability; the total collision risk is compared with a preset collision safety barrier threshold value, when the total collision risk is larger than the collision safety barrier threshold value, a safety barrier is triggered, candidate wheel turning angles are projected into an action set meeting safety constraints based on minimum change projection, and the projected wheel turning angles are issued and executed; if not, triggering is not conducted, and a reinforcement learning decision maker is adopted to output candidate wheel rotation angles and issue for execution.

A traction and steering control system and method for a small- or zero-radius-turning maintenance vehicle. The traction and steering control system may determine operator intended speed and direction by monitoring positions of speed and directional control members and one or more operational parameters of the vehicle. The vehicle may then generate drive wheel speed commands that achieve the intended speed and direction by determining how best to manipulate the left and right drive wheels. In some instances, the drive wheel speed commands are disproportionately related to the positions of the speed and directional control members.

The embodiment of the invention provides a steering-by-wire system feedback control method, device and equipment, a medium and a vehicle, and relates to the technical field of vehicles. The method comprises the steps that in response to received vehicle state parameters, a target torque value output to a steering wheel and a detected actual torque value of the steering wheel are determined; based on the difference value between the actual torque value and the target torque value, deviation torque corresponding to the steering wheel is determined; based on the deviation torque, the actual torque value and the target torque value, a first torque value distributed to the magnetorheological damper and a second torque value distributed to the permanent magnet motor are determined; and on the basis of the first torque value and the second torque value, control signals are output to the magnetorheological damper and the permanent magnet motor correspondingly. According to the method, the problems that in the related technology, power consumption is high during feedback control of the steering-by-wire system, and the overheating risk is likely to exist are effectively solved.

The invention discloses an unmanned mine car front and rear wheel synchronous steering system which comprises a car frame, a front steering axle and a rear steering axle, and the front steering axle and the rear steering axle are installed on a car and control steering through a steering system. The steering system comprises a front axle working cylinder, a front axle driven cylinder, a rear axle working cylinder and a rear axle driven cylinder, the front axle working cylinder and the front axle driven cylinder control front wheels of a vehicle to rotate, the rear axle working cylinder and the rear axle driven cylinder control rear wheels of the vehicle to rotate, and cavities of the front axle working cylinder and the rear axle working cylinder are communicated with a working port A and a working port B of a three-position four-way reversing valve through pipelines respectively. Cavities of the front axle driven cylinder and the rear axle driven cylinder are communicated through a valveless rigid connecting pipeline to form a rigid series oil way, and in the rigid series oil way, the amount of oil discharged by the front wheel working cylinder and the front axle driven cylinder is equal to the amount of oil received by the rear wheel working cylinder and the rear axle driven cylinder. Mechanical hydraulic synchronization of steering angles of front and rear wheels of the vehicle is realized, delay and fault risks of dependence on sensors are eliminated, and high-reliability rigid synchronization is realized.

A vehicle steer-by-wire system includes two front wheels of the vehicle, a steering wheel adapted to receive a steering input, and a steer-by-wire module configured to electronically transmit a steering signal to control a steering orientation of the two front wheels according to the steering input received at the steering wheel, sense a feedback parameter of the two front wheels, and supply a steering feedback signal to the steering wheel according to the sensed feedback parameter of the two front wheels. The system includes one or more vehicle sensors configured to sense at least one operating parameter of the vehicle, and a steering feedback control module configured to receive the at least one operating parameter of the vehicle, determine a driving intensity index according to the at least one operating parameter, and modify the steering feedback signal supplied to the steering wheel according to the determined driving intensity index.

A steer-by-wire system is provided. The steer-by-wire system includes: a first powerpack having a first motor a first controller configured to determine a first mechanical fault of the first powerpack; a second powerpack having a second motor, and a second controller configured to determine a second mechanical fault of the second powerpack; and a steering rack operably coupled to the first motor of the first powerpack and the second motor of the second powerpack, the steering rack being configured to be linearly movable in response to rotation of at least one of the first motor and the second motor.

The embodiment of the invention provides a vehicle steering control method and device, electronic equipment and a vehicle. The method comprises the steps that under the condition that the yaw velocity deviation of a vehicle is larger than a set threshold value, vehicle driving state parameters, the road curvature of a current lane where the vehicle is located, the distance between the vehicle and a boundary line of the current lane, the steering angle of a steering wheel and vehicle steering parameters are obtained; and determining whether to trigger a lane keeping assist system of the vehicle at a predicted time based on the vehicle driving state parameter, the road curvature, the spacing, the steering wheel angle, and the vehicle steering parameter. According to the method, the specific time when the lane keeping auxiliary system should be triggered can be more accurately judged, the problem that the normal driving operation of a driver is affected due to frequent false triggering of the lane keeping auxiliary system in the returning process after the driver actively steers is avoided, and the vehicle safety is improved.

The invention relates to a vehicle steering control method and device, vehicle-mounted equipment, a vehicle, a medium and a product. The method comprises the following steps: acquiring an ideal Ackerman corner of each wheel in a vehicle in a current driving state; according to the ideal Ackerman rotation angle of each wheel and the current driving state, estimating the side slip angle of each wheel to obtain an estimated side slip angle of each wheel; determining whether the vehicle is in a high-speed steering state according to the current driving state; determining a target steering angle according to whether the vehicle is in a high-speed steering state, the estimated slip angle of each wheel and the ideal Ackerman steering angle of each wheel; and controlling each wheel of the vehicle according to the target steering angle. By adopting the method, the deviation of the ideal Ackerman angle in the steering process can be compensated by estimating the slip angle, so that the handling stability and the steering precision of the vehicle can be improved, and the stability and the safety of the vehicle in the running process are further improved.

To provide an operation support device of a vehicle which can clearly determine, when cross wind received by an own vehicle is estimated based on behavior change of a preceding vehicle, whether behavior change is caused by cross wind or by handle operation of an operator.SOLUTION: An operation support control unit 11 comprises: a cross wind estimation control calculation unit 11a; an ALKB control calculation unit 11b; and a cooperative control unit 11c. The cross wind estimation control calculation unit 11a detects an automobile rank (height, width) and behavior change (roll angle, lateral movement amount) based on information of a preceding vehicle P recognized by a forward recognition device 21, determines, when a roll direction is the same as a lateral movement direction, the behavior change caused by cross wind and obtains steering amount thereto based on the estimated wind speed of the cross wind received by the preceding vehicle P. The ALKB control calculation unit 11b obtains steering control amount to drive an own vehicle M along a target travel route. The cooperative control unit 11c corrects the steering control amount with the steering amount to set a new steering control amount including the cross wind.SELECTED DRAWING: Figure 2

The invention discloses a distributed steering control method, and belongs to the technical field of vehicle steering. The control method comprises the following steps: acquiring real-time driving data of a vehicle, wherein the real-time driving data comprises a steering wheel angle, a vehicle speed, a road adhesion coefficient and a side slip angle; determining a target Ackerman rate according to the real-time driving data; and controlling the wheels of the vehicle according to the target Ackerman rate and the real-time driving data. According to the real-time driving data of the vehicle, the Ackerman rate is determined, the vehicle turning angle control value is determined according to the Ackerman rate determined in real time and the real-time driving data, and then vehicle wheels are controlled according to the vehicle turning angle control value. Namely, the Ackerman rate of the vehicle in the driving process can adapt to different real-time driving data of the vehicle, the real-time driving data of the vehicle is fully considered, the control stability of the vehicle in key scenes such as high speed, low attachment and low speed is effectively improved, the driving burden of a driver is relieved, and the risk that the vehicle is unstable or even out of control is reduced.

A number of illustrative variations may include a system and method of modifying steering wheel effort and end of travel limits dynamically during electronic power steering failure, steer-by-wire failure, or brake-to-steer implementation within a vehicle where steering systems have degraded or failed to provide a driver with a normal or near-normal steering driving experience while brake-to-steer systems are in use.

The invention provides a steering-by-wire road feeling self-adaptive design method, system, medium and equipment, and belongs to the technical field of automatic driving. The method comprises the steps that steering system parameters of a benchmarking vehicle, vehicle driving parameters and vehicle advancing lane preview data are collected; pre-training a road feeling neural network; deploying the pre-trained road feeling neural network to a target vehicle; when the target vehicle runs, acquiring steering system parameters of the target vehicle, vehicle driving parameters and vehicle advancing lane preview data in real time, and inputting the steering system parameters, the vehicle driving parameters and the vehicle advancing lane preview data into a pre-trained road feeling neural network to calculate an initial road feeling moment; performing road sensing adjustment on the initial road sensing torque according to subjective evaluation of the driver to obtain an adjusted road sensing torque; performing incremental training on the pre-trained road feeling neural network; and performing road feeling closed-loop verification on the road feeling neural network after incremental training. According to the method, the road feeling preference of the driver and the steering operation habits under different working conditions can be considered, and the method has the self-adaptive capacity.

The invention discloses a transverse movement control system and method based on rear wheel steering, a controller and a vehicle, and belongs to the technical field of vehicles. The transverse movement control system obtains state information of a vehicle through a state observation module, and after an algorithm decision module receives the state information sent by the state observation module, decision calculation output processing is conducted according to the state information, so that a transverse movement control decision containing a wheel steering angle adjusting instruction and a wheel output torque adjusting instruction is obtained. Therefore, the front wheels and the rear wheels are controlled by the control execution module to deflect by a specific angle in the transverse movement direction in the opposite directions and are driven reversely, and transverse movement control over the vehicle is achieved. The transverse movement control system can dynamically adjust steering angles and torque distribution of front and rear wheels according to actual driving working conditions, the accuracy and response speed of transverse movement control are improved, and the vehicle can accurately transversely move along an expected track.

A method for determining a desired lateral acceleration of a vehicle is provided. The method may include determining a first raw lateral acceleration request based at least in part on a steering wheel angle of the vehicle. The method may also include determining a maximum allowable lateral acceleration based at least in part on the tire slip model. The method may also include determining a desired lateral acceleration based at least in part on the first raw lateral acceleration request and the maximum allowable lateral acceleration. The method may also include adjusting operation of the vehicle based at least in part on the desired lateral acceleration.

The invention relates to the technical field of automobile steer-by-wire and road sensing torque control thereof, in particular to a road sensing torque simulation method and system for an automobile steer-by-wire system. The vehicle state parameters at least comprise vehicle speed, steering wheel angle, steering wheel angular velocity, rack displacement and torque information of a steering execution motor; calculating a basic rack force by adopting a fusion estimation strategy; according to the vehicle state parameters, multiple compensation torque components are calculated in parallel, and the compensation torque components comprise return compensation torque, friction compensation torque and inertia compensation torque; according to the steering wheel turning angle, soft dead center limiting torque is calculated; and performing weighted fusion on the basic rack force, the return compensation torque, the friction compensation torque, the inertia compensation torque and the soft dead point limiting torque to generate a final target hand wheel feedback torque. According to the invention, the delay feeling of steer-by-wire is effectively inhibited, and the control experience with rich information and natural feedback is provided for a driver.

Disclosed herein is a method and system for detecting, monitoring and / or controlling one or more of mobile services for a mobile communication device (also referred to herein as a Controllable Mobile Device or CMD), and in particular, when the device is being used and the vehicle, operated by the user of the device, is moving. In addition, one aspect of the invention generally relates to a method and system for modifying a user's driving behaviors, in particular to a system and method for modifying a user's unsafe driving behaviors, e.g., using one or more services of a controllable mobile device while driving.

The invention relates to a Method of controlling a steer-by-wire steering system (1) of a road vehicle having at least two steerable road wheels, wherein two steerable road wheels are connected to each other via a rack (6) moved by a road wheel actuator (5), the method comprising the following steps a) Determining a target rack position of the rack (6) based on a steering input from a driver; b) Calculating a predicted yaw rate (10) of the road vehicle based on a predicted steering wheel angle; c) Measuring an actual yaw rate (11) and calculating a difference between the predicted yaw rate (10) and the actual yaw rate (11); d) Determining a first value for rack position control based on the difference of the actual yaw rate (11) and the predicted yaw rate (10) in a first controller (9); e) Calculating a steady state yaw rate (15) of the road vehicle based on the steering wheel angle, the velocity of the road vehicle and the lateral and longitudinal acceleration; f) Calculating a difference between the steady state yaw rate (15) and the actual yaw rate (11); g) Determining a second value for rack position control based on the difference of the actual yaw rate (11) and the predicted steady state yaw rate (15) in a second controller; h) Calculating a modified rack position request for the road wheel actuator (7) based on the sum (17) of the first and second values and the target rack position.

The invention provides an electronic control hydraulic steering system driving mode switching method, system and device and a medium, and belongs to the technical field of automatic driving control. The method comprises the following steps: constructing a kinetic model of an EHPS system corner torque sensor, constructing a sliding mode observer based on the model, and accurately calculating an estimated value of a driver hand torque by compensating rotational inertia and a damping component of a steering wheel in real time; determining an adjustment factor by using a fuzzy rule according to the vehicle speed and the corner speed, and setting a dynamic threshold by combining the maximum hand torque; judging the hand intervention state of the driver in a self-adaptive time window by comparing the estimated value of the hand torque with a dynamic threshold value; after the manual intervention is confirmed, the target current value of the power-assisted motor and the road curvature in the manual driving mode and the automatic driving mode are fused, a comprehensive target current value in smooth transition is calculated, and finally the comprehensive target current value is converted into electromagnetic torque to complete the driving mode switching. According to the invention, accurate identification of driver intervention intentions and smooth control of a mode switching process are realized.

The invention discloses a vehicle steering control method and device and a vehicle, and relates to the technical field of vehicle control. The vehicle steering control method comprises the steps that running parameter information of the multi-axle steering vehicle is obtained, and the running parameter information comprises turning angle information of all axles and switching state information of the multi-axle steering vehicle; according to the driving parameter information, constructing a lateral dynamic state equation model of the multi-axle steering vehicle; according to the lateral dynamic state equation model, the rotation angle of each shaft is determined; and controlling the multi-axle steering vehicle to steer according to the rotation angle of each axle. According to the scheme disclosed by the invention, the safety of the multi-axle steering vehicle during mutual switching between manual driving and intelligent driving can be improved.

The invention provides a cross slope road spectrum driven lane keeping feedforward correction method and system and a vehicle, and belongs to the technical field of intelligent driving. A vehicle is positioned based on GNSS / odometer / two-dimensional IMU fusion, and a road spectrum index key is formed on a road position. And when the steady-state gating is satisfied, sampling a steady-state value of a transverse deviation integral component as observation, writing the steady-state value into a current position entry, and carrying out recursive updating on a feedforward correction angle mean value and a variance of the entry to realize self-learning. In the driving process, according to the current position and a plurality of learned statistics pre-read along a program sequence in front, a low-frequency and limited feed-forward correction angle is obtained through smoothing, low-pass and amplitude / rate amplitude limiting. And when the confidence coefficient is met, the correction and the physical feedforward are superposed, and the correction and the feedback control are synthesized into a steering instruction. According to the method, position-related small-angle correction can be carried out before the vehicle enters the known road section without adding a sensor, so that the load of an integral loop is reduced, and the accuracy and stability of lane centering control are improved.

A method for power saving in a steering system of a motor vehicle including a road wheel actuator acting on a rack to turn steerable road wheels and a controller configured or programmed to generate an operation signal for the road wheel actuator, wherein the controller includes a position controller to generate a motor torque request based on an actual and / or a measured position of the rack and a requested rack position, includes detecting a passive mode of the steering system by a passive mode detector of the controller if the motor vehicle is stopped and no steering input is provided, and if a passive mode is detected by the passive mode detector, setting the motor torque request to zero in order to save power.

Method for detecting hands on the steering wheel, the method comprising: Receiving a handwheel angle signal from a sensor (106) associated with a handwheel of a vehicle; Generating a handwheel speed signal and a handwheel acceleration signal based on a handwheel angle indicated by the handwheel angle signal; Synchronizing the handwheel speed signal and the handwheel acceleration signal by generating a delayed handwheel speed signal and a delayed handwheel acceleration signal; Generating a driver torque estimation signal based on at least the delayed handwheel speed signal and the delayed handwheel acceleration signal; and Determine whether the vehicle driver's hands are on the handwheel, based on the driver torque estimation signal.

A steering control device includes: a target rotation angle calculation circuit that calculates a target rotation angle of a shaft; an offset angle calculation circuit that calculates an offset angle relative to the target rotation angle; a final target rotation angle calculation circuit that calculates a final target rotation angle of the shaft; and a feedback control circuit that executes feedback control that adapts a real angle to the final target rotation angle. The offset angle calculation circuit calculates an estimated rotation angle deviation based on a value of a current of a turning motor immediately before a specific event occurs, and calculates the offset angle by subtracting the real angle and the estimated rotation angle deviation from the target rotation angle.

The invention provides an automatic emergency steering control method and system applied to an intelligent automobile, and relates to the technical field of auxiliary driving of the intelligent automobile, firstly, a vehicle-mounted sensing device and an environment detection device are linked to collect the real-time running state of the automobile and surrounding real-time environment information, and the vehicle-mounted sensing device and the environment detection device are combined to analyze the mutual influence relation to generate steering constraint conditions; and forming an execution logic based on the steering constraint condition and the steering system hardware information, generating a control instruction adaptive to the scene according to the dynamic change of the information, transmitting the control instruction to a steering execution system, synchronously collecting feedback information and adjusting a subsequent instruction. According to the method, information is comprehensively collected, constraints are scientifically generated, closed-loop control is formed, the timeliness, accuracy and reliability of automatic emergency steering of the intelligent automobile are improved, and driving safety is guaranteed.

The application discloses a road feeling feedback control method and device, electronic equipment, a storage medium and a vehicle. The method comprises the following steps: acquiring rack force of a steering execution motor of a wheel; determining road feeling feedback torque of the rack force according to a current vehicle speed; adjusting the road feeling feedback torque to obtain target road feeling feedback torque; and controlling the road feeling motor of the vehicle to output a counterforce acting on a steering wheel according to the target road feeling feedback torque. The counterforce has the same size as the target road feeling feedback torque and is opposite to steering of the steering wheel. The application can reduce the torque fluctuation amplitude of the vehicle, so that the vehicle runs more smoothly.

A vehicle employs a method of towing a trailer. A speedometer measures a current velocity of the vehicle. A hitch length sensor obtains a current trailer length of the trailer. A steering angle sensor measures a steering wheel angle of a steering wheel of the vehicle. A processor determines a velocity difference between the current velocity of the vehicle and a nominal velocity of the vehicle, determines a length difference between the current trailer length and a nominal trailer length, calculates a dynamic steering ratio based on the length difference and the velocity difference, determines a road wheel angle for the vehicle from the steering wheel angle and the dynamic steering ratio, and controls a road wheel actuator to obtain the road wheel angle to steer the vehicle.

This application relates generally to a procedure for operating a vehicle with an electronic steering system. A method for operating a vehicle with an electronic steering system includes controlling a road wheel actuator based on a detected steering wheel angle of a steering wheel operably coupled to a steering wheel actuator so that a steerable road wheel assumes a road wheel angle defined by the detected steering wheel angle in accordance with a transfer function, wherein the transfer function describes a dependence of the road wheel angle to the detected steering wheel angle, detecting a self-steering fault of the steering wheel actuator, and based on the detected self-steering fault estimating a steering wheel angle error, and triggering at least one compensatory measure, so that a road wheel angle error is at least reduced.