3519results 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.

The invention relates to the technical field of automobile electric control, in particular to a new energy automobile electric control steering control method and system, and the method comprises the steps: obtaining and preprocessing a four-wheel vibration data sequence, carrying out the segmentation and consistency evaluation of the vibration data sequence of each wheel, and selecting a current data sequence in an optimal segment to calculate a road condition influence coefficient. And matching the current data sequence with the historical vibration data sequence, calculating the similarity to determine the influence weight, adjusting the influence coefficient in combination with the steering angle change rate of the historical vibration data sequence, inputting the adjusted pavement condition influence coefficient into the ECU, dynamically adjusting the steering auxiliary torque, and realizing accurate steering control. According to the method, the optimal segment is selected through segment processing and consistency evaluation to accurately reflect the current road condition, the steering auxiliary torque is dynamically adjusted in combination with historical vibration data sequence matching and the steering angle change rate, and the driving safety and comfort are improved.

The invention provides a trajectory tracking method, device and equipment based on steer-by-wire fault tolerance and a medium wherein the trajectory tracking method based on steer-by-wire fault tolerance comprises: when a steering execution motor has a fault, determining expected control parameters for vehicle trajectory tracking, the expected control parameters comprising an expected steering wheel steering angle and an expected differential yaw moment; reducing the expected steering angle of the steering wheel and increasing the expected differential yawing moment; determining a front axle differential steering torque and an output torque of a steering execution motor based on the expected steering wheel steering angle; and trajectory tracking is carried out based on the front axle differential steering torque, the expected differential yawing torque and the output torque of the steering execution motor. When the steering-by-wire system breaks down, the front axle differential steering torque can be used for assisting the fault steering-by-wire system in stably tracking the expected steering wheel steering angle, and then the requirement of vehicle trajectory tracking for steering is met. Meanwhile, the stability of vehicle trajectory tracking can be improved.

The invention discloses an electric power steering fault diagnosis and self-adaption system based on torque offset, which relates to the technical field of fault diagnosis and comprises a data acquisition unit, a model establishment unit, a torque offset evaluation unit, a fault judgment unit and a power output adjustment unit. According to the method, the return-to-power torque model is constructed based on the vehicle dynamics law and experience adjustment, the model parameters are optimized to obtain the return-to-power torque model, meanwhile, the real-time output torque of the EPS system is calculated according to the steering wheel torque signal, the deviation coefficient of the EPS system is comprehensively calculated, and the accuracy of the EPS system is improved. The deviation coefficient is evaluated according to a preset fault grading interval, a multi-grade fault judgment mechanism is established according to the change rule of the deviation coefficient, dynamic health evaluation of the EPS system motor performance is achieved, the evaluation serves as the basis of control strategy adjustment, the output assistance value can be dynamically adjusted, return control can be enhanced or a safety mode can be switched, and the reliability of the EPS system motor performance is improved. Therefore, the redundancy control capability and the driving safety are improved.

A system for collaborative steering in steer-by-wire (SBW) vehicles includes sensors, a rack motor altering a position of the vehicle's steerable road wheels and an emulator altering a torque and position of a vehicle hand wheel. A collaborative steering system application (CSSA) obtains, static and dynamic information about the vehicle and the vehicle's environment, and generates a rack torque and / or angle command to the rack motor and an emulator torque and / or angle command to the emulator. The CSSA adjusts between ADAS and manual steering ratios and automatically transitions control between ADAS SBW control and manual control. The CSSA smooths transitions between ADAS SBW control and manual steering control and adjusts hand wheel stiffness by altering the emulator torque command, and causes the rack motor and emulator to operate according to a kinematic model while adapting road wheel response and vehicle operator steering feel based on scenarios and features currently enabled.

A steer by wire includes a steering wheel holding system. An emulator controller receives vehicle data from vehicle systems and determines whether a vehicle is in one of a driving mode and a non-driving mode. When the vehicle is in the driving mode, the emulator controller transmits a command to an emulator switching system to electrically couple the phases of an emulator motor to a power source to enable the emulator motor to implement steer by wire operations placing the steering wheel in an un-hold mode. When the vehicle is in the non-driving mode, the emulator controller transmits a command to the emulator switching system to electrically couple the phases of the emulator motor to ground to short the phases of the emulator motor to ground to generate a resistive torque to resist rotational movement of a steering wheel of the vehicle placing the steering wheel in a hold mode.

Disclosed in the present application is a torque vectoring control system for an in-wheel-motor four-wheel-drive vehicle. In the torque vectoring control system, a driving style identification module determines the driving style of a driver during the travel of an in-wheel-motor four-wheel-drive vehicle; a vehicle state sensing module acquires a steering wheel angle and a longitudinal vehicle speed in real time, and performs fault state monitoring on the in-wheel-motor four-wheel-drive vehicle; a vehicle motion control module calculates an ideal yaw rate target of the in-wheel-motor four-wheel-drive vehicle; and a torque vectoring control module calculates an additional yaw moment on the basis of the ideal yaw rate target and an actual yaw rate, executes a corresponding fault handling strategy on the basis of a fault state monitoring result, and then performs torque distribution on the basis of the additional yaw moment combined with the fault state monitoring result to generate an additional driving torque and an additional braking torque of each wheel. The present application realizes self-adaptive yaw stability control for drivers having different driving styles.

The present application provides a control method, device, vehicle and storage medium for vehicle steering. When the automatic U-turn mode is turned on, the vehicle controller obtains the auxiliary parameters of the vehicle according to the pre-activation signal input by the user, and generates the target direction, rotation angle, feedforward torque, target wheel speed, and then sends a steering instruction to the motor controller. The motor controller responds according to the feedforward torque, obtains a response signal, and sends it to the vehicle controller. Based on the response signal, the vehicle controller obtains the swing angle sensor information and the lateral longitudinal acceleration information to calculate the wheel rotation angle and sends it to the motor controller. The motor controller performs self-closed loop control based on the target direction, target wheel speed, wheel rotation angle, rotation angle and auxiliary parameters to control the vehicle to complete the steering. Automatic U-turn and zero turning radius steering of the vehicle are realized, making the vehicle steering more flexible, accurate and efficient, and reducing the rotation error, achieving millisecond-level drive control.

A vehicle steering assist device includes a steering assist ECU. The steering assist ECU calculates a target steering angle for driving the vehicle along the road, and a target steering guide torque that guides the driver's steering so that the actual steering angle becomes the target steering angle. The steering assist ECU controls the torque applying device so that the steering guide torque becomes the target steering guide torque. The steering assist ECU acquires at least one of information on the driving environment of the vehicle and information on the state of the driver, and calculates an index value indicating the necessity of the steering guide torque based on at least one of the pieces of information. The steering assist ECU corrects the target steering guide torque based on the index value so that the higher the need for the steering guide torque, the larger the target steering guide torque.

The invention discloses a control method and device of a steer-by-wire system, the steer-by-wire system and a vehicle, and belongs to the technical field of vehicles. The method comprises the steps that under the condition that state information of a vehicle meets a zero position self-learning triggering condition, a current zero position offset angle is obtained; determining the current zero offset angle as a target compensation angle under the condition that the variation of the current zero offset angle relative to the zero offset angle stored last time meets a compensation trigger condition; and performing steering angle compensation on a steering angle actuator of the steer-by-wire system based on the target compensation angle so as to correct the zero position of the steering angle actuator and control the vehicle to go straight. According to the invention, the accuracy of straight-going judgment and control of the vehicle is improved.

A system for mapping road segment free spaces for use in autonomous vehicle navigation. The system includes at least one processor programmed to: receive from a first vehicle one or more location identifiers associated with a lateral region of free space adjacent to a road segment; update an autonomous vehicle road navigation model for the road segment to include a mapped representation of the lateral region of free space based on the received one or more location identifiers; and distribute the updated autonomous vehicle road navigation model to a plurality of autonomous vehicles.

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.

The present invention relates to a reconfigurable steering feel design method and control system for steer-by-wire. The method includes: constructing a steering feel feedback model, the steering feel feedback model including an alignment torque module based on rack force observation, an assist torque module, a friction compensation torque module, a damping compensation torque module, an inertia compensation torque module, and a soft stop limiting torque module, and adding outputs of all modules to obtain a total expected steering feel motor torque; inputting signals of a steering wheel angle, speed and torque, an observed rack force and a vehicle speed into the designed steering feel feedback model to obtain the total expected steering feel motor torque, transmitting it to a steering feel motor, and outputting this steering feel feedback torque to a steering wheel through the steering feel motor; each module in the designed steering feel feedback model being provided with adjustable parameters. Compared with the existing technologies, the present invention incorporates the characteristics of reconfigurability, and can adapt to different steering wheel hardware characteristics and steering feel requirements by adjusting relevant parameters.

A driving assistance device according to an embodiment of the present invention comprises: a recognition unit that recognizes the surrounding situation of a vehicle; a driving control unit that executes lane keep control for controlling at least steering of the vehicle such that the vehicle travels within a predetermined lane, on the basis of the recognition results of the recognition unit; and a reception unit that receives a vehicle lane change intention through an operation by an occupant of the vehicle. The driving control unit stops the lane keep control when the reception unit receives the lane change intention during the execution of the lane keep control, and restarts the lane keep control at a timing earlier than completion of the lane change.

The invention relates to the technical field of intelligent driving, and discloses a steering control method, a readable medium, electronic equipment and a program product. The method comprises the steps that a steering control device of the vehicle detects a vehicle steering request meeting a steering condition, and in response to the vehicle steering request, the steering control device applies a first braking torque to an inner side rear wheel of the vehicle by controlling a brake of the vehicle, the first braking torque is associated with the friction degree of the current road surface to the vehicle. And, the steering control apparatus applies a target driving torque to the front wheels on both sides through a driver of the vehicle to control the vehicle to travel, where the target driving torque is related to a slip rate of the front wheels on both sides. Thus, the steering control method can be applied to vehicles of any driving mode, such as two-wheel-drive vehicles (including front-wheel-drive vehicles and rear-wheel-drive vehicles) or four-wheel-drive vehicles, and the types of the vehicles using the turning assisting function are expanded.

The invention relates to the technical field of vehicle chassis control, and discloses a vehicle wheel edge steering angle control method, a vehicle and a controller. The method is applied to a wheel side steering control system and comprises the steps that in a preset communication period, a steering controller receives an angle request generated by at least one of an intelligent driving controller and a steering mechanism; the steering controller confirms a target angle request in the received angle requests based on a preset rule, and generates a corresponding wheel edge angle control instruction and / or a steering wheel control instruction according to the target angle request; the wheel edge angle control instruction is distributed to the at least two wheel edge steering controllers; and the wheel edge steering controller performs steering control on the wheels connected with the wheel edge steering controller based on the received wheel edge angle control instruction. According to the method, independent control over the steering angle of each wheel edge is achieved, and the flexibility requirement and high-response control over vehicle chassis control are improved.

A steering assistance control apparatus to be applied to a vehicle includes a detection unit and a correction unit. The detection unit is configured to detect a road surface cant of a road on which the vehicle is traveling. The correction unit is configured to correct steering target torque in a steering control system, on the basis of a steering characteristic value for each of left steering and right steering and the road surface cant detected by the detection unit. The steering characteristic value indicates a steering characteristic for each combination of a traveling speed and the road surface cant.

The invention discloses an active steering and braking integrated control system based on roll angle feedback, and belongs to the technical field of vehicle dynamics control. In order to solve the problems of slow control response and multi-actuator action conflict of the vehicle under the limit working condition, the method quantifies the comprehensive instability risk of the whole vehicle by constructing a dynamic virtual potential field. The potential field is based on key state variables such as a roll angle and a side slip angle, and the topological structure (namely the weight of each variable) of the potential field is remodeled in real time by a dynamic risk factor reflecting the intention urgency degree of a driver and the environmental danger level. The system evaluates the instantaneous control efficiency by calculating the contribution degree of each actuator to the reduction of the potential field gradient in a distributed manner. According to the method, the complex control problem is converted into the process of finding the minimum potential energy point, prospective suppression of the instability trend and conflict-free efficient cooperation between the actuators are achieved, and the limit stability and safety of the vehicle are remarkably improved.

The invention discloses a vehicle steering control method and device, computer equipment and a vehicle, and belongs to the field of vehicle control. The method comprises the steps that under the condition that front wheels of a vehicle steer, steering parameters of the vehicle are collected; determining a dynamic control parameter of the vehicle based on the steering parameter; solving a dynamic model of the vehicle based on the dynamic control parameters to obtain target rear wheel turning angles suitable for a high-speed working condition and a low-speed working condition respectively; setting a vehicle speed interval according to the target rear wheel rotation angle, and controlling rear wheel steering according to the interval of the current vehicle speed in the vehicle driving process. According to the method, dynamic response characteristics of the vehicle at different speeds are fused, physical quantities such as the dynamic yaw velocity and the change rate of the dynamic yaw velocity are adopted as control targets, and compared with a traditional static model, the method has higher responsiveness and adaptability, the vehicle state can be reflected more truly, fine control over the rear wheel steering angle is achieved, and the method is suitable for large-scale popularization and application. Therefore, the requirements of low-speed maneuverability and high-speed stability are met simultaneously.

The invention discloses a steer-by-wire system, an endpoint limiting device of a road feeling simulator of the steer-by-wire system, a control method and a vehicle, and belongs to the technical field of steer-by-wire, the steer-by-wire system comprises a fixing frame of a hollow structure, and a first through hole and a second through hole are formed in the top surface and the bottom surface of the fixing frame respectively; the limiting nut is arranged in the fixing frame, a threaded hole of the limiting nut is opposite to the first through hole and the second through hole, and a vertical limiting groove penetrating through the top face and the bottom face of the limiting nut is formed in the peripheral face of the limiting nut; the limiting column is located in the limiting groove, the two ends of the limiting column are fixedly connected with the fixing frame, and the limiting nut is slidably connected with the limiting column; the two limiting blocks are symmetrically arranged on the two sides of the limiting nut respectively, the side faces, close to the limiting nut, of the limiting blocks are in a concave isosceles trapezoid shape, the two opposite ends of the limiting nut are located between the upper inclined face parts and the lower inclined face parts of the two limiting blocks respectively, and the limiting blocks are slidably connected with the fixing frame; the driving assembly is used for driving the limiting block to move. The limiting effect is improved, and the cost is reduced.

A steering reaction force control device, a steering reaction force control method, and a steering reaction force control system according to the present invention determine an amount of torque of a steering reaction force imparted by the reaction force actuator and a direction of torque for returning the steering operation input member to a neutral position from a physical quantity related to a vehicle speed of the vehicle and a physical quantity related to the operation information of the steering operation input member, and output a control signal based on the amount of torque and the direction of torque to the reaction force actuator. As a result, it is possible to prevent the hunting of the operating position of the steering operation input member when the steering operation input member is retained in a given steering position.

The invention provides a vehicle steering wheel and road wheel steering synchronous self-adaptive control method and system, and relates to the technical field of vehicle control. Comprising the following steps: calculating a first steering torque by adopting a feedforward control mode based on an obtained rotating angle and rotating speed of a vehicle steering wheel; performing steering control on the road wheels according to the first steering torque to obtain actual steering angle data of the road wheels; second steering torque is calculated through a PID control closed loop based on the angle deviation between the rotation angle of the vehicle steering wheel and the actual rotation angle of the road wheel; and carrying out dynamic weighting calculation on the first steering torque and the second steering torque to obtain a synthetic motor torque, and carrying out steering control on the vehicle according to the synthetic motor torque. The steering angle of the steering wheel and the steering angle of the road wheel are controlled to achieve rapid, accurate and stable synchronous steering, and the driving safety and comfort are greatly improved.

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 relates to the technical field of steering control, in particular to a steering control method and system for auxiliary driving of a new energy automobile. The method comprises the following steps: acquiring a vehicle minimum turning radius parameter and road environment data; determining a road boundary, an obstacle position and a curve hardening area according to the road environment data; determining a minimum occupied area mechanism based on the minimum turning radius of the vehicle, the road boundary, the obstacle position and the curve hardening area; and planning a steering path according to a minimum occupied area mechanism. Original data are converted into operable boundary and risk information, and input is provided for a minimum occupied area mechanism, so that the safety and compliance of a steering path are improved. The problem of sweeping area accumulation is solved, the occupation in the steering process is minimized, and safety and high efficiency are achieved. The steering path is planned according to the minimum occupied area mechanism, efficient, safe and compliant borrowing steering operation is achieved, and the intelligent level of auxiliary driving is remarkably improved.

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.

To provide a vehicle control system which can suppress an influence of a driving support function on improvement of responsibility, even when it has a plurality of driving support devices.SOLUTION: A control device mounted on a vehicle includes: a reception part for receiving first requests including identification information of an application mounted on a plurality of driving support systems from the driving support systems; an adjustment part for adjusting the plurality of first requests; a calculation part for calculating second requests including the identification information, on the basis of the adjustment result by the adjustment part; and a distribution part for distributing the second requests, to the two or more actuator systems capable of acquiring the first requests without through the control device from the driving support systems.SELECTED DRAWING: Figure 2