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Road surface recognition and adaptive steering wheel torque compensation method based on rack force

A technology of road surface recognition and rack force, applied in power steering mechanism, automatic steering control components, steering mechanism, etc., can solve problems such as poor feedback feel and road feeling, too light driver's hand force, and reduced torque

Active Publication Date: 2020-07-07
BOSCH HUAYU STEERING SYST CO LTD
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  • Abstract
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  • Claims
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Problems solved by technology

[0013] In order to solve the problem that the torque of the steering wheel decreases sharply when the vehicle in the prior art turns on a road with a low adhesion coefficient, the driver will feel that the hand force is too light, and the feedback feel and road feel are poor. The present invention provides a rack-based The road surface recognition and adaptive steering wheel torque compensation method, the present invention does not require manual switching by the driver, the steering system adopting the present invention can automatically identify the low-adhesion road surface and automatically switch to the steering assist mode of the low-adhesion road surface

Method used

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  • Road surface recognition and adaptive steering wheel torque compensation method based on rack force
  • Road surface recognition and adaptive steering wheel torque compensation method based on rack force
  • Road surface recognition and adaptive steering wheel torque compensation method based on rack force

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Embodiment

[0112] Such as Figure 1 to Figure 7 As shown, a rack force-based road surface recognition and adaptive steering wheel torque compensation method includes the following steps:

[0113] 1) Calibration of the reference curve:

[0114] Calibrate the reference curve according to the steering wheel angle, steering wheel angular speed and vehicle speed input signal, which is divided into three parts: the calibration reference rack force curve, the calibration rack force variation factor with vehicle speed and the calibration rack force variation factor with steering wheel speed. , which is specifically:

[0115] 1a) if figure 2 As shown in , the reference rack force curve is calibrated, wherein the reference value of the rack force changes with the change of the steering wheel angle, and the steps are as follows:

[0116] 1a1) Correct the tire pressure to the specified value, which can be obtained directly from the OEM;

[0117] 1a2) Load the vehicle to full load. The full load...

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Abstract

The invention discloses a road surface recognition and adaptive steering wheel torque compensation method based on rack force. The method comprises the steps of calibrating a reference curve, specifically, calibrating a reference rack force curve, calibrating a change factor of the rack force along with the vehicle speed, and calibrating a change factor of the rack force along with the steering speed of a steering wheel; then confirming that a triggering condition of rack force calculation is met and calculating the rack force; and achieving recognition of the low-adhesion-coefficient road surface for calculation of the vehicle speed, the steering wheel rotating angle, the rack force and the steering wheel rotating angle speed through input signals; and finally compensating the torque of the steering wheel in the mode of compensating the output torque of the motor when the judgment condition of the low-adhesion-coefficient road surface is met. According to the road surface recognitionand adaptive steering wheel torque compensation method based on the rack force, the problem that the hand force of the steering wheel is sharply reduced when a vehicle steers on a low-adhesion road surface can be solved, the operation that a driver turns too much or needs to repeatedly correct the steering wheel during steering is avoided, and the risk of traffic accidents is avoided.

Description

technical field [0001] The invention relates to the field of automobile driving safety, in particular to a rack force-based road surface recognition and adaptive steering wheel torque compensation method applied to an automobile steering system. Background technique [0002] At present, when it comes to car driving safety, it is usually divided into driver active factors and environmental road surface factors, and the environmental road surface factors usually refer to road conditions, weather conditions, etc., and these are usually fed back to the vehicle and the driver themselves through the road surface adhesion coefficient . [0003] The so-called road surface adhesion coefficient refers to the ratio of the adhesion force to the pressure in the normal direction of the wheel (that is, the direction perpendicular to the road surface). It can be regarded as the static friction coefficient between the tire and the road surface. The road surface adhesion coefficient is usuall...

Claims

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Application Information

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IPC IPC(8): B62D5/04B62D6/00B62D101/00B62D117/00B62D119/00B62D137/00
CPCB62D5/0463B62D6/00
Inventor 黄乾生黄毅陈驰姜孟泽焦若愚匡立文
Owner BOSCH HUAYU STEERING SYST CO LTD
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