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SBW tail end locking position variable control method, controller and storage medium

A locking position and control method technology, applied in transportation and packaging, steering mechanism, electric steering mechanism, etc., can solve problems such as increasing cost, reducing system flexibility and comfort, and losing market competitiveness, so as to improve quality, The effect of increasing driving safety

Active Publication Date: 2021-03-30
SAIC MOTOR +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Even using the same method as the traditional steering, using mechanical devices to lock the end position, will undoubtedly increase the cost, reduce the flexibility and comfort of the system, and lose market competitiveness

Method used

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  • SBW tail end locking position variable control method, controller and storage medium
  • SBW tail end locking position variable control method, controller and storage medium
  • SBW tail end locking position variable control method, controller and storage medium

Examples

Experimental program
Comparison scheme
Effect test

no. 1 example ；

[0046] like figure 1 As shown, the present invention provides a method for controlling the variable locking position of the SBW end, comprising the following steps:

[0047] S1, determine the limit angle of the steering actuator through angle self-learning, and determine the absolute value of the end position learned by the steering actuator according to the limit angle;

[0048] S2, calculate the absolute value of the end position angle of the road sense controller, and calculate the difference between it and the absolute value of the current angle of the road sense feedback device;

[0049] S3, forming an absolute value diagram of the terminal limit torque according to the vehicle speed signal and the difference;

[0050] S4, determine the terminal locking position according to the absolute value diagram of the terminal limit torque;

[0051] S5, according to the angle sign of the steering wheel and the absolute value of the end limit torque, calculate the motor reaction t...

no. 2 example ；

[0055] The present invention provides a method for controlling the variable locking position of the SBW end, comprising the following steps:

[0056] S1, such as Figure 2-Figure 4 As shown, obtain the right limit position learned by the actuator angle torque calculation module: RESPRightNVMfActor, and the left limit position: RESPLeftNVMfActor. The angle symbol SIGN_STEERING_ANGLE calculated by the angle torque calculation module is the selection condition. When SIGN_STEERING_ANGLE is greater than or equal to 0, select RESPRightNVMfActor as the angle output. When SIGN_STEERING_ANGLE is less than 0, select RESPLeftNVMfActor as the angle output. According to the angle signal, take the absolute value to get g_u16s4_RESPNVMfActor_CRS, which is the absolute value of the end position learned by the left or right side of the actuator.

[0057] Among them, the torque symbol SIGN_STEERING_TORQUE and the angle symbol SIGN_STEERING_ANGLE are both defined as left negative and right pos...

no. 3 example ；

[0089] The present invention provides an SBW controller, which is used to execute the method for controlling the variable locking position of the SBW end described in any one of the first embodiment or the second embodiment.

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Abstract

The invention discloses an SBW tail end locking position variable control method. The method comprises steps of the limit angle of a steering actuator being determined through angle self-learning, andthe tail end position absolute value learned by the steering actuator being determined according to the limit angle; calculating the absolute value of the tail end position angle of the road sensingcontroller, and calculating the difference between the absolute value and the current angle absolute value of the road sensing feedback device; forming a tail end limiting torque absolute value graphaccording to the vehicle speed signal and the difference value; determining a tail end locking position according to the tail end limiting moment absolute value graph; and calculating the motor counterforce moment of the tail end limit according to the steering wheel angle symbol and the absolute value of the tail end limit moment. The invention further provides an SBW control controller and a computer readable storage medium. By means of an existing SBW structure, self-adaption of tail end limiting along with change of the transmission ratio can be achieved under the condition that cost is not increased, driving safety, comfort and flexibility can be improved, and the quality of steer-by-wire is improved.

Description

technical field [0001] The present invention relates to the field of automobiles, in particular to a variable control method for SBW terminal locking positions, an SBW control controller and a computer-readable storage medium. Background technique [0002] Steer-By-Wire (SBW) system, referred to as SBW system, is of great significance to advanced automatic driving of automobiles and is considered to be one of the key executive components of intelligent driving. It is expected that highly and fully autonomous vehicles will enter the market in 2025 and begin to grow rapidly. The steering-by-wire system is a new steering technology that truly liberates human hands. Compared with the traditional EPS system, the SBW system has added features such as road feeling feedback control, variable transmission ratio, and active steering control. Therefore, the pre-research and development of the SBW system has become the focus of the steering industry and is moving towards safe and reliab...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D5/04
CPCB62D5/0469
Inventor 陈博李兵曹晨军郭森姜涛罗毅张小乐芦勇
Owner SAIC MOTOR