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SBW back-to-alignment control method, storage medium and system
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A positive control and return torque technology, which is applied in the SBW return control system and the SBW return control field, can solve the problems of affecting the hand feel, difficult calibration, and difficult to take into account the release speed and the hand return return torque.
Active Publication Date: 2022-06-17
SAIC MOTOR +1
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Problems solved by technology
The disadvantages of this solution include: the righting torque is fixed for different vehicle speeds and different angles, and its value needs to be calibrated repeatedly for different steering wheel systems (system resistance such as friction is different), and it is difficult to take into account the speed of letting go and the righting moment of the hand. Two performance indicators of the righting torque, especially the torque feedback performance in the middle position
[0006] 2. Back to centering open-loop + closed-loop control scheme. The disadvantages of this scheme include: a large amount of calibration data, strong coupling, difficult calibration, prone to jumps in the normalization force, and affect the feel
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no. 1 example ；
[0054] The SBW back-to-alignment control method provided by the present invention includes the following steps:
[0055] S1, query the desired rotational speed map according to the vehicle speed and the steering wheel angle, and obtain the desired rotational speed;
[0056] refer to figure 1 As shown, an example of an expected rotational speed map is provided, the expected rotational speed increases monotonically with the steering wheel angle, and increases monotonically with the vehicle speed, and the map can be obtained through calibration;
[0057] S2, obtain the real-time speed difference according to the desired speed and the current speed;
[0058] S3, query the proportional gain map according to the vehicle speed and the steering wheel angle, and obtain the proportional gain coefficient;
[0059] refer to figure 2 As shown, an exemplary return proportional gain map is provided, because there is no return to positive in place, so the proportional gain is 0 (the rebou...
no. 2 example ；
[0066] The SBW back-to-alignment control method provided by the present invention includes the following steps:
[0067] S1, query the desired rotational speed map according to the vehicle speed and the steering wheel angle, and obtain the desired rotational speed;
[0068] refer to figure 1 As shown, an example of an expected rotational speed map is provided, the expected rotational speed increases monotonically with the steering wheel angle, and increases monotonically with the vehicle speed, and the map can be obtained through calibration;
[0069] S2, according to the real-time speed difference=expected speed-current speed, obtain the real-time speed difference;
[0070] S3, query the proportional gain map according to the vehicle speed and the steering wheel angle, and obtain the proportional gain coefficient;
[0071] refer to figure 2 As shown, an exemplary return proportional gain map is provided, because there is no return to positive in place, so the proportional...
no. 3 example ；
[0078] The present invention provides a computer-readable medium for use in the steps of the SBW return-to-alignment control method described in any one of the first embodiment or the second embodiment.
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Abstract
The invention discloses a SBW back-to-alignment control method, which includes: querying the expected rotation speed map according to the vehicle speed and steering wheel angle to obtain the desired rotation speed; obtaining the real-time rotation speed difference according to the expected rotation speed and the current rotation speed; querying the proportional gain map according to the vehicle speed and steering wheel angle. Obtain the backing proportional gain coefficient; obtain the correction coefficient based on the steering wheel speed, desired speed, vehicle speed and steering wheel hand force; obtain the original backing torque based on the real-time speed difference, the backing proportional gain coefficient and the correction coefficient; obtain the query hand force based on the vehicle speed and steering wheel hand force Gain map, obtain the hand force gain coefficient; obtain the backing torque according to the original backing torque and the hand force gain coefficient. The present invention also relates to a computer-readable medium for executing steps in the SBW back-alignment control method, and an SBW back-alignment control system. The present invention can improve the SBW steering return performance and optimize the wire steering quality through computer soft programming technology without increasing the hardware cost.
Description
Technical field [0001] The invention relates to the field of automobiles, and in particular to an SBW back-alignment control method. The present invention also relates to a computer-readable medium for executing steps in the SBW back-alignment control method, and an SBW back-alignment control system. Background technique [0002] The automotive electric power steering by wire (Steer-By-Wire) system, referred to as the SBW system, is of great significance to advanced autonomous driving of automobiles and is considered one of the key execution components of intelligent driving. It is expected that highly and fully autonomous vehicles will begin to 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 adds features such as road feel feedback control, variable transmission ratio, and active steering control. Therefore, the pre-researc...
Claims
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Application Information
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