System and method for reverse track steering wheel return control

Abstract

The present application relates to a kind of tracking reverse steering wheel return control system and method, it is related to the technical field of automobile design and manufacture.The tracking reverse steering wheel return control system of the present application includes tracking reverse controller, look around camera, ultrasonic radar, electric steering module, vehicle body stabilizing module, engine module, gearbox control module, infotainment module, vehicle body control module, and combination instrument.The tracking reverse steering wheel return control system of the present application fuses surrounding environment information, to establish surrounding environment model with the coordinate origin of self parking space, complete tracking reverse path planning under the working condition of narrow road, realize tracking reverse function.The tracking reverse steering wheel return control system of the embodiment detects driver, surrounding driving environment and other aspects from vision, hearing, perception and other aspects, protects safety in tracking reverse process at any time.

Description

Technical Field

[0001] This invention relates to the technical field of automobile design and manufacturing, and more specifically, to a tracking reverse steering wheel return control system and method. Background Technology

[0002] As the automotive industry enters a new era of transformation, and with driver assistance technology rapidly developing, major traditional OEMs are undergoing rapid transformation driven by emerging car manufacturers, focusing their resources on developing intelligent driver assistance systems. According to a recent survey by Autohome, narrow roads account for 45% of all driving situations in my country, and in first- and second-tier cities, this figure reaches 55%. Due to the realities of road conditions in China, and driven by insufficient intelligent driver assistance systems and basic road infrastructure, reverse and driving trajectory systems have shown significant advantages. However, in the implementation of reverse trajectory functions, issues arise such as the steering system failing to provide accurate steering force and angle at necessary moments, and the steering wheel not returning to center after reverse trajectory completion. This can lead to driver discomfort when starting the vehicle without awareness of tire tilt, and can also cause fatigue and deformation of steering tie rods, aging of shock absorber rubber, and loosening of ball joints in suspension arms and linkages. Summary of the Invention

[0003] In order to solve the above-mentioned technical problems in the prior art, the purpose of this invention is to provide a tracking reversing steering wheel return control system and method.

[0004] The present invention discloses a reversing steering wheel centering control system, comprising a reversing controller, a surround-view camera, an ultrasonic radar, an electric power steering module, a vehicle stability module, an engine module, a transmission control module, an infotainment module, a body control module, and an instrument cluster. The surround-view camera is connected to the reversing controller via an LVDS cable, and the ultrasonic radar is connected to the reversing controller via a hard wire. The electric power steering module, vehicle stability module, engine management module, transmission control module, infotainment module, body control module, and instrument cluster are connected via CAN / CANFD signal lines. After the controlled vehicle reverses to a location where the surrounding environment meets the definition of a non-narrow road, the electric power steering module sends the current steering wheel angle to the reversing controller. The reversing controller sends an angle Φ+γ command request to the electric power steering module, where Φ is the EPS angle of the controlled vehicle when parked on a non-narrow road, and γ is the steering wheel angle required for the controlled vehicle to turn. The electric power steering module rotates the corresponding angle according to the angle characteristic curve of the reversing controller, and the reversing controller controls the controlled vehicle to exit the reversing system.

[0005] The surround-view camera is used to capture video of the narrow road around the controlled vehicle and transmit the video of the narrow road around the controlled vehicle to the line-following reversing controller. The ultrasonic radar detects the distance of obstacles around the controlled vehicle and provides the depth and width scanning results of the target line-following reversing area. The line-following reversing controller combines the video information from the surround-view camera and the distance information transmitted by the ultrasonic radar to perform data fusion and plan the line-following reversing path.

[0006] The electric steering module enables lateral control of the vehicle, allowing it to move laterally to the yaw angle; the vehicle stability module enables longitudinal control of the vehicle.

[0007] The engine management module provides the vehicle speed status of the controlled vehicle, and the transmission control module provides the current gear and target gear to the reversing controller.

[0008] The reversing steering wheel return control system also includes an advanced driver assistance module based on 1R1V.

[0009] The transmission control module and engine management module are connected to the vehicle stability module via CAN / CANFD signal lines.

[0010] The present invention also provides a method for straightening the steering wheel while reversing, the method comprising the following steps:

[0011] 1) The surround-view camera and ultrasonic radar determine the space in front, behind, left and right of the narrow road based on environmental perception and send signals to the line-following reversing controller. The line-following reversing controller confirms the position information around the narrow road based on the image and distance information, calculates the surrounding environment and the vehicle's position, and performs data fusion.

[0012] 2) Users can confirm the surrounding environment and reversing trajectory through the infotainment module;

[0013] 3) The tracking reversing controller establishes a coordinate system and performs path planning to determine the tracking reversing steps;

[0014] 4) The reversing controller sends a desired angle request based on the current route;

[0015] 5) Calculate and adjust the steering wheel angle, acceleration, and angular acceleration during the reversing process;

[0016] 6) When the controlled vehicle reverses to a location that meets the definition of a non-narrow road condition according to the route plan, the electric steering module sends the current steering wheel angle to the tracking reversing controller.

[0017] 7) The reversing controller sends an angle Φ+γ command request to the electric steering module, where Φ is the EPS angle of the controlled vehicle when it stops on a non-narrow road, and γ is the steering wheel angle required for the controlled vehicle to turn; the electric steering module rotates the corresponding angle according to the angle characteristic curve of the reversing controller to straighten the steering wheel and exit the reversing system.

[0018] Compared with the prior art, the tracking reversing steering wheel return control system and method of the present invention have the following beneficial effects:

[0019] 1. By optimizing the steering wheel return strategy during the reversing process, the problem of the steering wheel not being centered in the current reversing scheme has been solved;

[0020] 2. It releases the system stress of the front suspension of the whole vehicle, and solves problems such as fatigue deformation of steering tie rod, aging of shock absorber rubber, and looseness of ball joints of suspension control arms and linkages caused during tracking reversing. Attached Figure Description

[0021] Figure 1 This is a structural block diagram of the reversing steering wheel return control system of Example 1;

[0022] Figure 2 This is the control flowchart of the reversing steering wheel return control system of Example 1. Detailed Implementation

[0023] The following will further elaborate on the tracking reversing steering wheel return control system and method of the present invention with reference to specific embodiments, so as to help those skilled in the art to have a more complete, accurate and in-depth understanding of the technical solution of the present invention.

[0024] Example 1

[0025] For narrow roads, when encountering obstacles or oncoming vehicles, a problem arises in steering wheel force control and steering wheel centering during the reversing process, which requires tracking. This embodiment provides a tracking reversing steering wheel centering control system and its control method. Figure 1As shown, the reversing steering wheel return control system of this embodiment includes a reversing controller, a surround-view camera (FCM), an ultrasonic radar (FRM), an electric power steering module (EPS), a vehicle stability module (ESP), an engine management system (EMS), a transmission control unit (TCU), an infotainment module (IHU), a body control module (BCM), an advanced driver assistance module based on 1R1V, and an instrument cluster (ICM). The surround-view camera (FCM) is connected to the reversing controller via an LVDS cable. The ultrasonic radar (FRM) is connected to the reversing controller via a hard wire. The electric power steering module (EPS), vehicle stability module (ESP), engine management module (EMS), transmission control module (TCU), infotainment module (IHU), body control module (BCM), and instrument cluster (ICM) are connected via CAN / CANFD signal lines. The transmission control module (TCU) and engine management module (EMS) are connected to the vehicle stability module (ESP) via CAN / CANFD signal lines.

[0026] In this embodiment, the surround-view camera is used to perceive information about narrow roads in the surrounding area and transmits this information to the reversing controller to assess the trajectory and hazard of moving objects. The ultrasonic sensing information is combined to optimize the reversing path. The ultrasonic radar detects the distance to obstacles around the vehicle and can provide depth and width scanning results of the target reversing area. The Electric Power Steering (EPS) module enables lateral control of the vehicle, allowing it to move laterally to the yaw angle; the Electronic Stability Program (ESP) module enables longitudinal control, primarily in terms of speed and torque; the Engine Management System (EMS) provides relevant vehicle speed status and checks for external interference while the reversing tracking system is operating; the Transmission Control Unit (TCU) provides information on the current TCU gear position and target gear for the reversing tracking controller; the Infotainment Unit (IHU) responds to driver-triggered actions and the activation signal of the reversing tracking function, and its interface is taken over by the reversing tracking system; the Body Control Module (BCM) confirms the vehicle's heading, monitors the driver and passenger door status, and determines whether the environment is suitable for reversing tracking; the Instrument Cluster (ICM) displays vehicle speed signals, seatbelt status, and whether reversing tracking is malfunctioning; and the 1R1V-based Advanced Driver Assistance Module utilizes the FCM / FRM to prevent conflicts between the reversing tracking system and ADAS functions such as ACC or TJA / ICA.

[0027] When the reverse tracking function is running, the vehicle uses a surround-view camera (FCM) and ultrasonic radar (FRM) to determine the rear position and distances to both sides of the vehicle. The driver interacts with the reverse tracking controller through the infotainment unit (IHU). The reverse tracking controller plans a reversing route based on the vehicle's position, target path, and surrounding environment. It controls the vehicle's lateral and longitudinal displacement through EPS, EMS, ESP, and TCU to achieve reverse tracking. When it detects that the distances in front, behind, left, and right of the vehicle are sufficient and exceed the defined distance for narrow roads, the reverse tracking controller controls the electric power steering module (EPS) to return the angle to 0°. At this time, the electric power steering module (EPS) feeds back the 0° turning angle signal to the reverse tracking controller. Upon receiving this signal, it sends a P gear signal to the transmission control module (TCU), an electronic parking brake activation signal to the electronic stability program (ESP), and an engine speed signal to the engine module (EMS), completing the reverse tracking and exiting the system.

[0028] like Figure 2 As shown, the steering wheel return-to-center control method for reverse tracking in this embodiment includes the following steps:

[0029] 1) The user turns on the tracking reverse system switch to activate the tracking reverse function, and the system starts working;

[0030] 2) The surround-view camera and ultrasonic radar determine the space in front, behind, left and right of the narrow road based on environmental perception and send signals to the line-following reversing controller. The line-following reversing controller confirms the position information around the narrow road based on the image and distance information, calculates the surrounding environment and the vehicle's position, and performs data fusion.

[0031] 3) The user confirms that the surrounding environment and the reversing trajectory are determined through the IHU;

[0032] 4) The tracking and reversing controller establishes a coordinate system and performs path planning to optimize the tracking and reversing steps;

[0033] 5) The reversing controller sends a desired angle request based on the current route;

[0034] 6) Calculate and adjust the steering wheel angle, acceleration, and angular acceleration during the reversing process;

[0035] 7) When the controlled vehicle reverses to a location that meets the definition of a non-narrow road condition according to the route plan, the electric steering module sends the current steering wheel angle to the tracking reversing controller.

[0036] 8) The reversing controller sends an angle Φ+γ command request to the electric power steering module, where Φ is the EPS angle for the controlled vehicle to stop in a non-narrow road, and γ is the steering wheel angle required for the controlled vehicle to turn. The electric power steering module rotates the corresponding angle according to the angle characteristic curve of the reversing controller to return the steering wheel to center and exits the reversing system. The EPS steering angle Ф after the controlled vehicle stops in the target parking space is equal to the EPS steering angle at this moment. The steering angle Ф is based on the steering angle sent to the vehicle CAN bus by the EPS when the surrounding environment meets the non-narrow road conditions during reversing. This steering angle is adjusted in real time according to path planning, desired angle, desired angular velocity, and desired angular acceleration, combined with PID control, to ultimately meet the EPS steering angle at the non-narrow road conditions. At this moment, the vehicle overcomes the vehicle system to achieve a steering torsion angle γ, i.e., steering wheel centering angle compensation, including overcoming the torsion angle γ of the vehicle suspension system, overcoming the tire return torque, and overcoming other vehicle system torques. 其他。 That is, the steering wheel angle γ required for the controlled vehicle to overcome the overall vehicle system to achieve steering is γ = γ_suspension compensation + γ_z + γ_z. 其他 In this invention, the tracking reversing controller calculates the (Φ+γ) angle in real time and continuously corrects the γ angle using the feedforward concept until the front wheels of the vehicle return to the center position. At this point, the tracking reversing controller stops correcting the γ angle and exits the tracking reversing system.

[0037] The control system in this embodiment uses the torsional angle of the vehicle suspension system as the angle compensation for steering wheel centering. During the vehicle's reverse tracking process, the system sends the target steering wheel centering angle to the EPS actuator. After the reverse tracking is completed, the system disengages, the suspension system stress angle is released, and the steering wheel returns to the center position. This also avoids problems such as steering tie rod fatigue deformation, shock absorber rubber aging, and looseness at the ball joints of suspension control arms and linkages caused by non-centering. The reverse tracking steering wheel centering control system in this embodiment integrates surrounding environmental information, establishing a surrounding environment model from the vehicle's coordinate origin, and completing the reverse tracking path planning under narrow road conditions to achieve the reverse tracking function. The reversing steering wheel return control system of this embodiment detects the driver and the surrounding driving environment from multiple aspects such as vision, hearing, and perception, and protects the safety of the reversing process at all times. This embodiment uses environmental perception modeling and path planning to control the horizontal and vertical directions, but it is not limited to the above-mentioned reversing strategy. Based on this design scheme, the overall horizontal and vertical control strategies of the reversing system can be designed from multiple angles and dimensions.

[0038] For those skilled in the art, the specific embodiments are merely illustrative descriptions of the present invention. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the design concept and technical solution of the present invention are within the protection scope of the present invention.

Claims

1. A reversing steering wheel return control system, characterized in that: The system includes a reversing controller, a surround-view camera, an ultrasonic radar, an electric power steering module, a vehicle stability module, an engine module, a transmission control module, an infotainment module, a body control module, and an instrument cluster. The surround-view camera is connected to the reversing controller via an LVDS cable, and the ultrasonic radar is connected to the reversing controller via a hard wire. The electric power steering module, vehicle stability module, engine management module, transmission control module, infotainment module, body control module, and instrument cluster are connected via CAN / CANFD signal lines. After the controlled vehicle is reversed to a location where the surrounding environment meets the definition of a non-narrow road, the electric power steering module sends the current steering wheel angle to the reversing controller. The reversing controller sends an angle Φ+γ command request to the electric power steering module, where Φ is the EPS angle of the controlled vehicle when parked on a non-narrow road, and γ is the steering wheel angle required for the controlled vehicle to turn. The electric power steering module rotates the corresponding angle according to the angle characteristic curve of the reversing controller, and the reversing controller controls the controlled vehicle to exit the reversing system.

2. The reversing steering wheel return control system according to claim 1, characterized in that: The surround-view camera is used to capture video of the narrow road around the controlled vehicle and transmit the video of the narrow road around the controlled vehicle to the line-following reversing controller. The ultrasonic radar detects the distance of obstacles around the controlled vehicle and provides the depth and width scanning results of the target line-following reversing area. The line-following reversing controller combines the video information from the surround-view camera and the distance information transmitted by the ultrasonic radar to perform data fusion and plan the line-following reversing path.

3. The reversing steering wheel return control system according to claim 1, characterized in that: The electric steering module enables lateral control of the vehicle, allowing it to move laterally to the yaw angle; the vehicle stability module enables longitudinal control of the vehicle.

4. The reversing steering wheel return control system according to claim 1, characterized in that: The engine management module provides the vehicle speed status of the controlled vehicle, and the transmission control module provides the current gear and target gear to the reversing controller.

5. The reversing steering wheel return control system according to claim 1, characterized in that: The reversing steering wheel return control system also includes an advanced driver assistance module based on 1R1V.

6. The reversing steering wheel return control system according to claim 1, characterized in that: The transmission control module and engine management module are connected to the vehicle stability module via CAN / CANFD signal lines.

7. A method for straightening a steering wheel while reversing, characterized in that... The method includes the following steps: 1) The surround-view camera and ultrasonic radar determine the space in front, behind, left and right of the narrow road based on environmental perception and send signals to the line-following reversing controller. The line-following reversing controller confirms the position information around the narrow road based on the image and distance information, calculates the surrounding environment and the vehicle's position, and performs data fusion. 2) Users can confirm the surrounding environment and reversing trajectory through the infotainment module; 3) The tracking reversing controller establishes a coordinate system and performs path planning to determine the tracking reversing steps; 4) The reversing controller sends a desired angle request based on the current route; 5) Calculate and adjust the steering wheel angle, acceleration, and angular acceleration during the reversing process; 6) When the controlled vehicle reverses to a location that meets the definition of a non-narrow road condition according to the route plan, the electric steering module sends the current steering wheel angle to the tracking reversing controller. 7) The reversing controller sends an angle Φ+γ command request to the electric steering module, where Φ is the EPS angle of the controlled vehicle when it stops on a non-narrow road, and γ is the steering wheel angle required for the controlled vehicle to turn; the electric steering module rotates the corresponding angle according to the angle characteristic curve of the reversing controller to straighten the steering wheel and exit the reversing system.

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