Control method of vehicle auxiliary steering system and vehicle having the same

Abstract

The present invention discloses a control method for a vehicle assisted steering system and a vehicle equipped with the same. The control method comprises: obtaining the vehicle's current mode; if the vehicle is in static mode, sending a simulated speed signal to the assisted steering system; if the vehicle is in dynamic mode, obtaining the motor speed and sending the motor speed to the assisted steering system. The control method for the vehicle assisted steering system according to an embodiment of the present invention can match static and dynamic vehicle steering, and has advantages such as reduced steering effort, enhanced driving comfort, and cost savings.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, in particular to a control method for a vehicle auxiliary steering system and a vehicle having the same Background Art

[0002] In related technologies, vehicles typically need to steer in both static and dynamic modes, i.e., when the vehicle is stationary or traveling at a slow speed, and also when the vehicle is steering during normal driving. Sending a fixed simulated speed signal through vehicle simulation to enable the auxiliary steering device to assist in steering is a simple method, but it does not reflect the actual speed during normal vehicle driving, resulting in a low degree of steering assist. Reading the actual speed signal of the vehicle in both static and dynamic states, because the motor speed is zero when the vehicle is stationary, the motor speed and steering assist will not match, requiring re-matching and development, which will lengthen the verification cycle and increase costs. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a control method for a vehicle assisted steering system that can match both static and dynamic steering of the vehicle, and has advantages such as reduced steering effort, enhanced driving comfort, and cost savings.

[0004] The present invention also provides a vehicle having the control method of the vehicle auxiliary steering system.

[0005] In order to achieve the above-mentioned purpose, according to the first aspect embodiment of the present invention, a control method for a vehicle auxiliary steering system is proposed, including: obtaining the current mode of the vehicle; if the vehicle is in a static mode, sending an analog speed signal to the auxiliary steering system; if the vehicle is in a dynamic mode, obtaining the motor speed, and sending the motor speed to the auxiliary steering system.

[0006] The control method of the vehicle auxiliary steering system according to the embodiment of the present invention can match the static steering and dynamic steering of the vehicle, and has the advantages of low steering effort, high driving comfort and cost saving.

[0007] According to some embodiments of the present invention, when the vehicle is in the static mode, if it is detected that the ignition switch is in the ON state and the vehicle speed is not less than a preset speed, the vehicle is switched to the dynamic mode.

[0008] According to some embodiments of the present invention, the simulated speed signal is an engine idle speed signal.

[0009] According to some embodiments of the present invention, the analog rotation speed signal is not less than 600 rpm.

[0010] According to some embodiments of the present invention, when it is detected that the ignition switch is in the OFF state, the auxiliary steering system is powered off.

[0011] According to some embodiments of the present invention, if it is detected that the ignition switch is in the ON state, a target current is obtained according to a vehicle speed signal and the torque of the motor, and the motor is driven by the target current to assist the vehicle steering.

[0012] In order to achieve the above-mentioned purpose, according to the second aspect embodiment of the present invention, a vehicle is proposed, comprising: an electric motor; a vehicle controller, which is connected to the electric motor and is used to obtain the current mode of the vehicle and the speed of the electric motor; an auxiliary steering system, which is connected to the vehicle controller; wherein, if the vehicle is in a static mode, the vehicle controller sends an analog speed signal to the auxiliary steering system; if the vehicle is in a dynamic mode, the speed of the electric motor is obtained and sent to the auxiliary steering system.

[0013] The vehicle according to the second embodiment of the present invention can match the static steering and dynamic steering of the vehicle by utilizing the control method of the vehicle auxiliary steering system according to the first embodiment of the present invention, and has the advantages of saving steering effort, high driving comfort and cost saving.

[0014] According to some embodiments of the present invention, the vehicle further includes: a vehicle speed sensor, which is connected to the vehicle controller; and an ignition switch, which is connected to the vehicle controller; wherein, if the ignition switch is in the ON state and the detection value of the vehicle speed sensor is not less than a preset vehicle speed, the vehicle controller determines that the vehicle is in a dynamic mode; if the ignition switch is in the OFF state or the detection value of the vehicle speed sensor is less than a preset vehicle speed, the vehicle controller determines that the vehicle is in a static mode.

[0015] According to some embodiments of the present invention, the ignition switch is switched from the OFF state to the ON state, and the auxiliary steering system is powered on and initialized; wherein, during the initialization of the auxiliary steering system, the auxiliary steering system has no communication with the vehicle controller; after the auxiliary steering system completes initialization, the auxiliary steering system communicates with the vehicle controller.

[0016] According to some embodiments of the present invention, the vehicle further includes a reducer, the auxiliary steering system is an electronic hydraulic power steering system, and the power of the electric motor is sequentially transmitted to the wheels via the reducer and the electronic hydraulic power steering system.

[0017] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0019] Figure 1 is a flowchart of a method for controlling a vehicle assisted steering system according to an embodiment of the present invention.

[0020] Figure 2 4 is a flowchart of switching from a static mode to a dynamic mode in a method for controlling a vehicle assisted steering system according to an embodiment of the present invention.

[0021] Figure 3 4 is a flowchart of switching from a dynamic mode to a static mode of a control method of a vehicle assisted steering system according to an embodiment of the present invention.

[0022] Figure 4 is a flow chart of powering off a vehicle assisted steering system according to an embodiment of the present invention.

[0023] Figure 5 is a flow chart of initializing a vehicle assisted steering system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The embodiments of the present invention will be described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention will be described in detail below.

[0025] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0026] In the description of the present invention, "first feature" or "second feature" may include one or more of the features.

[0027] In the description of the present invention, "plurality" means two or more.

[0028] In the description of the present invention, a first feature being “on” or “under” a second feature may include the first and second features being in direct contact with each other, or the first and second features not being in direct contact with each other but being in contact with each other via another feature therebetween.

[0029] In the description of the present invention, “on”, “above” and “above” a first feature of a second feature include the first feature being directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.

[0030] The following describes a control method of a vehicle assisted steering system according to an embodiment of the present invention with reference to the accompanying drawings.

[0031] like Figure 1-Figure 5 As shown, the control method of the vehicle auxiliary steering system according to an embodiment of the present invention includes:

[0032] Get the current mode of the vehicle;

[0033] If the vehicle is in static mode, a simulated speed signal is sent to the auxiliary steering system;

[0034] If the vehicle is in dynamic mode, the motor speed is acquired and sent to the auxiliary steering system.

[0035] The vehicle in the embodiment of the present invention is an electric vehicle.

[0036] According to the vehicle auxiliary steering system of an embodiment of the present invention, by obtaining the current mode of the vehicle, if the vehicle is in static mode, an analog speed signal is sent to the auxiliary steering system. That is to say, if the vehicle is started but stops or the vehicle is traveling very slowly, it means that the vehicle is in static mode. At this time, the speed of the motor is zero or the speed of the motor is very small. At this time, the whole vehicle controller does not need to feedback the real engine speed to the auxiliary steering system. The whole vehicle controller can send an analog speed signal to the auxiliary steering system. The analog speed signal can be obtained according to the normal speed of the engine of a fuel vehicle at rest in the relevant technology. The auxiliary steering system can be activated when receiving the analog speed signal, and under the analog speed signal, the auxiliary steering system can normally assist the steering of the vehicle, thereby making steering more labor-saving and more comfortable to operate, and it is simpler for the auxiliary steering system to assist steering when the vehicle is in static mode.

[0037] In addition, if the vehicle is in dynamic mode, the motor speed is obtained and sent to the auxiliary steering system. That is to say, when the vehicle is driving normally, the vehicle controller can obtain the motor speed in real time and send the real-time motor speed to the auxiliary steering system. The real-time motor speed can better reflect the current state of the vehicle. The auxiliary steering system can match the steering assist strength according to the real-time motor speed, with a higher matching degree, which is conducive to improving the vehicle's steering performance and making the steering operation feel better.

[0038] Therefore, with this arrangement, the vehicle assisted steering system of the embodiment of the present invention can be directly mounted on an electric vehicle, and by distinguishing between the dynamic mode and static mode of the vehicle, different speed signals can be sent, thereby matching the steering requirements of different controllers, which is conducive to shortening the development cycle and verification costs. It can not only meet the needs of the vehicle to provide steering assistance according to a fixed analog speed signal in a static state, with simple control, but also meet the needs of the vehicle to provide steering assistance according to the real-time speed of the electric motor in a dynamic state, with higher matching and better steering performance.

[0039] In this way, the control method of the vehicle assisted steering system according to the embodiment of the present invention can match the static steering and dynamic steering of the vehicle, and has the advantages of low steering effort, high driving comfort and cost saving.

[0040] In some specific embodiments of the present invention, Figure 2 As shown, when the vehicle is in static mode, if it is detected that the ignition switch is in the ON state and the vehicle speed is not less than the preset speed, the vehicle is switched to dynamic mode.

[0041] For example, the preset vehicle speed can be 5km / h. In this way, when the vehicle switches from static mode to dynamic mode, the vehicle controller detects that the vehicle is in the starting state, and when the vehicle speed reaches 5km / h, it means that the vehicle is in a normal driving state. At this time, the vehicle controller can obtain the real-time speed of the motor, and the auxiliary steering system can assist the vehicle's steering according to the real-time speed of the motor. This avoids the auxiliary steering system still assisting steering according to the analog speed signal when the vehicle switches from static mode to dynamic mode, which is beneficial to improving the matching degree of the auxiliary steering system with the real-time speed of the motor in dynamic mode, and the vehicle's steering feel is better.

[0042] In some specific embodiments of the present invention, the simulated speed signal is an engine idle speed signal. The engine idle speed signal refers to the engine speed signal of a fuel vehicle at idle in the related art. By simulating the simulated speed signal to the engine idle speed signal, the simulated speed signal can be made more reasonable and more consistent with the current state of the vehicle. This allows the auxiliary steering system to steer the vehicle according to the simulated speed signal, resulting in a more comfortable steering experience.

[0043] In some specific embodiments of the present invention, the analog rotation speed signal is not less than 600 rpm.

[0044] It should be noted that, in the related art, when the vehicle is in static mode, the auxiliary steering system can only effectively assist the vehicle steering when the engine idle speed signal is generally not less than 500rpm. In the embodiment of the present invention, the analog speed signal is set to not less than 600rpm. For example, the analog speed signal can be 600rpm, 650rpm, 700rpm, 750rpm, 800rpm, 850rpm, 900rpm or higher. This can ensure that when the auxiliary steering system assists the vehicle steering according to the analog speed signal, the assist strength is sufficient and the steering operation is more effortless and comfortable.

[0045] In some specific embodiments of the present invention, Figure 4 As shown, it is detected that the ignition switch is in the OFF state and the auxiliary steering system is powered off. That is to say, when the vehicle is turned off, the vehicle no longer needs to steer, the vehicle is powered off, and the auxiliary steering system is also powered off, which is beneficial to saving battery power.

[0046] In some specific embodiments of the present invention, if it is detected that the ignition switch is in the ON state, a target current is obtained according to a vehicle speed signal and a torque of the motor, and the motor is driven by the target current to assist the vehicle steering.

[0047] In this way, the steering assist force of the auxiliary steering system can be determined according to the target current, that is, the steering assist force of the auxiliary steering system is determined according to the vehicle speed signal and the torque of the electric motor, which is beneficial to improving the steering control feel, and the auxiliary steering system is powered by the motor. The vehicle steering is easier when driving at low speeds, and the vehicle's handling performance is better when driving at high speeds. The driver can feel a clear sense of the road, and the steering wheel has good self-centering performance, which is beneficial to improving the stability of the vehicle.

[0048] A vehicle according to an embodiment of the present invention will be described below with reference to the accompanying drawings. The vehicle includes an electric motor, a vehicle controller, and an auxiliary steering system.

[0049] like Figure 1 As shown, the vehicle controller is connected to the electric motor to obtain the vehicle's current mode and motor speed. The auxiliary steering system is also connected to the vehicle controller. If the vehicle is in static mode, the vehicle controller sends an analog speed signal to the auxiliary steering system. If the vehicle is in dynamic mode, the motor speed is obtained and sent to the auxiliary steering system.

[0050] In this way, if the vehicle is started but stopped or traveling very slowly, the motor speed is zero or very low. In this case, the vehicle controller does not need to feed back the actual engine speed to the auxiliary steering system. Instead, the vehicle controller can send a simulated engine idle speed signal under the idle condition of a fuel vehicle to the auxiliary steering system, so that the auxiliary steering system can be activated. Under this simulated speed signal, the auxiliary steering system can normally assist the vehicle's steering, making steering more effortless. When the vehicle is in static mode, the auxiliary steering system can provide steering assistance more simply. Furthermore, when the vehicle is in dynamic mode, the vehicle controller can send the real-time speed of the motor to the auxiliary steering system. The real-time speed of the motor can better reflect the current state of the vehicle. The auxiliary steering system can match the steering assistance intensity according to the real-time speed of the motor, with a higher matching degree, which is conducive to improving the vehicle's steering performance and making the steering operation feel better.

[0051] The vehicle according to the embodiment of the present invention can match the static steering and dynamic steering of the vehicle by utilizing the control method of the vehicle auxiliary steering system according to the above embodiment of the present invention, and has the advantages of saving steering effort, high driving comfort and saving costs.

[0052] In some specific embodiments of the present invention, Figure 2 and Figure 3 As shown, the vehicle also includes a speed sensor connected to the vehicle controller and an ignition switch connected to the vehicle controller. If the ignition switch is on and the speed sensor's detection value is not less than a preset speed, the vehicle controller determines that the vehicle is in dynamic mode. If the ignition switch is off or the speed sensor's detection value is less than the preset speed, the vehicle controller determines that the vehicle is in static mode.

[0053] In this way, when the vehicle controller detects that the vehicle is in the starting state and the vehicle speed is higher than the preset speed, it means that the vehicle is in a normal driving state. At this time, it is judged that the vehicle is in dynamic mode. The vehicle controller can obtain the real-time speed of the motor. The auxiliary steering system can assist the steering of the vehicle according to the real-time speed of the motor, avoiding the auxiliary steering system still assisting steering according to the analog speed signal when the vehicle switches from static mode to dynamic mode. It is beneficial to improve the matching degree of the auxiliary steering system with the real-time speed of the motor in dynamic mode, and the steering feel of the vehicle is better.

[0054] When the vehicle speed is low, the vehicle speed is 0 or slow, and the motor speed is 0 or low. At this time, it is judged that the vehicle is in static mode. The auxiliary steering system assists the vehicle steering according to the analog speed signal. The vehicle's steering at low speed is more labor-saving and the steering control feels better.

[0055] In some specific embodiments of the present invention, Figure 5 As shown in the figure, the ignition switch is switched from OFF to ON, and the auxiliary steering system is powered on and initialized. During the auxiliary steering system initialization process, the auxiliary steering system has no communication with the vehicle controller. After the auxiliary steering system is initialized, the auxiliary steering system communicates with the vehicle controller.

[0056] That is to say, before the auxiliary steering system is powered on and initialized, the vehicle controller will not send an analog speed signal or the real-time speed of the motor to the auxiliary steering system. At this time, the auxiliary steering system does not assist the vehicle steering. In this way, when the vehicle is in a power-off state or the vehicle has not been powered on, the auxiliary steering system does not assist the vehicle steering. When the auxiliary steering system is powered on and initialized, the auxiliary steering system communicates with the vehicle controller. At this time, the vehicle controller can send an analog speed signal to the auxiliary steering system, so that the auxiliary steering system can assist the vehicle steering when the vehicle needs to turn, so that the vehicle can drive normally and turn.

[0057] In some specific embodiments of the present invention, the vehicle further includes a speed reducer, and the auxiliary steering system is an electronic hydraulic power steering system. The power of the electric motor is sequentially transmitted to the wheels via the speed reducer and the electronic hydraulic power steering system. In this way, the steering assist force of the auxiliary steering system can be determined based on the driving force of the electric motor, which helps improve steering control. Furthermore, by providing power to the auxiliary steering system with the electric motor, the vehicle achieves smoother steering at low speeds and better handling performance at high speeds. The driver can experience a clearer road feel, and the steering wheel has good self-centering properties, which helps improve vehicle stability.

[0058] The control method of the vehicle auxiliary steering system according to the embodiment of the present invention and other components and operations of the vehicle having the same are well known to those skilled in the art and will not be described in detail here.

[0059] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "example," "specific example," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0060] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A control method for a vehicle auxiliary steering system, characterized in that: include: Get the current mode of the vehicle; If the vehicle is in a static mode, sending a simulated speed signal to the auxiliary steering system, wherein the simulated speed signal is an engine idle speed signal; If the vehicle is in a dynamic mode, obtaining a motor speed and sending the motor speed to the auxiliary steering system; Wherein, when the vehicle is in the static mode, if it is detected that the ignition switch is in the ON state and the vehicle speed is not less than the preset speed, the vehicle is switched to the dynamic mode; If it is detected that the ignition switch is in the ON state, a target current is obtained according to a vehicle speed signal and a torque of the motor, and the motor is driven by the target current to assist the vehicle steering.

2. The control method of the vehicle assisted steering system according to claim 1, characterized in that: The analog speed signal is not less than 600 rpm.

3. The control method of the vehicle assisted steering system according to claim 1, characterized in that: It is detected that the ignition switch is in the OFF state, and the auxiliary steering system is de-energized.

4. A vehicle, characterized in that: include: electric motor; A vehicle controller, connected to the electric motor, for obtaining the current mode of the vehicle and the speed of the electric motor; An auxiliary steering system and a reducer, wherein the auxiliary steering system is connected to the vehicle controller and is an electronic hydraulic power steering system, wherein the power of the electric motor is sequentially transmitted to the wheels via the reducer and the electronic hydraulic power steering system; A vehicle speed sensor connected to the vehicle controller; an ignition switch connected to the vehicle controller; Wherein, if the vehicle is in static mode, the vehicle controller sends a simulated speed signal to the auxiliary steering system; If the vehicle is in dynamic mode, obtaining the motor speed and sending the motor speed to the assisted steering system; and, If the ignition switch is in the ON state and the detection value of the vehicle speed sensor is not less than the preset vehicle speed, the vehicle controller determines that the vehicle is in dynamic mode; If the ignition switch is in the OFF state or the detection value of the vehicle speed sensor is less than a preset vehicle speed, the vehicle controller determines that the vehicle is in the static mode.

5. The vehicle according to claim 4, characterized in that The ignition switch is switched from the OFF state to the ON state, and the auxiliary steering system is powered on and initialized; Wherein, during the initialization process of the auxiliary steering system, the auxiliary steering system has no communication with the vehicle controller; The auxiliary steering system completes initialization and communicates with the vehicle controller.

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