Crosswind assistance compensation method and device for a vehicle, vehicle, storage medium

Abstract

The application discloses a crosswind assistance compensation method of a vehicle, and relates to the technical field of vehicle control, and specifically discloses the following steps: acquiring state information of the vehicle; when it is determined that the vehicle satisfies the condition of PDC compensation torque based on the state information of the vehicle, obtaining the driver's expected yaw according to the steering wheel rotation angle, the wheel speed signal and the lateral acceleration, obtaining the PDC crosswind compensation torque based on the driver's expected yaw; limiting the maximum value of the PDC crosswind compensation torque according to the current vehicle speed, the road surface inclination angle and the steering wheel angle, and then superimposing the limited PDC crosswind compensation torque on the basis assistance torque to obtain the final PDC crosswind compensation torque; and controlling the steering wheel of the vehicle based on the final PDC crosswind compensation torque to realize crosswind assistance compensation. The crosswind assistance compensation method, device, vehicle and storage medium provided by the application can ensure that the steering wheel can effectively provide assistance when the vehicle drives on a curve when the lateral disturbance of the vehicle is large, and the problem that the vehicle will immediately deviate when the steering wheel is released is avoided.

Description

Technical Field

[0001] This application relates to the field of automotive steering control, and more specifically, to a method, device, vehicle, and storage medium for crosswind assist compensation of a vehicle. Background Technology

[0002] In traditional steering assist strategies, the Electric Power Steering (EPS) system determines the basic assistance based on the input steering wheel torque signal and vehicle speed signal to achieve the assistance process. When a car is in crosswinds or on an inclined road surface, the driver needs to apply a certain amount of force to keep the vehicle traveling in a straight line, which can easily lead to driver fatigue and increase driving risks.

[0003] Pull Drift Compensation (PDC) is an advanced driver assistance feature used in many modern vehicles. It analyzes and calculates input signals such as vehicle speed, steering wheel angle, steering wheel torque, lateral acceleration, and yaw acceleration to design a reverse assist compensation strategy to alleviate driver fatigue caused by maintaining a certain force for a long time while driving straight, thus ensuring driving safety.

[0004] However, the traditional PDC function can only provide some steering wheel assistance to reduce driver fatigue when the vehicle is traveling straight and the driver is holding the steering wheel. However, when the vehicle is traveling on a curve, due to the change in the direction of travel, it cannot provide the correct assistance compensation, resulting in a reduction in the effectiveness of the PDC function. Summary of the Invention

[0005] To address the aforementioned issues, this invention proposes a method for crosswind assist compensation in vehicles. Based on the vehicle's state information, when the conditions for PDC compensation torque are met, the final PDC crosswind compensation torque is obtained. The steering wheel is then controlled according to this final PDC crosswind compensation torque to achieve crosswind assist compensation. This method ensures that the steering wheel can provide effective assistance when the vehicle is cornering, even in situations involving chassis imbalance, chassis asymmetry, crosswinds, or sloping road surfaces. It effectively reduces driver fatigue when experiencing significant lateral interference and also prevents the vehicle from immediately veering off course when the steering wheel is released.

[0006] This invention provides a method for crosswind assist compensation of a vehicle. The method includes: acquiring vehicle state information; determining, based on the vehicle state information, that the vehicle meets the conditions for PDC compensation torque, obtaining the driver's desired yaw rate based on steering wheel angle, wheel speed signal, and lateral acceleration, and obtaining the PDC crosswind assist compensation torque based on the driver's desired yaw rate; limiting the maximum value of the PDC crosswind assist compensation torque based on the current vehicle speed, road surface inclination angle, and steering wheel angle, and then superimposing the limited PDC crosswind assist compensation torque on the base assist torque to obtain the final PDC crosswind assist compensation torque; and controlling the vehicle's steering wheel based on the final PDC crosswind assist compensation torque to achieve crosswind assist compensation.

[0007] In one embodiment, when determining that the vehicle meets the conditions for PDC compensation torque based on the vehicle's state information, the step of obtaining the driver's desired yaw based on the steering wheel angle, wheel speed signal, and lateral acceleration, and obtaining the PDC crosswind compensation torque based on the driver's desired yaw, includes, prior to: determining whether the vehicle is in a stable driving condition based on the electronic steering system; if the vehicle is in a stable driving condition, determining whether the vehicle meets the PDC compensation condition confirmation time based on the absolute value of the steering wheel torque, the absolute value of the steering wheel angle, and the current vehicle speed, and determining that the vehicle meets the PDC compensation torque condition when the vehicle meets the PDC compensation condition confirmation time.

[0008] In one embodiment, the step of determining whether the vehicle is in a stable driving condition based on the electronic steering system includes: determining whether the electronic steering system is in a normal working state; if the electronic steering system is in a normal working state, then when the vehicle's steering wheel torque, steering wheel speed, steering wheel angle, yaw acceleration, and current vehicle speed are within a preset range, and the vehicle has not activated the lane keeping assist system and / or dynamic stability control, the vehicle is determined to be in a stable driving condition.

[0009] In one embodiment, the step of determining whether the vehicle meets the PDC compensation condition confirmation time based on the absolute value of the steering wheel torque, the absolute value of the steering wheel angle, and the current vehicle speed when the vehicle is in a stable driving condition includes: starting a timer when the absolute value of the steering wheel torque is less than a first torque, the absolute value of the steering wheel angle is less than a first angle, and the current vehicle speed is within a preset range; determining whether the continuous timer duration is greater than a first time threshold; if the continuous timer duration is greater than the first time threshold, determining that the vehicle meets the PDC compensation condition confirmation time; if the continuous timer duration is not greater than the first time threshold, determining that the vehicle does not meet the PDC compensation condition confirmation time, and resetting the continuous timer duration to zero.

[0010] In one embodiment, obtaining the PDC crosswind compensation torque based on the driver's desired yaw includes: obtaining the yaw error based on the driver's desired yaw and the current actual yaw; limiting the dead zone and maximum value of the yaw error according to the current vehicle speed and steering wheel angle; obtaining calculation parameters of the driver's desired yaw and calculation parameters of the limited yaw error; and obtaining the PDC crosswind compensation torque based on the limited yaw error, the calculation parameters of the driver's desired yaw, and the calculation parameters of the limited yaw error.

[0011] In one embodiment, the step of controlling the vehicle's steering wheel to achieve crosswind assist compensation based on the final PDC crosswind compensation torque includes: determining the integral step size of the final PDC crosswind compensation torque based on the difference between the steering wheel hand torque and the target torque; determining the integral direction of the final PDC crosswind compensation torque based on the sign of the steering wheel hand torque; and controlling the vehicle's steering wheel to achieve crosswind assist compensation based on the integral step size and integral direction of the PDC crosswind compensation torque.

[0012] In one embodiment, the step of controlling the vehicle's steering wheel to achieve crosswind assist compensation based on the final PDC crosswind compensation torque includes: if it is determined that the vehicle does not meet any of the conditions of the PDC compensation torque, then obtaining a target yaw exit curve based on the current vehicle speed, and providing steering wheel assist compensation based on the target yaw exit curve.

[0013] The present invention also provides a crosswind assist compensation device for a vehicle, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the steps of the crosswind assist compensation method for a vehicle as described above.

[0014] The present invention also provides a vehicle including the crosswind assist compensation device described above.

[0015] The present invention also provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the vehicle crosswind assist compensation method described above.

[0016] The present invention provides a method, device, vehicle, and storage medium for crosswind assist compensation of vehicles. When determining that the vehicle meets the conditions for PDC compensation torque based on the vehicle's state information, the method obtains the driver's desired yaw rate based on the steering wheel angle, wheel speed signal, and lateral acceleration. After obtaining the PDC crosswind compensation torque based on the driver's desired yaw rate, the maximum value of the PDC crosswind compensation torque is limited. Then, the limited PDC crosswind compensation torque is superimposed on the basic assist torque to obtain the final PDC crosswind compensation torque. The vehicle's steering wheel is controlled according to the final PDC crosswind compensation torque to achieve crosswind assist compensation. This ensures that the steering wheel can effectively provide assistance when the vehicle is driving in a curve, even in the presence of factors such as chassis imbalance, chassis asymmetry, crosswinds, and sloping road surfaces. It also avoids the problem of the vehicle immediately veering off course when the steering wheel is taken off the wheel. Attached Figure Description

[0017] Figure 1 This is a flowchart of a crosswind assist compensation method for a vehicle according to an embodiment of the present invention;

[0018] Figure 2 This is a flowchart illustrating the process of determining whether a vehicle meets the conditions for PDC compensation torque in one embodiment of the present invention.

[0019] Figure 3 As shown in one embodiment of the present invention Figure 2 A schematic diagram of step S21 in the diagram. Detailed Implementation

[0020] The foregoing and other technical contents, features, and effects of the present invention will be clearly presented in the following detailed description of preferred embodiments with reference to the accompanying drawings. Through the description of the specific embodiments, a more in-depth and specific understanding can be gained of the technical means and effects adopted by the present invention to achieve its intended purpose. However, the accompanying drawings are for reference and illustration only and are not intended to limit the present invention.

[0021] To further illustrate the technical means and effects adopted by the present invention in order to achieve the intended purpose, the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments.

[0022] Figure 1 This is a flowchart of a crosswind assist compensation method for a vehicle according to an embodiment of the present invention.

[0023] like Figure 1 As shown, the crosswind assist compensation method for vehicles provided in this embodiment includes the following steps:

[0024] Step S11: Obtain vehicle status information.

[0025] Specifically, the vehicle's status information includes steering wheel angle, wheel speed signal, lateral acceleration, current vehicle speed, road surface tilt angle, absolute value of steering wheel torque, absolute value of steering wheel angle, steering wheel hand torque, steering wheel speed, steering wheel angle, yaw acceleration, activation status of lane keeping assist system, activation status of dynamic stability control, current actual yaw, steering wheel angle, and status information of electronic steering system.

[0026] Step S12: When it is determined that the vehicle meets the conditions for PDC compensation torque based on the vehicle's state information, the driver's desired yaw is obtained based on the steering wheel angle, wheel speed signal, and lateral acceleration, and the PDC crosswind compensation torque is obtained based on the driver's desired yaw.

[0027] Specifically, such as Figure 2 As shown, the steps preceding step S12 include:

[0028] Step S21: Determine whether the vehicle is in a stable driving condition.

[0029] Specifically, such as Figure 3 As shown, step S21 includes:

[0030] Step S211: Determine whether the electronic steering system is in normal working condition.

[0031] Specifically, based on the status information of the electronic steering system, it is determined whether the hardware of the electronic steering system has malfunctioned and whether the signal received by the electronic steering system is normal. When the hardware of the electronic steering system has not malfunctioned and the signal received by the electronic steering system is normal, it is determined that the electronic steering system is in normal working condition, and then proceeds to step S212: determine whether the steering wheel torque, steering wheel speed, steering wheel angle, yaw acceleration, and current vehicle speed are within the preset range. When the hardware of the electronic steering system malfunctions and / or the signal received by the electronic steering system is abnormal, it is determined that the electronic steering system is not in normal working condition, and then proceeds to step S215: determine that the vehicle is not in a stable driving condition.

[0032] Specifically, when the vehicle's steering wheel torque, steering wheel speed, steering wheel angle, yaw acceleration, and current speed are all within preset ranges, it is determined that these parameters are within the preset range. At this point, step S213 is initiated: determining whether the vehicle has activated the lane keeping assist system and / or dynamic stability control. If any one of these parameters is not within the preset range, it is determined that these parameters are not within the preset range. At this point, step S215 is initiated: determining that the vehicle is not in a stable driving condition. The ranges for steering wheel torque, steering wheel speed, steering wheel angle, yaw acceleration, and current speed can be adjusted according to the input commands.

[0033] Specifically, when it is determined that the vehicle has not activated the lane keeping assist system and dynamic stability control, proceed to step S214: determine that the vehicle is in a stable driving condition; when it is determined that the vehicle has activated either the lane keeping assist system or the dynamic stability control, proceed to step S215: determine that the vehicle is not in a stable driving condition.

[0034] Specifically, when it is determined that the vehicle is in a stable driving condition, step S22 is entered: determine whether the vehicle meets the PDC compensation condition confirmation time; when it is determined that the vehicle is not in a stable driving condition, step S24 is entered: determine whether the vehicle does not meet the PDC compensation torque condition.

[0035] Specifically, when determining whether the vehicle meets the PDC compensation condition confirmation time, if the absolute value of the steering wheel torque is less than the first torque, the absolute value of the steering wheel angle is less than the first angle, and the current vehicle speed is within a preset range, timing begins. It is determined whether the continuous timing time is greater than the first time threshold. If the continuous timing time is greater than the first time threshold, the vehicle is determined to meet the PDC compensation condition confirmation time, and then proceeds to step S23: determining whether the vehicle meets the PDC compensation torque condition. If the continuous timing time is not greater than the first time threshold, the vehicle is determined not to meet the PDC compensation condition confirmation time, and the continuous timing time is cleared to zero, then proceeds to step S24: determining whether the vehicle does not meet the PDC compensation torque condition.

[0036] Specifically, when determining that the vehicle meets the conditions for PDC compensation torque based on the vehicle's state information, the driver's desired yaw target is obtained based on the steering wheel angle, wheel speed signal, and lateral acceleration. The yaw error Yawerr is obtained by subtracting the current actual yaw ActYaw from the driver's desired yaw target. The dead zone and maximum value of the yaw error Yawerr are then limited by the current vehicle speed and steering wheel angle to obtain the limited yaw error Yawerr.限制 The driver's desired yaw is calculated based on the yaw target, and the calculated parameter kp is obtained based on the yaw error Yawerr after limitation. 限制 Obtain the calculation parameters ki for the constrained yaw error, and finally calculate the yaw error Yawerr based on the constrained yaw error. 限制 The calculation parameters kp (expected yaw rate of the driver) and ki (limited yaw error) are used to obtain the crosswind compensation moment SastorquePDC. The specific calculation formula is shown below.

[0037] SastorquePDC=Yawerr 限制 *kp+∑*Yawerr 限制 *ki

[0038] Step S13: After limiting the maximum value of the PDC crosswind compensation torque based on the current vehicle speed, road inclination angle, and steering wheel angle, the limited PDC crosswind compensation torque is superimposed on the basic assist torque to obtain the final PDC crosswind compensation torque.

[0039] Specifically, the maximum value of the PDC crosswind compensation torque is limited according to the gradient of changes in current vehicle speed, road inclination angle, and steering wheel angle.

[0040] Step S14: Control the vehicle's steering wheel based on the final PDC crosswind compensation torque to achieve crosswind assist compensation.

[0041] Specifically, based on the difference between the steering wheel torque and the target torque, the integral step size of the final PDC crosswind compensation torque is determined. Then, based on the sign of the steering wheel torque, the integral direction of the final PDC crosswind compensation torque is determined. Finally, based on the integral step size and integral direction of the PDC crosswind compensation torque, the vehicle's steering wheel is controlled to achieve crosswind assist compensation according to the final PDC crosswind compensation torque. The target torque can be set based on the final PDC crosswind compensation torque.

[0042] Specifically, in one embodiment, after step S14, there is a confirmation time for determining whether the vehicle is in a stable driving condition and whether the vehicle meets the PDC compensation conditions (see above). Figure 2 The specific details described in the illustrated embodiment will not be repeated here. If it is determined that the vehicle is not in a stable driving condition or that the vehicle has not met the PDC compensation condition confirmation time, then the crosswind assist compensation to the steering wheel is stopped, and the target yaw exit curve is obtained based on the current vehicle speed. Steering wheel assist compensation is then performed based on the target yaw exit curve to ensure that the vehicle does not immediately veer off course when the steering wheel is released from the driver's hands. Note that when performing steering wheel assist compensation based on the target yaw exit curve, the compensation torque can only decrease monotonically.

[0043] The present invention also provides a crosswind assist compensation device for a vehicle, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the steps of the crosswind assist compensation method for a vehicle as described above.

[0044] The present invention also provides a vehicle including the crosswind assist compensation device described above.

[0045] The present invention also provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the vehicle crosswind assist compensation method described above.

[0046] The present invention provides a method, device, vehicle, and storage medium for crosswind assist compensation of vehicles. When determining that the vehicle meets the conditions for PDC compensation torque based on the vehicle's state information, the method obtains the driver's desired yaw rate based on the steering wheel angle, wheel speed signal, and lateral acceleration. After obtaining the PDC crosswind compensation torque based on the driver's desired yaw rate, the maximum value of the PDC crosswind compensation torque is limited. Then, the limited PDC crosswind compensation torque is superimposed on the basic assist torque to obtain the final PDC crosswind compensation torque. The vehicle's steering wheel is controlled according to the final PDC crosswind compensation torque to achieve crosswind assist compensation. This ensures that the steering wheel can effectively provide assistance when the vehicle is driving in a curve, even in the presence of factors such as chassis imbalance, chassis asymmetry, crosswinds, and sloping road surfaces. It also avoids the problem of the vehicle immediately veering off course when the steering wheel is taken off the wheel.

[0047] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A method for compensating for crosswind assist in a vehicle, characterized in that, The method includes: Obtain vehicle status information; When it is determined that the vehicle meets the conditions for PDC compensation torque based on the vehicle's state information, the driver's desired yaw is obtained based on the steering wheel angle, wheel speed signal, and lateral acceleration, and the PDC crosswind compensation torque is obtained based on the driver's desired yaw. After limiting the maximum value of the PDC crosswind compensation torque based on the current vehicle speed, road inclination angle, and steering wheel angle, the limited PDC crosswind compensation torque is superimposed on the basic assist torque to obtain the final PDC crosswind compensation torque. The vehicle's steering wheel is controlled based on the final PDC crosswind compensation torque to achieve crosswind assist compensation; The step of obtaining the PDC crosswind compensation torque based on the driver's desired yaw includes: The yaw error is obtained based on the driver's expected yaw and the current actual yaw. The dead zone and maximum value of the yaw error are limited based on the current vehicle speed and the steering wheel angle; Obtain the calculation parameters of the driver's desired yaw rate and the calculation parameters of the limited yaw error; The PDC crosswind compensation torque is obtained based on the limited yaw error, the driver's expected yaw calculation parameters, and the limited yaw error calculation parameters.

2. The crosswind assist compensation method for a vehicle as described in claim 1, characterized in that, When determining that the vehicle meets the conditions for PDC compensation torque based on the vehicle's state information, the step of obtaining the driver's desired yaw based on the steering wheel angle, wheel speed signal, and lateral acceleration, and obtaining the PDC crosswind compensation torque based on the driver's desired yaw, includes the following prior steps: The electronic steering system is used to determine whether the vehicle is in a stable driving condition. If the vehicle is in a stable driving condition, then based on the absolute value of the steering wheel torque, the absolute value of the steering wheel angle, and the current vehicle speed, it is determined whether the vehicle meets the PDC compensation condition confirmation time, and when the vehicle meets the PDC compensation condition confirmation time, it is determined that the vehicle meets the condition of the PDC compensation torque.

3. The crosswind assist compensation method for a vehicle as described in claim 2, characterized in that, The step of determining whether the vehicle is in a stable driving condition based on the electronic steering system includes: Determine whether the electronic steering system is in normal working condition; If the electronic steering system is in normal working condition, then when the steering wheel torque, steering wheel speed, steering wheel angle, yaw acceleration, and current vehicle speed are within the preset range, and the vehicle has not activated the lane keeping assist system and / or dynamic stability control, the vehicle is determined to be in a stable driving condition.

4. The crosswind assist compensation method for a vehicle as described in claim 2, characterized in that, The step of determining whether the vehicle meets the PDC compensation condition confirmation time based on the absolute value of the steering wheel torque, the absolute value of the steering wheel angle, and the current vehicle speed if the vehicle is in a stable driving condition includes: The timing begins when the absolute value of the steering wheel torque is less than the first torque, the absolute value of the steering wheel angle is less than the first angle, and the current vehicle speed is within a preset range. Determine whether the continuous timing time exceeds the first time threshold; If the continuous timing time is greater than the first time threshold, then the vehicle is determined to meet the PDC compensation condition confirmation time. If the continuous timing time is not greater than the first time threshold, it is determined that the vehicle does not meet the PDC compensation condition confirmation time, and the continuous timing time is cleared to zero.

5. The crosswind assist compensation method for a vehicle as described in claim 1, characterized in that, The step of controlling the vehicle's steering wheel to achieve crosswind assist compensation based on the final PDC crosswind compensation torque includes: The integral step size of the final PDC crosswind compensation torque is determined based on the difference between the steering wheel torque and the target torque. The integral direction of the final PDC crosswind compensation torque is determined based on the sign of the steering wheel torque. Based on the integral step size and integral direction of the PDC crosswind compensation torque, the steering wheel of the vehicle is controlled to achieve crosswind assist compensation according to the final PDC crosswind compensation torque.

6. The crosswind assist compensation method for a vehicle as described in claim 1, characterized in that, The step of controlling the vehicle's steering wheel to achieve crosswind assist compensation based on the final PDC crosswind compensation torque then includes: If it is determined that the vehicle does not meet any of the conditions for the PDC compensation torque, then the target yaw exit curve is obtained based on the current vehicle speed, and the steering wheel is assisted to compensate based on the target yaw exit curve.

7. A crosswind assist compensation device for a vehicle, characterized in that, The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the steps of the crosswind assist compensation method for the vehicle as claimed in any one of claims 1 to 6.

8. A vehicle, characterized in that, This includes the crosswind assist compensation device for the aforementioned vehicles.

9. A storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the crosswind assist compensation method for the vehicle as described in any one of claims 1 to 6.

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