Vehicle and deviation control method thereof, storage medium and electric power steering system

Abstract

The present invention discloses a vehicle and its deviation control method, storage medium and electric power steering system. The vehicle deviation control method comprises: obtaining vehicle status information and basic power torque, wherein the status information includes the steering torque of the vehicle; when it is determined that the status information meets the preset deviation compensation requirement, calculating the deviation compensation torque of the vehicle according to the basic power torque and the steering torque; and controlling the power motor of the vehicle steering system according to the deviation compensation torque and the basic power torque of the vehicle to make the vehicle run in a straight line. Therefore, the vehicle deviation control method calculates the corresponding compensation torque according to the steering torque and the basic torque by monitoring the vehicle status information in real time during the vehicle driving process, thereby ensuring that the vehicle can still maintain straight driving under different working conditions, improving the versatility of the vehicle deviation compensation, and at the same time improving the driving quality of the vehicle and reducing the burden on the driver, ensuring the safety and comfort of the vehicle driving.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a vehicle and a deviation control method thereof, a storage medium and an electric power steering system. Background Art

[0002] Under normal circumstances, as a high-speed moving object, the changes in the external environment and the changes in its own structural characteristics will cause changes in the external forces applied to the vehicle, causing the vehicle to deviate to varying degrees when driving in a straight line, seriously affecting the vehicle's straight-line tracking ability and driving safety. Common deviation conditions include driving on an inclined road, strong lateral winds acting on the vehicle body in bad weather, different tire pressures during driving, and center of mass shift caused by an incompletely symmetrical suspension structure. Therefore, monitoring, controlling and correcting the vehicle's running trajectory are crucial.

[0003] In related technologies, the vehicle's deviation compensation torque is mostly based on the vehicle state information measured by a camera or sensor, and then the lateral tilt angle of the vehicle is obtained; then the lateral acceleration compensation value is obtained by querying the corresponding relationship table of the vehicle's lateral tilt angle, and then the lateral acceleration compensation value is fed back to the steering system to be converted into the corresponding compensation torque. The system is complex in structure, and the calculation process involves additional calibration work such as table lookup and parameter conversion, which is not conducive to rapid application and matching of different vehicle models. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the related art to at least a certain extent. To this end, one purpose of the present invention is to provide a vehicle deviation control method, which calculates the corresponding compensation torque by monitoring the state information of the vehicle, thereby ensuring that the vehicle can still maintain straight driving under different working conditions, improving the versatility of vehicle deviation compensation, and at the same time improving the driving quality of the vehicle and reducing the burden on the driver, ensuring the safety and comfort of vehicle driving.

[0005] A second object of the present invention is to provide a computer-readable storage medium.

[0006] A third object of the present invention is to provide a vehicle.

[0007] A fourth objective of the present invention is to provide an electric power steering system.

[0008] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present invention proposes a vehicle deviation control method, which includes: obtaining state information of the vehicle and obtaining a basic power-assisting torque of the vehicle, wherein the state information includes a steering torque of the vehicle; when it is determined that the state information meets a preset deviation compensation requirement, calculating the deviation compensation torque of the vehicle according to the basic power-assisting torque and the steering torque; and controlling the power-assisting motor of the vehicle steering system according to the deviation compensation torque of the vehicle and the basic power-assisting torque to make the vehicle travel in a straight line.

[0009] The vehicle deviation control method of the embodiment of the present invention first obtains the state information of the vehicle and obtains the basic power-assisting torque of the vehicle, wherein the state information includes the steering torque of the vehicle. When it is determined that the state information meets the preset deviation compensation requirement, the deviation compensation torque of the vehicle is calculated according to the basic power-assisting torque and the steering torque, and finally the power-assisting motor of the vehicle steering system is controlled according to the deviation compensation torque and the basic power-assisting torque of the vehicle to make the vehicle run in a straight line. Therefore, the vehicle deviation control method calculates the corresponding compensation torque according to the steering torque and the basic torque by monitoring the vehicle state information in real time during the vehicle driving process, thereby ensuring that the vehicle can still maintain straight driving under different working conditions, improving the versatility of the vehicle deviation compensation, and at the same time improving the driving quality of the vehicle and reducing the burden on the driver, ensuring the safety and comfort of the vehicle driving.

[0010] In some embodiments of the present invention, the status information of the vehicle also includes: the steering wheel angle, driving speed and power assist state of the vehicle, wherein determining that the status information meets the preset deviation compensation requirements includes: within a first preset time, the steering torque is within a preset torque range, the steering wheel angle is within a preset angle range, the driving speed is within a preset speed range, and the power assist state is a preset state, then determining that the status information meets the preset deviation compensation requirements.

[0011] In some embodiments of the present invention, the vehicle's running deviation compensation torque is calculated based on the basic power-assisting torque and the steering torque, including: using a first preset parameter to perform a ramp-up processing on the basic power-assisting torque and the steering torque to obtain a first processing result; using a second preset parameter to perform a ramp-up processing on the first processing result to obtain the vehicle's running deviation compensation torque, wherein the first preset parameter is greater than the second preset parameter.

[0012] In some embodiments of the present invention, the basic power-assisting torque and the steering torque are slowly increased using a first preset parameter, including: calculating a first value based on the basic power-assisting torque, the steering torque and the first preset parameter, and superimposing the first value with the calculated torque at the previous moment to obtain the calculated torque at the current moment, and limiting the calculated torque at the current moment.

[0013] In some embodiments of the present invention, the calculated torque at the current moment is subjected to limit processing, including: when the calculated torque at the current moment is less than a first torque threshold, returning to calculate a first value based on the re-acquired basic assist torque and steering torque, until the calculated torque at the current moment is greater than or equal to the first torque threshold, and using the first torque threshold as the first processing result.

[0014] In some embodiments of the present invention, the first processing result is subjected to a ramp-up process using a second preset parameter, including: determining a speed coefficient based on the vehicle's driving speed; calculating a second value based on the first processing result and the speed coefficient; and when the second value is less than a second torque threshold, determining the vehicle's deviation compensation torque based on the second preset parameter and the second value.

[0015] In some embodiments of the present invention, when the second value is greater than or equal to the second torque threshold, the method further includes: determining the vehicle's running compensation torque according to the second preset parameter and the second torque threshold.

[0016] In some embodiments of the present invention, before using the second preset parameter to perform a slow-up processing on the first processing result, the method also includes: obtaining a vehicle speed status signal; when it is determined that the vehicle speed is abnormal according to the vehicle speed status signal, setting the second preset parameter to zero; when it is determined that the vehicle speed is normal according to the vehicle speed status signal, gradually increasing the second preset parameter from a first preset value to a second preset value within a second preset time.

[0017] To achieve the above-mentioned purpose, a second embodiment of the present invention proposes a computer-readable storage medium on which a vehicle deviation control program is stored. When the vehicle deviation control program is executed by a processor, the vehicle deviation control method of the above-mentioned embodiment is implemented.

[0018] The computer-readable storage medium of this embodiment executes the vehicle deviation control program stored thereon through the processor, and can calculate the compensation torque, so as to ensure that the vehicle can still maintain straight driving under different working conditions, thereby improving the versatility of vehicle deviation compensation, while improving the vehicle's driving quality and reducing the burden on the driver, thereby ensuring the safety and comfort of vehicle driving.

[0019] To achieve the above-mentioned purpose, a third aspect of the present invention proposes a vehicle, which includes a memory, a processor, and a vehicle deviation control program stored in the memory and executable on the processor. When the processor executes the vehicle deviation control program, the vehicle deviation control method in the above-mentioned embodiment is implemented.

[0020] The vehicle of this embodiment includes a memory, a processor, and a vehicle deviation control program stored in the memory and executable on the processor. When the processor executes the vehicle deviation control program, it can calculate a compensation torque to ensure that the vehicle can continue to travel in a straight line under different operating conditions, thereby improving the versatility of vehicle deviation compensation, while improving the vehicle's driving quality and reducing the burden on the driver, thereby ensuring the safety and comfort of vehicle driving.

[0021] To achieve the above-mentioned purpose, an embodiment of the fourth aspect of the present invention proposes an electric power steering system, which includes: a vehicle sensor module, used to obtain the state information of the vehicle and the basic power-assisting torque of the vehicle, wherein the state information includes the steering torque of the vehicle; a compensation torque calculation module, used to calculate the running deviation compensation torque of the vehicle according to the basic power-assisting torque and the steering torque when it is determined that the state information meets the preset running deviation compensation requirement; a motor control module, used to control the power-assisting motor of the vehicle steering system according to the running deviation compensation torque of the vehicle and the basic power-assisting torque, so that the vehicle can travel in a straight line.

[0022] The electric power steering system of the embodiment of the present invention includes a vehicle sensor module, a compensation torque calculation module and a motor control module. First, the vehicle status information is obtained through the vehicle sensor module, and the basic power torque of the vehicle is obtained, wherein the status information includes the steering torque of the vehicle. When it is determined that the status information meets the preset deviation compensation requirements, the deviation compensation torque of the vehicle is calculated by the compensation torque calculation module according to the basic power torque and the steering torque; finally, the power motor of the vehicle steering system is controlled by the motor control module according to the deviation compensation torque and the basic power torque of the vehicle, so that the vehicle can travel in a straight line. Therefore, the electric power steering system of the embodiment of the present invention monitors the vehicle status information in real time during the vehicle driving process, calculates the corresponding compensation torque according to the steering torque and the basic torque, thereby ensuring that the vehicle can still maintain straight driving under different working conditions, improving the versatility of the vehicle deviation compensation, and at the same time improving the driving quality of the vehicle and reducing the burden on the driver, ensuring the safety and comfort of the vehicle driving.

[0023] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a flow chart of a vehicle deviation control method according to an embodiment of the present invention;

[0025] Figure 2 is a block diagram of a vehicle steering system according to an example of the present invention;

[0026] Figure 3 is a flow chart of a vehicle steering system according to an example of the present invention;

[0027] Figure 4 is a torque schematic diagram of the calculated torque at the current moment and the sum of the steering torque and the basic torque according to an example of the present invention;

[0028] Figure 5 is a flow chart of a vehicle deviation control method according to another embodiment of the present invention;

[0029] Figure 6 is a schematic diagram of a second preset parameter according to an example of the present invention;

[0030] Figure 7 is a flow chart of a vehicle deviation control method according to another embodiment of the present invention;

[0031] Figure 8 is a strategy flow chart of a vehicle deviation control method according to a specific embodiment of the present invention;

[0032] Fig. 9 is a block diagram of a vehicle structure according to an embodiment of the present invention;

[0033] Fig.10 4 is a structural block diagram of an electric power steering system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0035] The following describes a vehicle and its deviation control method, storage medium and electric power steering system according to embodiments of the present invention with reference to the accompanying drawings.

[0036] Figure 1 The present invention is a flow chart of a vehicle deviation control method according to an embodiment of the present invention.

[0037] like Figure 1 As shown, the present invention proposes a vehicle deviation control method, which includes the following steps:

[0038] S10, obtaining status information of the vehicle and obtaining a basic power-assisting torque of the vehicle, wherein the status information includes a steering torque of the vehicle.

[0039] Specifically, a schematic diagram of a vehicle steering system according to an embodiment of the present invention is shown in FIG. Figure 2 As shown, Figure 2 Only a portion of the components of the vehicle system are shown and numbered, and other parts that are not shown and not numbered are not specifically limited in this embodiment.

[0040] The vehicle steering system in this embodiment may include a signal monitoring module 1, a state recognition module 2, a deviation compensation torque calculation module 3, a torque superposition output module 4, a motor control module 6 and a power-assisted motor execution system. The monitoring module 1 monitors the vehicle state and sensor signals in real time and processes and identifies whether the deviation compensation function needs to be turned on; the compensation torque calculation module 3 and the torque superposition output module 4 play the role of calculating the compensation torque in real time and superimposing and outputting it with other power-assisted torques to correct the deviation. Among them, the state recognition module 2, the deviation compensation torque calculation module 3 and the torque superposition output module 4 constitute the PDC (Pull Drift Compensation) deviation compensation module 5, which outputs the deviation compensation torque under the corresponding real-time state. The signal monitoring module 1 is provided with a sensor for obtaining the vehicle's power-assisted state information, steering torque, vehicle driving speed and steering wheel angle signal, etc. Then the signal is transmitted to the steering column electronic system control unit ECU (Electronic Control Unit) through the CAN (Controller Area Network) data bus, and the electronic device in the steering column electronic system control unit analyzes the steering angle size signal. Different signals such as steering wheel angle signal, steering torque signal and vehicle speed signal can obtain corresponding signals according to different sensors. It should be noted that in the present embodiment, the vehicle is also provided with other sensors, which can be used to detect other information of the vehicle, such as the basic power-assist torque signal of the vehicle. As an example, during driving, the vehicle determines the magnitude of the steering torque applied by the steering torque sensor, thereby obtaining the magnitude of the steering power-assist torque required to control the vehicle to travel in a straight line. Optionally, the steering active gear is connected to the steering shaft by a torsion bar. If the driver turns the steering wheel, the position of the torsion bar and the steering shaft relative to the steering active gear is twisted, and the degree of twisting depends on the magnitude of the turning torque applied by the driver. The degree of twisting is measured by the steering torque sensor, and then the steering torque of the vehicle is obtained, and the basic power-assist torque of the vehicle is obtained according to the steering torque. The control unit ECU is composed of a PDC deviation compensation module 5 and a motor control module 6. The monitoring module 1 transmits the monitored signal to the ECU via CAN. When the ECU receives the signal and determines that the vehicle needs compensation torque to participate in the control, it calculates and generates the corresponding compensation torque according to the steering torque and basic power-assist torque of the vehicle, and then transmits the compensation torque signal to the motor control module 6, so that the motor control module 6 generates a corresponding current signal and sends it to the power-assist motor system, and performs torque compensation control on the vehicle driving through the power-assist motor system.

[0041] It should be noted that the embodiment of the present invention only cites a specific method for obtaining signals such as the vehicle's steering torque, steering wheel angle, vehicle speed, power-assist status and basic power-assist torque for illustration. The signals can also be obtained through other acquisition methods, such as calculating according to other signals related to the steering torque to obtain the steering torque, etc. The present invention is not limited to this acquisition method.

[0042] S20, when it is determined that the state information meets the preset deviation compensation requirement, calculating the deviation compensation torque of the vehicle according to the basic power assist torque and the steering torque.

[0043] Specifically, the system obtains multiple status information of the vehicle from the signal flow, and when the status information meets the conditions, it outputs an enable signal of the deviation compensation function, and after the enable signal lasts for a certain period of time, it determines whether the vehicle meets the preset deviation compensation requirements based on the steering torque, and then the compensation torque calculation module starts to calculate the deviation compensation torque of the vehicle based on the basic power torque and the steering torque. Among them, the vehicle status information mainly includes the steering wheel angle, driving speed and power state of the vehicle. Therefore, when the steering torque signal, steering wheel angle signal, vehicle speed signal, power state and other signals monitored by the monitoring module by the ECU meet the conditions, it determines that the vehicle status information meets the preset deviation compensation requirements. For example, if it is detected that the steering torque is greater than 1 Nm and less than 3 Nm, the steering wheel angle differs from the preset angle by ±15 degrees, the vehicle speed is greater than 60 km / h and less than 120 km / h, and the power-assist status is not in a fault state, and all the above conditions are met, a function enable signal is output, and if the enable signal lasts for a first preset time, it can be determined that the status information meets the preset deviation compensation requirements, and then the compensation torque calculation module can calculate the vehicle's deviation compensation torque based on the basic power-assist torque and the steering torque.

[0044] It should be noted that in order to avoid the frequent switching of the compensation torque output caused by the continuous change of the vehicle driving state under special circumstances, which may affect the life of the power assist motor and the driver's feel. Figure 3As shown, when the signal monitoring module determines that the vehicle state meets the requirements for opening PDC, the timing module is set to open when it is determined that the vehicle state meets the requirements for opening PDC, and the compensation function will be turned on only after it is determined that the vehicle state has been maintained for a period of time. Specifically, the timing module starts the timer according to the enable signal to record the time the system maintains the current enable state. When the timer reaches the threshold, the timing module will output a timeout signal so that the compensation torque calculation module can further calculate the compensation torque to obtain the compensation torque Tpdc, and then the compensation torque Tpdc is superimposed with the basic power-assisted torque to obtain the deviation compensation torque. According to the deviation compensation torque, the power-assisted motor system is used to compensate for the deviation of the vehicle, so that the vehicle can travel in a straight line; if the system exits the enable state before the timing reaches the threshold, it means that the current driver has manually corrected it, so the timer is reset to zero at this time, and a non-timeout signal is output at the same time, and there is no need to calculate the compensation torque.

[0045] S30, controlling the power-assisting motor of the vehicle steering system according to the deviation compensation torque and the basic power-assisting torque of the vehicle, so as to make the vehicle run in a straight line.

[0046] Specifically, the compensation torque and the basic power-assist torque are added and input into the motor control module to generate a current control signal to drive the power-assist motor to work. It should be noted that the deviation compensation torque in this embodiment is gradually increased, that is, it is not suddenly added to the basic power-assist torque, so that the driver's steering wheel can be prevented from shaking when the deviation compensation torque is suddenly added to the basic power-assist torque. At the same time, the vehicle can be ensured to travel in a straight line and prevent the vehicle from deviating. The deviation compensation torque is gradually approached to the target value, and the torque change is small, which can increase the service life of the control system and the power-assist motor.

[0047] In some embodiments of the present invention, the vehicle's status information also includes: the vehicle's steering wheel angle, driving speed and power assist status, wherein determining that the status information meets the preset deviation compensation requirements includes: within a first preset time, the steering torque is within a preset torque range, the steering wheel angle is within a preset angle range, the driving speed is within a preset speed range, and the power assist status is a preset state, then determining that the status information meets the preset deviation compensation requirements.

[0048] Specifically, the vehicle status information mainly includes the vehicle's steering wheel angle, driving speed and power-assist status. Generally speaking, the vehicle's steering wheel is generally installed on the left or right side, so the left and right lengths of the steering tie rods are different, and the angles will also be slightly different; in addition, during rapid acceleration, the traction on the left and right wheels will also be inconsistent, and the phenomenon of driving deviation will also occur. Therefore, the ECU determines whether the vehicle meets the preset deviation compensation requirements based on whether the detected steering torque signal, steering wheel angle signal, vehicle speed signal, power-assist status and other signals meet the preset conditions. Specifically, the steering torque, steering wheel angle and vehicle speed can be set with corresponding preset intervals or preset values. When the detection values ​​corresponding to the steering torque, steering wheel angle and vehicle speed are in the preset interval or equal to the preset value, the requirements are met. In addition, the power-assist status is also limited to the preset state, that is, the vehicle is not in a fault state, so that the vehicle can perform deviation compensation normally. When all the above conditions are met, it is determined that the status information meets the preset deviation compensation requirements, and a function enable signal is output. Then the compensation torque calculation module starts to calculate the vehicle's deviation compensation torque based on the basic assist torque and steering torque, and applies a reverse compensation torque to the motor to prevent the vehicle from deviation.

[0049] In some embodiments of the present invention, the vehicle's running deviation compensation torque is calculated based on the basic power-assisting torque and the steering torque, including: using a first preset parameter to perform a slow-rise processing on the basic power-assisting torque and the steering torque to obtain a first processing result; using a second preset parameter to perform a slow-rise processing on the first processing result to obtain the vehicle's running deviation compensation torque, wherein the first preset parameter is greater than the second preset parameter.

[0050] Specifically, when calculating the vehicle's deviation compensation torque based on the basic power-assisting torque and the steering torque, in order to avoid the direct input of the compensation torque affecting the driver's steering wheel feel, the embodiment of the present invention uses the first preset parameter to perform a slow-rise processing on the basic power-assisting torque and the steering torque. In this embodiment, the deviation compensation torque is slowly increased by two preset parameters, wherein the first preset parameter is greater than the second preset parameter. For example, the first preset parameter can be 800000. Specifically, the first preset parameter can be used as the denominator, and then combined with the cumulative sum limit value, so that the deviation compensation torque can be gradually increased instead of abruptly changed. The second preset parameter in this embodiment can be a slowly increasing function to ensure that after being processed by the second preset parameter, the degree of slow increase of the deviation compensation torque can be further improved.

[0051] In some embodiments of the present invention, the basic power assist torque and steering torque are slowly increased using the first preset parameter, including: calculating a first value based on the basic power assist torque, the steering torque and the first preset parameter, and superimposing the first value with the calculated torque at the previous moment to obtain the calculated torque at the current moment, and limiting the calculated torque at the current moment.

[0052] Specifically, the first value is calculated according to the basic power-assisting torque, the steering torque and the first preset parameter, wherein the first preset parameter is a relatively large coefficient, for example, 800000 can be taken. Specifically, the quotient obtained by dividing the sum of the basic power-assisting torque and the steering torque by the first preset parameter can be used as the first value, that is, the current first value is obtained by calculating (steering torque + basic torque) / 80000 according to the formula, and the first value is superimposed with the calculated torque of the previous moment to obtain the calculated torque of the current moment. More specifically, for example, the first preset parameter in this embodiment is 800000, the calculated calculated torque of the previous moment is 0.2, and the current first value is 0.1, then after superposition, the calculated torque of the current moment is 0.3, then when calculating the calculated torque of the next moment, it is necessary to superimpose the first value of the next moment with the calculated torque of the current moment to obtain the calculated torque of the next moment. By analogy, the calculated torque can be ramped up slowly. During the ramping up of the calculated torque, the calculated torque at the current moment is also limited to prevent the calculated torque from being too large. If the calculated torque at the current moment is too large, it means that the vehicle may have a serious deviation problem, which cannot be solved by deviation compensation. Instead, other emergency measures need to be taken. Therefore, when the calculated torque at the current moment is too large, deviation compensation will no longer be performed on the vehicle.

[0053] In some embodiments of the present invention, the calculated torque at the current moment is limited, including: when the calculated torque at the current moment is less than the first torque threshold, returning to calculate the first value based on the re-acquired basic assist torque and steering torque, until the calculated torque at the current moment is greater than or equal to the first torque threshold, and using the first torque threshold as the first processing result.

[0054] Specifically, the limit processing in this embodiment is to make the calculated torque at the current moment increase slowly under the first torque threshold. When the calculated torque is less than the first torque threshold, the basic power assist torque and steering torque are reacquired and then the first value is calculated. The first value is then superimposed with the calculated torque at the previous moment to obtain the calculated torque at the current moment, and the calculated torque at the current moment is compared with the first torque threshold until the calculated torque at the current moment is greater than or equal to the first torque threshold. The limit processing is performed, that is, when the calculated torque at the current moment is greater than the first torque threshold, the first torque threshold is used as the first processing result. For example, the first torque threshold can be set to 3 Nm. When the calculated torque is greater than or equal to 3 Nm, the first processing result is 3 Nm. It should be noted that if Figure 4 As shown in the figure, the solid line part is the calculated torque change trend at the current moment. The first torque threshold is 3 Nm. Obviously, the calculated torque at the current moment slowly increases from 0 to 3 and then stops increasing. In addition, Figure 4The middle dotted line portion is the sum of the steering torque and the basic power-assist torque in this embodiment, wherein the steering torque starting value is set to be 1.25 Newtons, the amplitude is a sine function of 0.15, and the basic power-assist torque is 0.8 Newtons.

[0055] In some embodiments of the present invention, the first processing result is subjected to a slow rise process using the second preset parameter, such as Figure 5 As shown, the following steps are included:

[0056] S501, determining a speed coefficient according to the driving speed of the vehicle.

[0057] S502: Calculate a second value according to the first processing result and the speed coefficient.

[0058] S503: When the second value is less than the second torque threshold, determine the vehicle's running compensation torque according to the second preset parameter and the second value.

[0059] Specifically, after the first processing result is obtained through the first preset parameter processing, in order to improve the accuracy of the deviation compensation, the present embodiment also uses the second preset parameter to perform a slow-rise processing on the first processing result to improve the accuracy of the deviation compensation torque and further improve the slow-rise effect of the deviation compensation torque. More specifically, the current driving speed of the vehicle is first obtained, and then the speed coefficient is determined by looking up the table according to the driving speed of the vehicle. It should be noted that the speed coefficient in the present embodiment is a value greater than 0 and less than 1. The first processing result is multiplied by the speed coefficient to obtain a second value. Since the speed coefficient is greater than 0 and less than 1, the second value obtained by multiplication is less than the first processing result, which further reduces the deviation compensation torque, and ensures that the vehicle can be controlled to go straight without causing the deviation compensation torque to be too large.

[0060] After the second value is calculated, the value is limited again, specifically by the second torque threshold. When the second value is less than the second torque threshold, the second value is output, and the second value is slowly increased using the second preset parameter to determine the vehicle's running compensation torque. It should be noted that when the second value is greater than or equal to the second torque threshold, the second torque threshold is output, and the second torque threshold is slowly increased using the second preset parameter to determine the vehicle's running compensation torque.

[0061] Figure 6 is a schematic diagram of the second preset parameter in this embodiment, Figure 6It can be seen that the second preset parameter in this embodiment is a function that gradually increases from near zero to one. Specifically, the second preset parameter is used to perform a slow-rise process on the second value or the second torque threshold, and the second preset parameter is multiplied by the second value or the second torque threshold so that the second value or the second torque threshold is used as the deviation compensation torque to be slowly increased. It should be noted that Figure 6 Only a nonlinear function form of the second preset parameter is shown. In other embodiments, the second preset parameter can also be expressed in another form of a nonlinear function, so that the output deviation compensation torque has a nonlinear change to avoid sudden torque jumps, thereby matching the characteristics of the motor output and achieving the expected deviation compensation torque output effect.

[0062] For example, the second torque threshold can be set to 2.5 Nm. If the second value is less than 2.5 Nm, the second value is output to determine the deviation compensation torque by multiplying the second value by the second preset parameter. If the second value is greater than or equal to 2.5 Nm, the deviation compensation torque is determined by multiplying 2.5 Nm by the second preset parameter.

[0063] It should be noted that the first preset parameter, the first preset parameter, the first numerical value, the second numerical value, the first torque threshold and the second torque threshold in the above embodiments should be determined according to the actual situation of the vehicle and can be determined through a large number of experimental tests. The above determination of each preset value is only an example and does not specifically limit it.

[0064] In some embodiments of the present invention, before the first processing result is subjected to a slow rise process using the second preset parameter, Figure 7 As shown, the following steps are included:

[0065] S701, obtaining a vehicle speed status signal.

[0066] S702, when it is determined according to the vehicle speed state signal that the vehicle speed is abnormal, setting the second preset parameter to zero;

[0067] S703, when it is determined according to the vehicle speed status signal that the vehicle speed is normal, gradually increasing the second preset parameter from the first preset value to the second preset value within a second preset time.

[0068] Specifically, the vehicle speed state signal is obtained, and when the vehicle speed is abnormal according to the vehicle speed state signal, the second preset parameter is set to zero, and when the vehicle speed is normal according to the vehicle speed state signal, the second preset parameter is gradually increased from the first preset value to the second preset value within the second preset time. The vehicle speed state signal determines whether the torque output slow-rise module in the calculation module is turned on, that is, whether the second preset parameter is used. Since the vehicle speed is generally set to the default speed when the vehicle fails, the present embodiment, when it is detected that the vehicle control system currently uses the default speed, can indicate that the vehicle speed state signal is faulty at this time, and when the vehicle speed state fails, the current vehicle speed can also be derived to be abnormal, so the control system, from a safety perspective, outputs the torque slow-rise coefficient of 0, that is, the second preset parameter is set to zero, indicating that no compensation assistance is provided to prevent the driver or the vehicle control system from being hindered from controlling the vehicle. When the vehicle speed is normal according to the vehicle speed state signal, the slow-rise module in the vehicle control system works normally, and the second preset parameter can be gradually increased to 1 from a value close to 0 within a period of time, for example, the second preset parameter increases from 0.05 to 1 within 3.5 seconds.

[0069] As a specific example of the present invention, Figure 8 The vehicle deviation control method strategy flow chart according to one embodiment of the present invention may include the following steps:

[0070] S801, start booting.

[0071] S802, determine whether the vehicle status information meets the preset deviation compensation requirement, if yes, jump to step S803. If no, repeat the current step.

[0072] S803, determine whether the vehicle status information meets the preset deviation compensation requirement for a first preset time, if yes, jump to step S804. If no, continue the self-loop without going to the next step.

[0073] S804, the first value is equal to (steering torque+basic torque) / first preset parameter.

[0074] S805, superimposing the current first value with the calculated torque at the previous moment to obtain the calculated torque at the current moment.

[0075] S806, judging whether the calculated torque at the current moment is less than 3 Nm, if yes, jumping to step S804. If no, jumping to step S807.

[0076] S807, output 3 Nm.

[0077] S808, looking up a table according to the current vehicle speed to obtain a speed coefficient, and multiplying the coefficient by 3 Nm to obtain a second value.

[0078] S809, if the second value is less than 2.5 Nm, execute step S810; if the second value is greater than or equal to 2.5 Nm, execute step S811.

[0079] S810, output a second value, and execute step S812.

[0080] S811, output 2.5 Nm, and execute step S813.

[0081] S812, performing slow-rise control according to the second preset parameter multiplied by the second value to obtain a deviation compensation torque.

[0082] S813, performing slow-rise control according to the second preset parameter multiplied by 2.5 Nm to obtain a deviation compensation torque.

[0083] S814, adding the deviation compensation torque and the basic power-assisting torque and inputting the resultant into the motor control module to generate a current control signal to drive the power-assisting motor to work.

[0084] It should be noted that the above step 801 may specifically call the vehicle deviation control program to trigger the vehicle deviation control method to start executing. It should also be noted that the vehicle deviation control method in this embodiment is applicable to various road conditions encountered by the vehicle during straight-line driving, including but not limited to acceleration and deceleration of the vehicle, road inclination, different tire pressures of the vehicle, center of mass deviation, crosswind, etc.

[0085] In summary, the vehicle deviation control method in the embodiment of the present invention monitors the vehicle status information in real time during vehicle driving, and calculates the corresponding compensation torque based on the steering torque and the basic torque, so as to ensure that the vehicle can still maintain straight driving under different working conditions, thereby improving the versatility of vehicle deviation compensation, while improving the vehicle's driving quality and reducing the burden on the driver, thereby ensuring the safety and comfort of vehicle driving.

[0086] Furthermore, the present invention also proposes a computer-readable storage medium on which a vehicle deviation control program is stored. When the vehicle deviation control program is executed by a processor, the vehicle deviation control method of the above embodiment is implemented.

[0087] According to the computer-readable storage medium of the embodiment of the present invention, the processor executes the vehicle deviation control program stored thereon, and can calculate the corresponding compensation torque, so as to ensure that the vehicle can still maintain straight driving under different working conditions, thereby improving the versatility of vehicle deviation compensation, while improving the vehicle's driving quality, reducing the burden on the driver, and ensuring the safety and comfort of vehicle driving.

[0088] Fig. 9 is a structural block diagram of a vehicle according to an embodiment of the present invention.

[0089] Furthermore, if Fig. 9 As shown, the present invention also proposes a vehicle 90, which includes a memory 901, a processor 902, and a vehicle deviation control program stored in the memory 901 and executable on the processor 902. When the processor 902 executes the program, the vehicle deviation control method in the above embodiment is implemented.

[0090] The vehicle in the embodiment of the present invention executes the vehicle deviation control program stored in the memory through the processor, and can calculate the corresponding compensation torque, so as to ensure that the vehicle can still maintain straight driving under different working conditions, thereby improving the versatility of vehicle deviation compensation, while improving the vehicle's driving quality and reducing the burden on the driver, thereby ensuring the safety and comfort of vehicle driving.

[0091] Fig.10 4 is a structural block diagram of an electric power steering system according to an embodiment of the present invention.

[0092] Furthermore, if Fig.10 As shown, the present invention proposes an electric power steering system 20, which includes a vehicle sensor module 201, a compensation torque calculation module 202 and a motor control module 203. In this embodiment, the vehicle sensor module 201 is used to obtain the state information of the vehicle and obtain the basic power torque of the vehicle, wherein the state information includes the steering torque of the vehicle; the compensation torque calculation module 202 is used to calculate the deviation compensation torque of the vehicle according to the basic power torque and the steering torque when it is determined that the state information meets the preset deviation compensation requirement; the motor control module 203 is used to control the power motor of the vehicle steering system according to the deviation compensation torque and the basic power torque of the vehicle, so that the vehicle can travel in a straight line.

[0093] In one embodiment of the present invention, the vehicle's status information also includes: the vehicle's steering wheel angle, driving speed and power assist status, wherein determining that the status information meets the preset deviation compensation requirements includes: within a first preset time, the steering torque is within a preset torque range, the steering wheel angle is within a preset angle range, the driving speed is within a preset speed range, and the power assist status is a preset state, then determining that the status information meets the preset deviation compensation requirements.

[0094] In one embodiment of the present invention, the compensation torque calculation module 202 is specifically used to use a first preset parameter to perform a slow-rise processing on the basic power assist torque and the steering torque to obtain a first processing result; and use a second preset parameter to perform a slow-rise processing on the first processing result to obtain the vehicle's running deviation compensation torque, wherein the first preset parameter is greater than the second preset parameter.

[0095] In one embodiment of the present invention, the compensation torque calculation module 202 is specifically used to calculate a first value based on the basic assist torque, the steering torque and the first preset parameter, and superimpose the first value with the calculated torque at the previous moment to obtain the calculated torque at the current moment, and limit the calculated torque at the current moment.

[0096] In one embodiment of the present invention, the compensation torque calculation module 202 is also used to return to calculate the first value based on the re-acquired basic assist torque and steering torque when the calculated torque at the current moment is less than the first torque threshold, until the calculated torque at the current moment is greater than or equal to the first torque threshold, and use the first torque threshold as the first processing result.

[0097] In one embodiment of the present invention, the compensation torque calculation module 202 is also used to determine a speed coefficient according to the vehicle's driving speed; calculate a second value according to the first processing result and the speed coefficient; and when the second value is less than a second torque threshold, determine the vehicle's running deviation compensation torque according to the second preset parameters and the second value.

[0098] In one embodiment of the present invention, when the second value is greater than or equal to the second torque threshold, the compensation torque calculation module 202 is further configured to determine the vehicle's running compensation torque according to the second preset parameter and the second torque threshold.

[0099] In one embodiment of the present invention, the compensation torque calculation module 202 is specifically used to obtain a vehicle speed status signal; when it is determined that the vehicle speed is abnormal according to the vehicle speed status signal, the second preset parameter is set to zero; when it is determined that the vehicle speed is normal according to the vehicle speed status signal, the second preset parameter is gradually increased from a first preset value to a second preset value within a second preset time.

[0100] It should be noted that for details not disclosed in the electric power steering system of the embodiment of the present invention, please refer to the details disclosed in the vehicle deviation control method of the present invention, and the details will not be repeated here.

[0101] In summary, the electric power steering system of the embodiment of the present invention includes a vehicle sensor module, a compensation torque calculation module and a motor control module. First, the vehicle status information is obtained through the vehicle sensor module, and the basic power torque of the vehicle is obtained, wherein the status information includes the steering torque of the vehicle. When it is determined that the status information meets the preset deviation compensation requirements, the compensation torque calculation module is then used to calculate the deviation compensation torque of the vehicle according to the basic power torque and the steering torque; finally, the motor control module is used to control the power motor of the vehicle steering system according to the deviation compensation torque and the basic power torque of the vehicle, so that the vehicle can travel in a straight line. Therefore, the electric power steering system of the embodiment of the present invention monitors the vehicle status information in real time during the vehicle driving process, calculates the corresponding compensation torque according to the steering torque and the basic torque, thereby ensuring that the vehicle can still maintain straight driving under different working conditions, improving the versatility of the vehicle deviation compensation, while improving the driving quality of the vehicle and reducing the burden on the driver, ensuring the safety and comfort of the vehicle driving.

[0102] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0103] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0104] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0105] In the description of the present invention, it is to 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”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0106] In addition, the terms "first", "second", etc. used in the embodiments of the present invention are only used for descriptive purposes and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in the present embodiment. Therefore, the features defined by the terms "first", "second", etc. in the embodiments of the present invention can explicitly or implicitly indicate that the embodiment includes at least one of the features. In the description of the present invention, the word "multiple" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0107] In the present invention, unless otherwise clearly specified or limited in the embodiments, the terms "installed", "connected", "connected" and "fixed" etc. in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integrated connection. It can be understood that it can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements, or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific implementation situation.

[0108] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0109] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A vehicle deviation control method, characterized in that: The method comprises: Acquiring state information of the vehicle and acquiring a basic power-assist torque of the vehicle, wherein the state information includes a steering torque of the vehicle; When it is determined that the state information meets the preset deviation compensation requirement, calculating the deviation compensation torque of the vehicle according to the basic power-assist torque and the steering torque; Controlling a power-assisting motor of a vehicle steering system according to the vehicle's deviation compensation torque and the basic power-assisting torque, so as to make the vehicle travel in a straight line; Calculating the deviation compensation torque of the vehicle according to the basic power-assist torque and the steering torque includes: Performing a slow-rise process on the basic power-assisting torque and the steering torque using a first preset parameter to obtain a first processing result; Performing a slow-rise process on the first processing result using a second preset parameter to obtain a running deviation compensation torque of the vehicle, wherein the first preset parameter is greater than the second preset parameter; The basic power-assisting torque and the steering torque are subjected to a slow-rise process by using a first preset parameter, including: A first value is calculated according to the basic assist torque, the steering torque and the first preset parameter, and the first value is superimposed with the calculated torque at the previous moment to obtain the calculated torque at the current moment, and the calculated torque at the current moment is limited.

2. The vehicle deviation control method according to claim 1, characterized in that: The vehicle status information further includes: a steering wheel angle, a driving speed, and a power assist status of the vehicle, wherein determining that the status information meets a preset deviation compensation requirement includes: Within a first preset time, if the steering torque is within a preset torque range, the steering wheel angle is within a preset angle range, the driving speed is within a preset speed range, and the power assist state is a preset state, it is determined that the state information meets the preset deviation compensation requirement.

3. The vehicle deviation control method according to claim 1, characterized in that: The calculation torque at the current moment is subjected to a limit value processing, including: When the calculated torque at the current moment is less than the first torque threshold, return to calculating the first value based on the re-acquired basic power torque and steering torque, until the calculated torque at the current moment is greater than or equal to the first torque threshold, and use the first torque threshold as the first processing result.

4. The vehicle deviation control method according to claim 1, characterized in that: Performing a slow-rise process on the first processing result using a second preset parameter includes: determining a speed coefficient according to the travel speed of the vehicle; Calculate a second value according to the first processing result and the speed coefficient; When the second value is less than a second torque threshold, the deviation compensation torque of the vehicle is determined according to the second preset parameter and the second value.

5. The vehicle deviation control method according to claim 4, characterized in that: When the second value is greater than or equal to the second torque threshold, the method further includes: The deviation compensation torque of the vehicle is determined according to the second preset parameter and the second torque threshold.

6. The vehicle deviation control method according to claim 1, characterized in that: Before performing a slow-rise process on the first processing result using a second preset parameter, the method further includes: Obtain vehicle speed status signal; When it is determined that the vehicle speed is abnormal according to the vehicle speed state signal, setting the second preset parameter to zero; When it is determined according to the vehicle speed state signal that the vehicle speed is normal, the second preset parameter is gradually increased from the first preset value to the second preset value within a second preset time.

7. A computer-readable storage medium, characterized in that: A vehicle deviation control program is stored thereon, and when the vehicle deviation control program is executed by the processor, the vehicle deviation control method according to any one of claims 1-6 is implemented.

8. A vehicle, characterized in that: The invention comprises a memory, a processor and a vehicle deviation control program stored in the memory and executable on the processor. When the processor executes the vehicle deviation control program, the vehicle deviation control method according to any one of claims 1 to 6 is implemented.

9. An electric power steering system, characterized in that: The system comprises: A vehicle sensor module, used to obtain status information of the vehicle and obtain a basic power-assist torque of the vehicle, wherein the status information includes a steering torque of the vehicle; A compensation torque calculation module, configured to calculate the deviation compensation torque of the vehicle according to the basic power-assist torque and the steering torque when it is determined that the state information meets the preset deviation compensation requirement; A motor control module, used for controlling a power-assisting motor of a vehicle steering system according to the deviation compensation torque of the vehicle and the basic power-assisting torque, so as to make the vehicle travel in a straight line; Calculating the deviation compensation torque of the vehicle according to the basic power-assist torque and the steering torque includes: Performing a slow-rise process on the basic power-assisting torque and the steering torque using a first preset parameter to obtain a first processing result; Performing a slow-rise process on the first processing result using a second preset parameter to obtain a running deviation compensation torque of the vehicle, wherein the first preset parameter is greater than the second preset parameter; The basic power-assisting torque and the steering torque are subjected to a slow-rise process by using a first preset parameter, including: A first value is calculated according to the basic assist torque, the steering torque and the first preset parameter, and the first value is superimposed with the calculated torque at the previous moment to obtain the calculated torque at the current moment, and the calculated torque at the current moment is limited.

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