An automatic steering control method for pure electric vehicles

Abstract

This application belongs to the field of automatic control technology for pure electric vehicles, specifically relating to an automatic steering control method for pure electric vehicles. The steering wheel is equipped with a telescopic structure and a size adjustment mechanism. The system of the method includes a central control module, a road condition acquisition module, a vehicle speed detection module, a steering wheel speed detection module, a size adjustment drive module, and a telescopic structure drive module. Based on different deflection angles along the driving road, the steering wheel is controlled to extend and retract in different ways, thus balancing driving safety and driver visibility. Based on different traffic volumes and vehicle speeds, the steering wheel telescopic structure and size adjustment mechanism are controlled to provide support for the driver while ensuring driving safety. Based on different steering directions, the steering wheel is controlled to provide support for the driver and balance centrifugal force during steering. In the parked state, the steering wheel is controlled to turn towards the instrument panel, providing space for the driver to get in and out of the vehicle.

Description

Technical Field

[0001] This invention belongs to the field of automatic control technology for pure electric vehicles, and more specifically, relates to an automatic steering control method for pure electric vehicles. Background Technology

[0002] Currently, the non-standard steering wheels for pure electric vehicles on the market are usually those with only 3 o'clock and 9 o'clock positions. These non-standard steering wheels provide more legroom for the driver at the bottom, increasing comfort and convenience, and the unobstructed top can broaden the driver's field of vision. In addition, since there are only 3 o'clock and 9 o'clock grip positions, it helps to form good driving habits. However, the shape of this type of non-standard steering wheel is fixed and cannot actively adjust according to the vehicle's driving status, resulting in a reduced driving experience. Summary of the Invention

[0003] This invention addresses the shortcomings of existing technologies by providing an automatic steering control method for pure electric vehicles. Based on different road deflection angles, the method controls the steering wheel to extend and retract in varying degrees, thus balancing driving safety and visibility. Based on different traffic volumes and vehicle speeds, the method controls the steering wheel's extension and retraction structure and size adjustment mechanism to provide support for the driver while ensuring driving safety. Based on different steering directions, the method controls the steering wheel's movement to provide support for the driver and balance centrifugal force during steering. In the parked state, the method controls the steering wheel to rotate towards the instrument panel, providing space for the driver to get in and out of the vehicle.

[0004] To achieve the technical objectives of this invention, the following technical solutions will be adopted:

[0005] An automatic steering control method for pure electric vehicles is disclosed. The method is applicable to irregularly shaped steering wheels, which include a 9-point grip, a 3-point grip, a 9-point size adjustment structure, a 3-point size adjustment structure, and a central part. The 9-point grip and the 3-point grip are arc-shaped structures. The 9-point size adjustment structure and the 3-point size adjustment structure are rotatably connected to the central part. The distance between the 9-point grip and the 3-point grip is adjusted by changing the horizontal distance between the size adjustment structure and the central part during rotation.

[0006] Both the 9 o'clock and 3 o'clock grip areas have arc-shaped protrusions, including outer and inner protrusions. The steering wheel extends out of the protrusions to form a complete structure.

[0007] The control method is integrated into a non-standard steering wheel control system, which includes a central control module, a road condition acquisition module, a vehicle speed detection module, a steering wheel rotation speed detection module, a size adjustment drive module, and an extension structure drive module.

[0008] The road condition acquisition module's input end connects to the in-vehicle navigation device to acquire current road traffic conditions and driving routes, while its output end connects to the central control module; the vehicle speed detection module acquires the vehicle's current speed in real time; the steering wheel speed detection module acquires the vehicle's steering wheel speed in real time; the size adjustment drive module drives the 9-point size adjustment structure and / or the 3-point size adjustment structure to rotate; and the extension drive module drives the extension to extend and retract, with the default state of the extension being fully retracted into the gripping part.

[0009] The specific steps of the control method are as follows:

[0010] S1: The vehicle's driving route is obtained through the road condition acquisition module. Based on the theoretical steering wheel deflection angle of the vehicle on the driving route, the driving route is divided into small-angle steering segments and large-angle steering segments. The central control module determines the current road segment of the vehicle. When the vehicle is in the small-angle steering segment, the control size adjustment drive module and the extension drive module are both in standby mode, and the process proceeds to step S2. When the vehicle is in the large-angle steering segment, the control extension drive module is activated to drive all extensions to extend, and the process proceeds to step S3. When the vehicle leaves the large-angle steering segment, the control extension drive module is activated to drive the extensions to retract, and the control extension drive module is then activated to enter standby mode, and the process proceeds to step S2.

[0011] S2: Obtain the current vehicle speed through the vehicle speed detection module. If the vehicle speed is in the low speed range, activate the road condition acquisition module to obtain the current road traffic flow. If the traffic flow is large, control the extension drive module to activate the extension covering the 6 o'clock position. If the vehicle speed is in the medium speed range, determine whether the current vehicle's acceleration or deceleration exceeds the preset threshold range. If it exceeds the preset threshold range, control the 3-point size adjustment structure to rotate towards the driver. If the vehicle speed is in the high speed range, control both the 9-point size adjustment structure and the 3-point size adjustment structure to rotate away from the driver.

[0012] S3: Determines the direction of steering wheel turn. If it is a left turn, control the 3-point size adjustment mechanism to rotate towards the driver. If it is a right turn, control the 9-point size adjustment mechanism to rotate towards the driver.

[0013] Preferably, step S2 further includes obtaining the steering wheel speed through the steering wheel speed detection module. If the steering wheel speed exceeds a preset threshold, the size adjustment drive module is locked, and the extension drive module is opened to drive all extensions to extend.

[0014] Preferably, the small-angle steering segment corresponds to a steering wheel deflection angle θ range of -90°≤θ≤90°; the large-angle steering segment corresponds to a steering wheel deflection angle θ range of θ<-90° or θ>90°.

[0015] Preferably, the low-speed range of vehicle speed v is v≤30km / h, the medium-speed range of vehicle speed v is 30km / h<v≤80km / h, and the medium-speed range of vehicle speed v is v>80km / h.

[0016] Preferably, with the plane where the central part is located as the reference plane, the 9-point size adjustment structure and the 3-point size adjustment structure can adjust the gripping part to rotate from the reference plane toward the instrument panel.

[0017] Preferably, when the vehicle speed is not zero, the central controller prevents the 9-point size adjustment structure and the 3-point size adjustment structure from adjusting the grip to the area between the reference plane and the instrument panel. When the vehicle speed is zero, the central controller drives the 9-point size adjustment structure and the 3-point size adjustment structure to rotate towards the instrument panel until they are located in the area between the reference plane and the instrument panel.

[0018] According to the above technical solution, compared with the prior art, the present invention has the following advantages:

[0019] First, the present invention is equipped with a telescopic structure and a size adjustment mechanism, which controls the steering wheel to make different telescopic changes based on the different deflection angles of the driving section, thereby taking into account both driving safety and driving visibility.

[0020] Secondly, this invention controls the movement of the steering wheel telescopic structure and size adjustment mechanism based on different traffic volume and vehicle speed, providing support for the driver while ensuring driving safety.

[0021] Third, this invention controls the steering wheel movement based on different steering directions, providing support to the driver and thus balancing the centrifugal force during steering.

[0022] Fourth, in the parking state, this invention controls the steering wheel to turn closer to the instrument panel, providing space for the driver to get in and out of the vehicle. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of an irregularly shaped steering wheel according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of an irregularly shaped steering wheel extending according to an embodiment of the present invention;

[0025] Figure 3 This is a schematic flowchart of the non-standard steering wheel control method according to an embodiment of the present invention.

[0026] Among them, 1-9 points gripping parts; 10-first outer extension part; 11-first inner extension part; 2-3 points gripping parts; 20-second outer extension part; 21-second inner extension part; 3-9 points size adjustment structure; 4-3 points size adjustment structure; 5-central part. Detailed Implementation

[0027] To enable those skilled in the art to better understand the technical solutions of this application, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0028] The directional terms such as above, below, left, right, front, and back used in this application are based on the positional relationships shown in the attached drawings. Different attached drawings may result in different positional relationships, therefore they should not be interpreted as limitations on the scope of protection.

[0029] In this application, the terms "installation," "connection," "interlocking," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, or a connection that allows communication between components. They can also refer to a direct connection or an indirect connection through an intermediate medium. They can refer to the internal connection of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0030] See the instruction manual appendix Figure 1-3 The irregular steering wheel of the present invention includes a 9-point grip portion 1, a 3-point grip portion 2, a 9-point size adjustment structure 3, a 3-point size adjustment structure 4, and a central portion 5. The 9-point grip portion 1 and the 3-point grip portion 2 are arc-shaped structures. The 9-point size adjustment structure 3 and the 3-point size adjustment structure 4 are rotatably connected to the central portion 5 (not shown in the figure). By changing the horizontal distance between the 9-point size adjustment structure 3 and the 3-point size adjustment structure 4 and the central portion 5 during rotation, the spacing between the 9-point grip portion 1 and the 3-point grip portion 2 is adjusted, so that the grip portion spacing can adapt to drivers of different body types.

[0031] See the instruction manual appendix Figure 2 Both the 9 o'clock grip part 1 and the 3 o'clock grip part 2 are provided with arc-shaped protrusions. The protrusions include a first outer protrusion 10, a first inner protrusion 11, a second outer protrusion 20, and a second inner protrusion 21. The steering wheel forms a complete structure by extending out of the protrusions.

[0032] The irregular steering wheel control system of the present invention includes a central control module, a road condition acquisition module, a vehicle speed detection module, a steering wheel speed detection module, a size adjustment drive module, and an extension structure drive module.

[0033] The road condition acquisition module's input is connected to the in-vehicle navigation device to obtain current road traffic conditions and driving routes, while its output is connected to the central control module. The vehicle speed detection module is used to obtain the current speed of the pure electric vehicle in real time. The steering wheel speed detection module is used to obtain the steering wheel speed of the pure electric vehicle in real time. The size adjustment drive module is used to drive the 9-point size adjustment structure 3 and / or the 3-point size adjustment structure 4 to rotate. The extension drive module is used to drive the extension to extend and retract; the default state of the extension is as follows: Figure 1 As shown, this is the state where the gripper is fully retracted.

[0034] The specific steps of the irregular steering wheel control method of the present invention are as follows:

[0035] S1: The driving route of the pure electric vehicle is obtained through the road condition acquisition module. Based on the theoretical steering wheel deflection angle of the vehicle on the driving route, the driving route is divided into small-angle steering segments and large-angle steering segments. The small-angle steering segment corresponds to a steering wheel deflection angle θ range of -90°≤θ≤90°; the large-angle steering segment corresponds to a steering wheel deflection angle θ range of θ<-90° or θ>90°. The central control module determines the current road segment of the vehicle. When the vehicle is in the small-angle steering segment, the control size adjustment drive module and the extension drive module are both in standby mode, and the process proceeds to step S2. When the vehicle is in the large-angle steering segment, the control extension drive module is activated to drive all extensions to extend, and the process proceeds to step S3. When the vehicle leaves the large-angle steering segment, the control extension drive module is activated to drive the extensions to retract, and the control extension drive module is then activated to enter standby mode, and the process proceeds to step S2.

[0036] When the vehicle is in a large-angle steering segment, the steering wheel turns at a large angle. If the extended part is still in the retracted state at this time, it will easily cause the steering wheel to slip during the steering process. Therefore, it is necessary to control the extension part drive module to open and drive the extension part to extend.

[0037] S2: Obtain the current vehicle speed through the vehicle speed detection module. If the vehicle speed is in the low speed range, activate the road condition acquisition module to obtain the current road traffic flow. If the traffic flow is large, control the extension drive module to activate the extension covering the 6 o'clock position. If the vehicle speed is in the medium speed range, determine whether the current vehicle's acceleration or deceleration exceeds the preset threshold range. If it exceeds the preset threshold range, control the 3-point size adjustment structure 4 to rotate towards the driver. If the vehicle speed is in the high speed range, control both the 9-point size adjustment structure 3 and the 3-point size adjustment structure 4 to rotate away from the driver.

[0038] The range of vehicle speed v in the low-speed segment is v≤30km / h, the range of vehicle speed v in the medium-speed segment is 30km / h<v≤80km / h, and the range of vehicle speed v in the medium-speed segment is v>80km / h.

[0039] In heavy traffic, drivers will frequently turn the steering wheel at small angles, thus increasing the need for a wider grip area. At the same time, in order to better observe road conditions, drivers will need a wider field of vision. Therefore, the extension covering the 6 o'clock position increases the grip area while avoiding interference with the driver's field of vision.

[0040] When the vehicle's acceleration or deceleration exceeds a predetermined threshold, it indicates that the driver is increasing the pressure applied to the accelerator or brake pedal. At this time, the driver's right side is in a tense state of exertion. Controlling the rotation of the 3-point size adjustment structure 4 towards the driver can provide a support point for the driver's right side, making it easier for the driver to exert force and relieving the tension in the body.

[0041] When a vehicle is traveling at high speed, emergency braking is the most frequent dangerous situation. During emergency braking, due to inertia, the driver's body usually leans forward. Controlling the 9-point size adjustment structure 3 and the 3-point size adjustment structure 4 to rotate away from the driver can reduce the possibility of a collision between the driver and the steering wheel.

[0042] S3: Determine the direction of steering wheel deflection. If it is a left turn (i.e., θ < -90°), control the 3-point size adjustment structure 4 to rotate towards the driver. If it is a right turn (i.e., θ > 90°), control the 9-point size adjustment structure 3 to rotate towards the driver.

[0043] When the vehicle turns left, the driver will experience a centrifugal force biased towards the 3 o'clock position. The 3 o'clock size adjustment structure 4 is then rotated towards the driver to provide support. When the vehicle turns right, the driver will experience a centrifugal force biased towards the 9 o'clock position. The 9 o'clock size adjustment structure 3 is then rotated towards the driver to provide support.

[0044] In another embodiment of the present invention, step S2 further includes obtaining the steering wheel speed through the steering wheel speed detection module. If the steering wheel speed exceeds a preset threshold, the size adjustment drive module is locked, and the extension drive module is opened to drive all extensions to extend. If the steering wheel speed exceeds the preset threshold, it proves that the vehicle is in a sharp turn. In order to avoid the steering wheel from slipping, it is necessary to open the extension drive module.

[0045] In another embodiment of the present invention, taking the plane where the central part 5 is located as the reference plane, the 9-point size adjustment structure 3 and the 3-point size adjustment structure 4 can also adjust the gripping part to rotate from the reference plane toward the instrument panel, that is, adjust it to a state where the distance from the driver's seat is greater than the distance between the central part 5 and the driver's seat. When the vehicle speed is not zero, the central controller prohibits the 9-point size adjustment structure 3 and the 3-point size adjustment structure 4 from adjusting the gripping part to the area between the reference plane and the instrument panel. When the vehicle speed is zero, the central controller drives the 9-point size adjustment structure 3 and the 3-point size adjustment structure 4 to rotate toward the instrument panel until they are located in the area between the reference plane and the instrument panel, thereby providing more space for the driver to get in and out of the vehicle.

[0046] The above descriptions are merely embodiments of the present invention, and common knowledge regarding specific structures and characteristics of the solutions is not described in detail here. It will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the present invention is defined by the appended claims rather than the foregoing description. Therefore, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An automatic steering control method for a pure electric vehicle, characterized by, The control method is applicable to irregularly shaped steering wheels, which include a 9-point grip, a 3-point grip, a 9-point size adjustment structure, a 3-point size adjustment structure, and a central part. The 9-point grip and the 3-point grip are arc-shaped structures. The 9-point size adjustment structure and the 3-point size adjustment structure are rotatably connected to the central part. By changing the horizontal distance between the size adjustment structure and the central part during rotation, the distance between the 9-point grip and the 3-point grip can be adjusted. Both the 9 o'clock and 3 o'clock grip areas have arc-shaped protrusions, including outer and inner protrusions. The steering wheel extends out of the protrusions to form a complete structure. The control method is integrated into a non-standard steering wheel control system, which includes a central control module, a road condition acquisition module, a vehicle speed detection module, a steering wheel rotation speed detection module, a size adjustment drive module, and an extension structure drive module. The input end of the traffic condition acquisition module is connected to the in-vehicle navigation device to obtain the current road traffic flow and driving route, and the output end is connected to the central control module; the vehicle speed detection module is used to obtain the current vehicle speed in real time; the steering wheel speed detection module is used to obtain the steering wheel speed in real time. The size adjustment drive module is used to drive the rotation of the 9-point size adjustment structure and / or the 3-point size adjustment structure; the extension drive module is used to drive the extension to extend and retract, and the default state of the extension is that it is fully retracted into the gripping part. The control method is characterized by the following specific steps: S1: The vehicle's driving route is obtained through the road condition acquisition module. Based on the theoretical steering wheel deflection angle of the vehicle on the driving route, the driving route is divided into small-angle turning segments and large-angle turning segments. The central control module determines the current road segment of the vehicle. When the vehicle is in the small-angle turning segment, the control size adjustment drive module and the extension drive module are both in standby mode, and the process proceeds to step S2. When the vehicle is in the large-angle turning segment, the control extension drive module is activated to drive all extensions to extend, and the process proceeds to step S3. When the vehicle leaves the large-angle turning segment, the control extension drive module is activated to drive the extensions to retract, and the control extension drive module is then activated to enter standby mode, and the process proceeds to step S2. S2: Obtain the current vehicle speed through the vehicle speed detection module. If the vehicle speed is in the low speed range, activate the road condition acquisition module to obtain the current road traffic flow. If the traffic flow is large, control the extension drive module to activate the extension covering the 6 o'clock position. If the vehicle speed is in the medium speed range, determine whether the current vehicle's acceleration or deceleration exceeds the preset threshold range. If it exceeds the preset threshold range, control the 3-point size adjustment structure to rotate towards the driver. If the vehicle speed is in the high speed range, control both the 9-point size adjustment structure and the 3-point size adjustment structure to rotate away from the driver. S3: Determines the direction of steering wheel turn. If it is a left turn, control the 3-point size adjustment mechanism to rotate towards the driver. If it is a right turn, control the 9-point size adjustment mechanism to rotate towards the driver.

2. The automatic steering control method for a pure electric vehicle according to claim 1, wherein Step S2 further includes obtaining the steering wheel speed through the steering wheel speed detection module. If the steering wheel speed exceeds a preset threshold, the size adjustment drive module is locked, and the extension drive module is opened to drive all extensions to extend.

3. The automatic steering control method for a pure electric vehicle according to claim 1, wherein The small-angle steering segment corresponds to a steering wheel deflection angle θ range of -90°≤θ≤90°; the large-angle steering segment corresponds to a steering wheel deflection angle θ range of θ<-90° or θ>90°.

4. The automatic steering control method for a pure electric vehicle according to claim 1, characterized in that, The range of vehicle speed v in the low-speed segment is v≤30km / h, the range of vehicle speed v in the medium-speed segment is 30km / h<v≤80km / h, and the range of vehicle speed v in the high-speed segment is v>80km / h.

5. An automatic steering control method for a pure electric vehicle according to any one of claims 1-3, characterized in that, Using the plane where the central part is located as the reference plane, the 9-point size adjustment structure and the 3-point size adjustment structure can adjust the grip to rotate from the reference plane toward the instrument panel.

6. The automatic steering control method for a pure electric vehicle according to claim 5, characterized in that, When the vehicle speed is not zero, the central controller prevents the 9-point and 3-point size adjustment structures from adjusting the grip to the area between the reference plane and the instrument panel. When the vehicle speed is zero, the central controller drives the 9-point and 3-point size adjustment structures to rotate towards the instrument panel until they are located in the area between the reference plane and the instrument panel.

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