A self-adapting adjustable road feel steering transmission system and method

Abstract

The application discloses a kind of self-adapting adjustable road feeling's steering transmission system and method in the technical field of automobile, is executed by intelligent navigation system, comprising: receiving the road feeling mode type signal selected by user through human-computer interaction device;Based on the road feeling mode type signal, control signal is sent to steering intermediate shaft damper ECU, the steering intermediate shaft damper ECU adjusts the damping coefficient of steering intermediate shaft damper based on control signal, to switch to the road feeling intensity corresponding to the road feeling mode type;Through human-computer interaction device, feedback road feeling mode switching has been completed to user.The application obtains different road feeling modes by adjusting the damping coefficient of steering intermediate shaft damper on transmission path by identifying different road conditions and receiving different road feeling mode signals, with the advantages of simple structure, improving the comfort experience of driving and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to a self-adaptive adjustable road feeling steering transmission system and method, belonging to the technical field of automobiles. BACKGROUND

[0002] The automobile steering system is a series of devices used to change or maintain the direction of the automobile driving or reversing, and its function is to control the driving direction of the automobile according to the will of the driver. The automobile steering system is crucial to the driving safety of the automobile, and therefore the parts of the automobile steering system are all called safety parts.

[0003] The current traditional steering system connects the steering wheel and the steering machine to the steering wheel through the steering intermediate transmission shaft, which can transmit the road conditions to the driver through the steering transmission device, ensuring the driver's perception of the road conditions. In the design and development of the whole vehicle, using the traditional steering transmission device, after the selection of the tire and the structure form of the suspension are fixed, the road feeling level of the vehicle is also fixed, and the clarity and fuzziness of the road feeling cannot match the comfort, standard, sports mode of the whole vehicle and the corresponding adjustment according to different road conditions. SUMMARY

[0004] The purpose of the present application is to overcome the deficiencies in the prior art, and to provide a self-adaptive adjustable road feeling steering transmission system and method, which can adjust the damping value in the steering intermediate transmission device to match the different road feeling modes of the whole vehicle in the comfort, standard, sports mode and various different road conditions, and provide diversified driving experience for users.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0006] In a first aspect, the present application provides a self-adaptive adjustable road feeling steering transmission method, which is executed by an intelligent navigation system, and includes:

[0007] Receiving a road feeling mode type signal selected by a user through a human-computer interaction device;

[0008] Based on the road feeling mode type signal, a control signal is sent to the steering intermediate shaft damper ECU, and the steering intermediate shaft damper ECU adjusts the damping coefficient of the steering intermediate shaft damper based on the control signal to switch to the road feeling intensity corresponding to the road feeling mode type;

[0009] Through the human-computer interaction device, the user is fed back that the road feeling mode switching has been completed.

[0010] Further, the damping coefficient is obtained by threshold setting of a control algorithm after the steering intermediate shaft damper ECU analyzes the received sensor signals and the calibration parameters under different road conditions, the sensor signals including vehicle speed signal, front wheel steering angle signal, yaw rate signal, lateral / longitudinal acceleration signal, motor output torque signal and road condition signal.

[0011] Further, the calculation expression of the road feel intensity is:

[0012] E=k1ΔT h / ΔT W =k1dT h / dT W

[0013] In the formula, E is the road feel intensity, k1 is the damping coefficient, T is the steering torque, and T is the steering load. h W

[0014] Further, the road feel mode type includes a comfortable road feel mode, a standard road feel mode, a sporty road feel mode and an adaptive road feel mode.

[0015] Further, the steering intermediate shaft damper ECU:

[0016] in response to the road feel mode type being the comfortable road feel mode, the standard road feel mode or the sporty road feel mode, directly adjusting the damping coefficient of the steering intermediate shaft damper to a preset value corresponding to the road feel mode type;

[0017] in response to the road feel mode type being the adaptive road feel mode, identifying and adjusting to the corresponding damping coefficient through image recognition technology for various different road conditions, the road conditions including ordinary cement pavement, stone pavement, cobblestone road and grating road.

[0018] Further, the road feel intensity preset value range of the comfortable road feel mode is 0.2-0.4, the road feel intensity preset value range of the standard road feel mode is 0.4-0.6, the road feel intensity preset value range of the sporty road feel mode is 0.6-0.8, and the road feel intensity preset value range of the adaptive road feel mode is 0.2-0.8.

[0019] Further, the intelligent navigation system switches the road feel mode after receiving multiple valid signals, and maintains the current actual state of the road feel mode when an abnormal state occurs.

[0020] In a second aspect, the application provides a steering transmission system with adaptive adjustable road feel, comprising:

[0021] a signal receiving module for receiving a road feel mode type signal selected by a user through a human-computer interaction device;​​

[0022] a signal processing module configured to send a control signal to a steering intermediate shaft damper ECU based on the road feel mode type signal, the steering intermediate shaft damper ECU being configured to adjust a damping coefficient of the steering intermediate shaft damper based on the control signal to switch to a road feel intensity corresponding to the road feel mode type;

[0023] a signal feedback module configured to feed back to a user through a human-computer interaction device that the road feel mode switching has been completed.

[0024] In a third aspect, the present application provides a steering transmission device with self-adaptive adjustable road feel, comprising a processor and a storage medium.

[0025] The storage medium is configured to store instructions.

[0026] The processor is configured to operate according to the instructions to perform the steps of the method according to any one of the above aspects.

[0027] In a fourth aspect, the present application provides a computer-readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the steps of the method according to any one of the above aspects.

[0028] Compared with the prior art, the present application has the following beneficial effects:

[0029] Firstly, in the present application, after the system receives a road feel mode type signal selected by a user through a human-computer interaction device, a control signal is sent to a steering intermediate shaft damper ECU to adjust a damping coefficient of the steering intermediate shaft damper to switch to a road feel intensity corresponding to the road feel mode type, thereby realizing corresponding road feel mode switching according to different road conditions, and the clarity and fuzziness of the road feel being more matched with the driving mode of the whole vehicle.

[0030] Secondly, in the present application, data from sensors, including vehicle speed, front wheel steering angle, yaw rate, lateral / longitudinal acceleration, motor output torque, etc., are analyzed, and various different road conditions, such as ordinary cement road, stone road, cobblestone road, and rubbing plate road, are calibrated, and calibration parameters for different road conditions and under different vehicle speeds, front wheel steering angles, yaw rates, lateral / longitudinal acceleration conditions are obtained, and then a damping coefficient of a damper is adjusted according to a preset control algorithm, and when the self-adaptive road feel adjustment is turned on, different road feel modes are output according to different road conditions.

[0031] Thirdly, the present application can realize three different road feeling mode selection of "comfort, standard and sports" by calibrating the damping coefficient of the three manually selectable road feeling modes of comfort, standard and sports, so as to provide diversified driving experience for users; in addition, when the adaptive road feeling adjustment is turned on, the steering intermediate shaft damper ECU can automatically output different road feeling modes according to different road conditions, so as to avoid the trouble of manually selecting the road feeling mode multiple times by the driver in the case of complex road conditions, and the road feeling mode switching is more convenient.

[0032] Fourthly, the intelligent navigation system of the present application switches the road feeling mode after receiving multiple effective signals, so as to avoid the error switching of the road feeling mode caused by accidental signals, and the system keeps the current actual state of the road feeling mode in the case of abnormal state, so as to ensure the stability of the road feeling mode in the actual driving process. BRIEF DESCRIPTION OF DRAWINGS

[0033] The accompanying drawings, which form a part of this description, are included to provide further understanding of the application, and are incorporated in and constitute a part of this application. The illustrative embodiments of the application and their description serve to explain the application. They do not, however, limit the present application's scope, nor do they represent that the present application will necessarily achieve undesired results in all circumstances. In the drawings:

[0034] Figure 1 A hardware interaction schematic diagram of the adaptive adjustable road feeling steering transmission method provided for the first embodiment of the present application;

[0035] Figure 2 A control algorithm threshold setting flowchart of the adaptive adjustable road feeling steering transmission method provided for the first embodiment of the present application;

[0036] Figure 3 A road feeling mode switching logic flowchart of the adaptive adjustable road feeling steering transmission method provided for the first embodiment of the present application. DETAILED DESCRIPTION

[0037] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0038] The following detailed description is exemplary and is intended to provide further explanation of the present application. Unless otherwise defined, all technical terms used in the present application have the same meanings as those generally understood by those skilled in the art. The terms used in the present application are only used to describe the specific embodiments, and are not intended to limit the exemplary embodiments according to the present application.

[0039] Embodiment one:

[0040] The embodiment proposes a steering transmission method with self-adaptive adjustable road feeling, which is divided into three aspects of CAN signal receiving, control algorithm threshold setting and man-machine information interaction.

[0041] I. CAN signal receiving

[0042] Please refer to Figure 1 and Figure 3 , the steering intermediate shaft damper ECU receives data from sensors (EMS engine management system, ESC electronic stability control system, MCU motor control unit, FCM front collision prevention auxiliary braking system), including vehicle speed provided by EMS, front wheel angle, yaw rate and lateral / longitudinal acceleration provided by ESC, motor output torque provided by MCU and road conditions related signals provided by FCM;

[0043] II. Control algorithm threshold setting

[0044] Please refer to Figure 2 , the steering intermediate shaft damper ECU analyzes the received related signals and the calibration parameters under different road conditions, sets the damping coefficient through the control algorithm threshold, and matches the road feeling mode under different road conditions and different driving modes;

[0045] According to the road feeling intensity E defined as the relative change of steering load when the steering load increases by a unit value:

[0046] E=k1ΔT h / ΔT W =k1dT h / dT W

[0047] In the formula: k1 represents the influence of friction resistance on road feeling, i.e. damping coefficient; T h is the steering torque; T W is the steering load. The specific setting steps and methods are as follows:

[0048] ① The road feeling intensity E c of the comfortable road feeling mode is pre-set as (0.2-0.4); the road feeling intensity E n of the standard road feeling mode is pre-set as (0.4-0.6); the road feeling intensity E s of the sporty road feeling mode is pre-set as (0.6-0.8); the above threshold values can be further calibrated according to the performance requirements of the actual vehicle, and the road feeling intensity E a of the self-adaptive road feeling mode is pre-set as (0.2-0.8), which is adjusted to the corresponding road feeling intensity through image recognition technology for ordinary cement road, stone road, cobblestone road, and rubbing plate road, etc.

[0049] ii. According to different road feeling intensity values correspond to different damping coefficient values (adjust through steering intermediate shaft damper ECU), respectively corresponding to the comfortable road feeling mode damping coefficient k c , the standard road feeling mode damping coefficient k n , the sporty road feeling mode damping coefficient k s , the adaptive road feeling mode damping coefficient K a (adaptive matching of a variety of different road surfaces).

[0050] III. Man-machine information interaction

[0051] The user selects the "comfort, standard, sporty, adaptive" four road feeling modes through the instrument soft switch.

[0052] The intelligent navigation system ICC switches the corresponding road feeling mode of comfort, standard, sporty, and adaptive after receiving 3 valid signals.

[0053] When the intelligent navigation system ICC is in an abnormal state and cannot switch the road feeling mode, the current actual state of the road feeling mode is maintained.

[0054] Embodiment two:

[0055] An adaptive adjustable road feeling steering transmission system can realize the adaptive adjustable road feeling steering transmission method of embodiment one, comprising:

[0056] The signal receiving module is used to receive the road feeling mode type signal selected by the user through the man-machine interaction device;

[0057] The signal processing module is used to send a control signal to the steering intermediate shaft damper ECU based on the road feeling mode type signal, and the steering intermediate shaft damper ECU adjusts the damping coefficient of the steering intermediate shaft damper based on the control signal to switch to the road feeling intensity corresponding to the road feeling mode type;

[0058] The signal feedback module is used to feed back to the user through the man-machine interaction device that the road feeling mode switching has been completed.

[0059] Embodiment three:

[0060] The embodiment of the application further provides an adaptive adjustable road feeling steering transmission device, which can realize the adaptive adjustable road feeling steering transmission method of embodiment one, comprising a processor and a storage medium;

[0061] The storage medium is used to store instructions;

[0062] The processor is used to operate according to the instructions to perform the steps of the following method:

[0063] Receive the road feeling mode type signal selected by the user through the man-machine interaction device;

[0064] based on the road feeling mode type signal, a control signal is sent to a steering intermediate shaft damper ECU, the steering intermediate shaft damper ECU adjusts the damping coefficient of the steering intermediate shaft damper based on the control signal to switch to a road feeling intensity corresponding to the road feeling mode type;

[0065] the user through the man-machine interaction device is fed back that the road feeling mode switching has been completed.

[0066] Embodiment four:

[0067] The embodiment of the application further provides a computer readable storage medium, which can realize the adaptive adjustable road feeling steering transmission method in the embodiment one, and has a computer program stored thereon, the program is executed by a processor to realize the steps of the method.

[0068] a road feeling mode type signal selected by the user through the man-machine interaction device is received;

[0069] based on the road feeling mode type signal, a control signal is sent to a steering intermediate shaft damper ECU, the steering intermediate shaft damper ECU adjusts the damping coefficient of the steering intermediate shaft damper based on the control signal to switch to a road feeling intensity corresponding to the road feeling mode type;

[0070] the user through the man-machine interaction device is fed back that the road feeling mode switching has been completed.

[0071] It is to be understood by those skilled in the art that the present application can be implemented by other embodiments without departing from the spirit or essential characteristics thereof. Therefore, the above disclosed embodiments are merely illustrative in all aspects and are not the only ones. All changes within the scope of the present application or within the equivalent scope of the present application are intended to be included in the present application.

[0072] It should be apparent to those skilled in the art that embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage etc.) containing computer usable program code.

[0073] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0074] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0075] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0076] Finally, it should be noted that the above-mentioned embodiments are merely used to illustrate the technical solutions of the present application, but are not intended to limit the present application. Although the present application has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that the specific embodiments of the present application can be modified or replaced, and any modification or replacement without departing from the spirit and scope of the present application should be covered within the scope of the claims of the present application.

Claims

1. A self-adapting steering transmission method with adjustable road feel, characterized in that, The method comprises the following steps: receiving a signal of a road feeling mode type selected by a user through a human-computer interaction device; sending a control signal to a steering intermediate shaft damper ECU based on the signal of the road feeling mode type, the steering intermediate shaft damper ECU adjusting a damping coefficient of a steering intermediate shaft damper based on the control signal to switch to a road feeling intensity corresponding to the road feeling mode type; feeding back to the user through the human-computer interaction device that the road feeling mode switching has been completed; the damping coefficient is obtained by a control algorithm threshold setting after the steering intermediate shaft damper ECU analyzes received sensor signals and calibration parameters under different road conditions, the sensor signals including a vehicle speed signal, a front wheel steering angle signal, a yaw rate signal, a lateral / longitudinal acceleration signal, a motor output torque signal, and a road condition signal; the road feeling mode type includes a comfortable road feeling mode, a standard road feeling mode, a sporty road feeling mode, and an adaptive road feeling mode; the steering intermediate shaft damper ECU: in response to the road feeling mode type being the comfortable road feeling mode, the standard road feeling mode, or the sporty road feeling mode, directly adjusting the damping coefficient of the steering intermediate shaft damper to a preset value corresponding to the road feeling mode type; in response to the road feeling mode type being the adaptive road feeling mode, identifying and adjusting to a corresponding damping coefficient through image recognition technology for various different road conditions, the road conditions including ordinary cement pavement, stone pavement, cobblestone pavement, and grating pavement.

2. The self-adapting adjustable road feel steering transmission method according to claim 1, characterized in that, the calculation expression of the road feeling intensity is: E = k1ΔT ｈ E = k1ΔT Ｗ E = k1ΔT ｈ E = k1ΔT Ｗ wherein: E is the road feel strength, k1 is the damping coefficient; T ｈ is the steering torque; T Ｗ is the steering load.

3. The self-adapting adjustable road feel steering transmission method according to claim 1, characterized in that, the road feeling intensity preset value range of the comfortable road feeling mode is 0.2-0.4, the road feeling intensity preset value range of the standard road feeling mode is 0.4-0.6, the road feeling intensity preset value range of the sporty road feeling mode is 0.6-0.8, and the road feeling intensity preset value range of the adaptive road feeling mode is 0.2-0.

8.

4. A self-adapting adjustable road feel steering transmission system, characterized in that, The steps for implementing the adaptive adjustable road feeling steering transmission method according to any one of claims 1-3 comprise: a signal receiving module for receiving a signal of a road feeling mode type selected by a user through a human-computer interaction device; a signal processing module for sending a control signal to a steering intermediate shaft damper ECU based on the signal of the road feeling mode type, the steering intermediate shaft damper ECU adjusting a damping coefficient of a steering intermediate shaft damper based on the control signal to switch to a road feeling intensity corresponding to the road feeling mode type; a signal feedback module for feeding back to the user through the human-computer interaction device that the road feeling mode switching has been completed.

5. A self-adapting adjustable road feel steering transmission apparatus, characterized by, a processor and a storage medium; the storage medium is used to store instructions; the processor is used to operate according to the instructions to perform the steps of the method according to any one of claims 1-3.

6. A computer readable storage medium having stored thereon a computer program, characterized in that The program is executed by the processor to implement the steps of the method according to any one of claims 1-3.

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