An intelligent steer-by-wire system

Abstract

The application discloses an intelligent driving-by-wire steering system, and relates to the technical field of intelligent driving steering systems, and solves the technical problem of misjudgment caused by the installation gap between a steering wheel and a steering column, and comprises the following steps: a system monitors the steering wheel torque through a torque sensor on the steering column, and actual torque data is analyzed by a processor using a two-stage counting mechanism to ensure that the system responds only when the driver actually controls the steering wheel; in the automatic mode, the system judges the actual torque data according to preset parameters, and confirms the steering behavior through counting; if the actual torque data is abnormal, the system enters an error state. The application improves the stability of the system and the recognition accuracy of the driver's steering intention, and ensures the safety and responsiveness in the intelligent driving mode.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of intelligent driving steering systems, and specifically relates to an intelligent driving steer-by-wire steering system. BACKGROUND

[0002] Intelligent driving technology is an important development direction of the automobile industry, which can complete most driving tasks autonomously. Human factors often cause traffic accidents in traditional driving, while intelligent driving systems can generate high-precision three-dimensional maps and provide accurate distance information to avoid collision risks by virtue of advanced sensor technology such as laser radar, and are not affected by fatigue and emotions, can maintain concentration and stable decision-making ability, and reduce the probability of accidents. When there is traffic congestion, intelligent driving vehicles can realize cooperative driving through vehicle networking and communication with other vehicles and infrastructure, share road condition information to optimize routes and improve traffic flow, and can also accurately control acceleration, deceleration and steering to improve driving stability and fuel economy. Long-distance driving can allow the driver to relax and rest, reduce fatigue, and improve comfort and efficiency.

[0003] After the automatic driving vehicle enters the automatic driving state, the steer-by-wire steering usually continues to maintain the automatic control mode. When the whole vehicle needs to be taken over by the driver, the driver will generally take over the vehicle by braking or turning the steering wheel. If the driver cannot accurately and effectively identify whether the driver has operated the steering wheel, it is likely that the driver cannot smoothly take over the vehicle. At the same time, since there is an installation gap between the steering wheel and the steering column, and the steering wheel and the steering mechanism of the steer-by-wire steering are not mechanically decoupled, in the automatic mode, the steering wheel will rotate with the command, thereby generating a rotational inertia. This inertia is transmitted to the torque sensor, forming a torque value, which may incorrectly determine that the driver has operated the steering wheel, causing the whole vehicle to unexpectedly exit the automatic driving mode. SUMMARY

[0004] The present application aims to at least solve one of the technical problems existing in the prior art; for this purpose, the present application provides an intelligent driving steer-by-wire steering system for solving the technical problem of misjudgment caused by the installation gap between the steering wheel and the steering column.

[0005] To achieve the above-mentioned purpose, the present application provides an intelligent driving steer-by-wire steering system, comprising:

[0006] S1, the torque sensor collects the torque signal of the steering column, judges whether the collected torque signal is normal, if yes, the torque signal is transmitted to the system for data processing to obtain actual torque data, and the processor and the steer-by-wire steering keep synchronous information interaction, and the processor enters a logic state; if not, the processor enters an error state;

[0007] S2, the processor enters the logic calculation state, judges whether the current mode of the steer-by-wire is the automatic mode, if yes, the processor reads the parameter value set successfully from the storage device, starts to calculate the torque signal and outputs whether the driver operates the steering wheel, if no, the processor waits for the steer-by-wire state until entering the automatic driving mode or powering off.

[0008] It should be noted that the steer-by-wire has a clear control mode, including but not limited to the manual mode and the automatic mode; the manual mode: steering control by manually operating the steering wheel; the automatic mode: receiving external instructions without manual operation for steering control.

[0009] In the application, the processor processes the torque signal and designs two-stage torque counting and judgment mechanism, when the counting reaches a certain value, it is determined that the driver has operated the steering wheel, which avoids the wrong judgment caused by the instantaneous fluctuation of the torque signal or misjudgment; the mode of the steer-by-wire is judged, which can ensure that the system can reasonably cope with the operation of the driver and the operation demand of the system in various operation modes.

[0010] Preferably, the processor reads the parameter value set successfully from the storage device, including:

[0011] Target torque value: first-stage torque target and second-stage torque target;

[0012] Counting target: first-stage torque counting target and second-stage torque counting target;

[0013] Counting time: counting time target.

[0014] Preferably, the processor reads the parameter value set successfully from the storage device, including:

[0015] S21, the processor compares the actual torque data with the first-stage torque target, when the actual torque data is greater than the first-stage torque target, the processor starts to accumulate the first-stage torque counting, when the actual torque data is less than the first-stage torque target, the processor continues to wait;

[0016] S22, after the first-stage torque counting is accumulated, the processor compares the first-stage torque counting with the first-stage torque counting target, when the first-stage torque counting is greater than the first-stage torque counting target, the processor compares the actual torque data with the first-stage torque target and the second-stage torque target respectively, when the first-stage torque counting is less than the first-stage torque counting target, returns to S21;

[0017] S23, when the actual torque data is greater than the first level torque target and the second level torque target simultaneously, the processor starts to accumulate the second level torque count; when the actual torque data is less than the second level torque target or when the actual torque data is less than the first level torque target or when the actual torque data is less than the second level torque target and the first level torque target simultaneously, the second level torque count starts to decrease;

[0018] S24, after the second level torque count is accumulated, the processor compares the second level torque count with the second level torque count target, when the second level torque count is greater than the second level torque count target, the processor confirms that the driver has manipulated the steering wheel, and sends the information to the steer-by-wire, the steer-by-wire processes accordingly; after the processor logic calculation and processing, the processor waits for the steer-by-wire state again until entering the automatic driving mode or powering off; when the second level torque count is less than the second level torque count target, return to S23.

[0019] Preferably, the second level torque count starts to decrease, comprising:

[0020] When the second level torque count is equal to 0, the processor compares the actual torque data with the first level torque target; when the second level torque count is not equal to 0, the second level torque count continues to decrease.

[0021] Preferably, the processor compares the actual torque data with the first level torque target, comprising:

[0022] When the actual torque data is greater than the first level torque target, start timing waiting; when the actual torque data is less than or equal to the first level torque target, the first level torque count starts to decrease.

[0023] Preferably, the first level torque count starts to decrease, comprising:

[0024] When the first level torque count is equal to 0, return to S21; when the first level torque count is not equal to 0, the first level torque count continues to decrease.

[0025] Preferably, the start timing waiting comprises:

[0026] When the timing is greater than the count time target, the processor determines that the actual torque data is abnormal, and enters an error state; when the timing is less than or equal to the count time target, continue timing waiting.

[0027] Compared with the prior art, the present application has the beneficial effects that:

[0028] (1) The present application effectively monitors the torque value of the steering wheel by installing a torque sensor on the steering column and generates a torque signal. The torque signal is processed, and by designing two level torque counts and a judgment mechanism, it is intelligently judged whether the driver has really manipulated the steering wheel, thereby avoiding misjudgment.

[0029] (2) The system can intelligently respond according to the steering-by-wire mode (manual or automatic) to ensure accurate recognition of the driver's control intention in different modes. When the driver operates the steering wheel and the torque count reaches the preset value, the system confirms the control and makes corresponding processing, which improves the accuracy and safety of the car steering system. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the control flow of the present invention. Detailed Implementation

[0032] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Please see Figure 1 This invention provides an intelligent driving steer-by-wire system, comprising:

[0034] S1. The torque sensor collects the torque signal from the steering column and determines whether the collected torque signal is normal. If it is, the torque signal is transmitted to the system for data processing to obtain the actual torque data. At the same time, the processor maintains synchronous information exchange with the steer-by-wire and the processor enters the logic state. If not, the processor enters the error state.

[0035] The torque sensor monitors the torque signal in real time and transmits the torque signal to the system in real time via data cable or wireless transmission.

[0036] S2. After the processor enters the logic calculation state, it determines whether the current mode of the steer-by-wire is automatic mode. If yes, the processor reads the successfully set parameter values ​​from the storage device, starts calculating the torque signal, and outputs whether the driver operates the steering wheel. If no, the processor waits for the steer-by-wire state until it enters the automatic driving mode or the power is off.

[0037] The steer-by-wire system has two control modes: manual mode and automatic mode.

[0038] Manual mode: The driver manually operates the steering wheel to control the steering.

[0039] Automatic mode: receiving external instructions, no manual operation is required for steering control, external instructions come from pre-control or other component instructions, usually CAN information.

[0040] The processor has the ability to process torque sensor data, information reception and transmission, logical calculation and data storage.

[0041] The processor reads the parameter value set successfully from the storage device, including:

[0042] Target torque value: primary torque target and secondary torque target;

[0043] Count target: primary torque count target and secondary torque count target;

[0044] Count time: count time target.

[0045] Start calculating torque signal and output whether the driver operates the steering wheel, including:

[0046] S21, the processor compares the actual torque data with the primary torque target, when the actual torque data is greater than the primary torque target, the processor starts to accumulate the primary torque count; when the actual torque data is less than the primary torque target, the processor continues to wait;

[0047] S22, after the primary torque count is accumulated, the processor compares the primary torque count with the primary torque count target, when the primary torque count is greater than the primary torque count target, the processor compares the actual torque data with the primary torque target and the secondary torque target respectively; when the primary torque count is less than the primary torque count target, return to S21;

[0048] S23, when the actual torque data is greater than the primary torque target and the secondary torque target at the same time, the processor starts to accumulate the secondary torque count; when the actual torque data is less than the secondary torque target or when the actual torque data is less than the primary torque target or when the actual torque data is less than the secondary torque target and the primary torque target at the same time, the secondary torque count starts to decrease;

[0049] S24, after the secondary torque count is accumulated, the processor compares the secondary torque count with the secondary torque count target, when the secondary torque count is greater than the secondary torque count target, the processor confirms that the driver has operated the steering wheel, and sends this information to the steer-by-wire, which processes accordingly; after the processor logic calculation processing, it waits for the steer-by-wire state again until it enters the automatic driving mode or powers off; when the secondary torque count is less than the secondary torque count target, return to S23.

[0050] The secondary torque count starts to decrease, including:

[0051] When the secondary torque count is equal to 0, the processor compares the actual torque data with the primary torque target; when the secondary torque count is not equal to 0, the secondary torque count continues to decrease.

[0052] The processor compares the actual torque data with the primary torque target, comprising:

[0053] When the actual torque data is greater than the primary torque target, start timing waiting; when the actual torque data is less than or equal to the primary torque target, the primary torque count starts to decrease.

[0054] The primary torque count starts to decrease, comprising:

[0055] When the primary torque count is equal to 0, return to S21; when the primary torque count is not equal to 0, the primary torque count continues to decrease.

[0056] Start timing waiting, comprising:

[0057] When the timing is greater than the count time target, the processor determines that the actual torque data is abnormal, and enters an error state; when the timing is less than or equal to the count time target, continue timing waiting.

[0058] When the driver drives an automatic driving car, the driver decides to manually take over the steering wheel during driving. The torque sensor of the car captures the driver's rotation of the steering wheel, and when the actual torque data reaches 2.0Nm, which exceeds the preset primary torque target 1.5Nm, the processor starts to accumulate the primary torque count. As the driver continues to operate, the primary torque count accumulates to the preset 5 times. At this time, the processor compares the actual torque data with the secondary torque target 2.5Nm, and when the torque value reaches 3.0Nm, which exceeds the secondary torque target, the secondary torque count starts to accumulate. Under the continuous operation of the driver, the secondary torque count accumulates to 3 times, which meets the secondary torque count target. The processor confirms that the driver has operated the steering wheel, and sends this information to the steer-by-wire system, triggering the system to switch from automatic mode to manual mode, allowing the driver to take over the steering control, and the whole process ensures that the car can safely and accurately respond to the operation intention of the driver.

[0059] The working principle of the present application: the system uses the torque sensor installed on the steering column to monitor the torque value of the steering wheel. The processor processes the actual torque data through a two-level torque count and judgment mechanism to accurately determine whether the driver has operated the steering wheel. The system first checks whether the torque signal is normal, and then in the automatic mode, according to the preset torque target and count target, the torque count is accumulated or decreased by comparing the actual torque data. When the secondary torque count reaches the preset value, the system confirms that the driver has operated the steering wheel, and notifies the steer-by-wire system to make corresponding adjustments. If the torque data is abnormal during timing, the system will enter an error state.

[0060] The above examples are only used to illustrate the technical method of the present application but not to limit the present application. Although the present application is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present application can be modified or equivalently replaced without departing from the spirit and scope of the technical method of the present application.

Claims

1. A method of controlling a steer-by-wire steering system, the method comprising: The method comprises the following steps: S1, the torque sensor collects the torque signal of the steering column, judges whether the collected torque signal is normal, if yes, the torque signal is transmitted to the system for data processing to obtain actual torque data, the processor and the drive-by-wire steering keep synchronous information interaction, and the processor enters a logic state; if no, the processor enters an error state; S2, after the processor enters the logic calculation state, it is judged whether the current mode of the drive-by-wire steering is the automatic mode, if yes, the processor reads the successfully set parameter value from the storage device, starts to calculate the torque signal and outputs whether the driver operates the steering wheel; if no, the processor waits for the drive-by-wire state until the automatic driving mode is entered or the power is turned off; The processor reads the successfully set parameter value from the storage device, which comprises: Target torque value: primary torque target and secondary torque target; Count target: primary torque count target and secondary torque count target; Count time: count time target; The processor starts to calculate the torque signal and outputs whether the driver operates the steering wheel, which comprises: S21, the processor compares the actual torque data with the primary torque target, when the actual torque data is greater than the primary torque target, the processor starts to accumulate the primary torque count; when the actual torque data is less than the primary torque target, the processor continues to wait; S22, after the primary torque count is accumulated, the processor compares the primary torque count with the primary torque count target, when the primary torque count is greater than the primary torque count target, the processor compares the actual torque data with the primary torque target and the secondary torque target respectively; when the primary torque count is less than the primary torque count target, it returns to S21; S23, when the actual torque data is greater than the primary torque target and the secondary torque target at the same time, the processor starts to accumulate the secondary torque count; when the actual torque data is less than the secondary torque target or when the actual torque data is less than the primary torque target or when the actual torque data is less than the secondary torque target and the primary torque target at the same time, the secondary torque count starts to decrease; S24, after the secondary torque count is accumulated, the processor compares the secondary torque count with the secondary torque count target, when the secondary torque count is greater than the secondary torque count target, the processor confirms that the driver has operated the steering wheel and sends the information to the drive-by-wire steering, the drive-by-wire steering processes accordingly; after the processor logic calculation processing, it waits for the drive-by-wire state again until the automatic driving mode is entered or the power is turned off; when the secondary torque count is less than the secondary torque count target, it returns to S23. The secondary torque count starts to decrease, which comprises:

2. The control method according to claim 1, wherein When the secondary torque count is equal to 0, the processor compares the actual torque data with the primary torque target; when the secondary torque count is not equal to 0, the secondary torque count continues to decrease. The processor compares the actual torque data with the primary torque target, which comprises:

3. The control method according to claim 2, wherein When the actual torque data is greater than the primary torque target, it starts to wait; when the actual torque data is less than or equal to the primary torque target, the primary torque count starts to decrease. The primary torque count starts to decrease, which comprises:

4. The control method according to claim 3, wherein When the primary torque count is equal to 0, it returns to S21; when the primary torque count is not equal to 0, the primary torque count continues to decrease. ​ 5. The control method according to claim 3, wherein The start timing waiting includes: When the timing is greater than the count time target, the processor determines that the actual torque data is abnormal, and enters an error state; when the timing is less than or equal to the count time target, the timing waiting is continued.

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