Design method for controlling deviation performance of commercial vehicle, vehicle and storage medium

Abstract

The invention relates to the technical field of vehicle performance design, and discloses a design method for controlling the deviation performance of a commercial vehicle, the vehicle and a storage medium, and the design method for controlling the deviation performance of the commercial vehicle comprises the steps that a preset steering wheel torque threshold value is obtained; detecting a torque value borne by a steering wheel when the vehicle walks along a straight line, and recording the torque value as a first offset torque value; whether the first offset torque value is larger than a steering wheel torque threshold value or not is judged; and when the first offset torque value is larger than or equal to the steering wheel torque threshold value, a steering system of the vehicle is controlled and adjusted, and the first offset torque value is made to be smaller than the steering wheel torque threshold value. According to judgment of the first deviation torque value, whether the vehicle deviates or not can be monitored more visually and timely when the deviation performance design of the commercial vehicle is controlled, the efficiency of obtaining the data state of the vehicle is improved, the deviation performance of the vehicle is rapidly and effectively controlled by controlling and adjusting the steering system of the vehicle, and the service life of the vehicle is prolonged. And the efficiency of designing the deviation control performance of the commercial vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle performance design, and in particular to a design method for controlling the deviation performance of a commercial vehicle, a vehicle and a storage medium. Background Art

[0002] The current automobile industry is developing rapidly, and the user's driving experience has been greatly improved compared with the past. The full-time drivers of traditional small commercial vehicles do not have high requirements for the vehicle's ability to go straight. However, with the gradual development of urban cargo transportation, the user's usage requirements are gradually increasing due to the expansion of small commercial vehicle usage scenarios, and the previously relatively loose small commercial vehicle deviation judgment indicators are also gradually increasing. The current design of commercial vehicle deviation performance is mainly based on fault mode analysis and fault impact analysis, which cannot accurately locate the real cause of deviation and monitor key data such as whether the commercial vehicle is deviating. Commercial vehicles are larger in size and more complex in structure than passenger vehicles. Failure to accurately adjust the structure that affects the deviation performance of commercial vehicles will increase the cycle required for vehicle development, significantly increase costs, and reduce vehicle performance due to unnecessary expenses and modifications during development. Therefore, a design method that more effectively controls the deviation performance of commercial vehicles is urgently needed. Summary of the invention

[0003] The purpose of the present invention is to provide a design method, a vehicle and a storage medium for controlling the deviation performance of a commercial vehicle, so as to solve one or more technical problems existing in the prior art and at least provide a beneficial choice or create conditions.

[0004] A design method for controlling the deviation performance of a commercial vehicle according to an embodiment of a first aspect of the present invention is applied to the vehicle, comprising: Get the preset steering wheel torque threshold; Detecting a torque value applied to the steering wheel when the vehicle is moving in a straight line, and recording the torque value as a first offset torque value; determining whether the first offset torque value is greater than the steering wheel torque threshold; When the first offset torque value is greater than or equal to the steering wheel torque threshold, the steering system of the vehicle is controlled to be adjusted so that the first offset torque value is less than the steering wheel torque threshold.

[0005] The technical solution has at least the following beneficial effects: when producing and designing commercial vehicles, at the stage where the deviation performance of the commercial vehicle needs to be controlled, the torque value of the steering wheel when the vehicle is moving in a straight line is detected. When the deviation performance of the vehicle is well controlled, the road disturbance has little effect on the steering wheel. At this time, the first offset torque value received by the steering wheel is less than the preset steering wheel torque threshold. The steering wheel torque threshold can be set to be smaller or even tend to zero according to the higher requirements for the deviation performance control of the vehicle. When the first offset torque value is greater than or equal to the steering wheel torque threshold, the steering system of the vehicle is adjusted. By adjusting the stability control of the steering system, the road disturbance received by the vehicle can be reduced, so that the first offset torque value is less than the steering wheel torque threshold, and the deviation performance control of the vehicle is improved. In this way, according to the judgment of the first offset torque value, whether the vehicle deviates can be more intuitively and timely monitored when controlling the deviation performance design of the commercial vehicle, thereby improving the efficiency of obtaining the vehicle data status, and by controlling and adjusting the vehicle steering system, the deviation performance of the vehicle can be quickly and effectively controlled, thereby improving the efficiency of the deviation performance design of the commercial vehicle.

[0006] According to some embodiments of the present invention, the controlling and adjusting the steering system of the vehicle comprises: Determining whether a tie rod in the steering system is out of tolerance; When the tie rod of the vehicle is out of tolerance, a qualified tie rod is replaced, and the toe angle of the vehicle is made to meet a preset toe angle threshold.

[0007] According to some embodiments of the present invention, the controlling and adjusting the steering system of the vehicle further comprises: After the tie rod is replaced, the torque value applied to the steering wheel when the vehicle is moving in a straight line is detected, and recorded as a second offset torque value; determining whether the second offset torque value is less than the steering wheel torque threshold; When the second offset torque value is greater than or equal to the steering wheel torque threshold, control is performed to adjust a steering gear of the vehicle and / or control is performed to adjust a tire of the vehicle.

[0008] According to some embodiments of the present invention, the controlling and adjusting the steering gear of the vehicle comprises: Controlling to reduce the steering gear drop arm length of the vehicle.

[0009] According to some embodiments of the present invention, the controlling of reducing the steering gear drop arm length of the vehicle comprises: Obtaining a preset steering system transmission ratio threshold; Obtaining a target value for reducing the length of a steering gear drop arm of the vehicle; Calculating a steering system transmission ratio of the vehicle according to the target value; Determining whether a steering system transmission ratio of the vehicle is greater than a steering system transmission ratio threshold; When the steering system transmission ratio of the vehicle is less than the steering system transmission ratio threshold, the steering gear drop arm length of the vehicle is reduced to the target value.

[0010] According to some embodiments of the present invention, the controlling of reducing the steering gear drop arm length of the vehicle further comprises: When the steering system transmission ratio of the vehicle is greater than or equal to the steering system transmission ratio threshold, the target value is reduced, and the calculation of the steering system transmission ratio of the vehicle based on the target value is repeated until the steering system transmission ratio of the vehicle is less than the steering system transmission ratio threshold.

[0011] According to some embodiments of the present invention, the controlling and adjusting the tires of the vehicle comprises: Controlling to increase a belt angle of the vehicle.

[0012] According to some embodiments of the present invention, controlling to increase a belt angle of the vehicle comprises: The belt angle of the vehicle is controlled to increase to between 22 degrees and 29 degrees.

[0013] According to some embodiments of the present invention, the controlling and adjusting the steering gear of the vehicle and / or the controlling and adjusting the tires of the vehicle include: Executing the control to reduce the length of the steering gear drop arm of the vehicle; determining whether the second offset torque value is less than the steering wheel torque threshold; When the second offset torque value is greater than or equal to the steering wheel torque threshold value, the control is performed to increase a belt angle of the vehicle.

[0014] According to some embodiments of the present invention, the controlling and adjusting the steering gear of the vehicle and / or the controlling and adjusting the tires of the vehicle further comprises: determining whether the second offset torque value is less than the steering wheel torque threshold; When the second offset torque value is greater than or equal to the steering wheel torque threshold, the controlling of reducing a steering drop arm length of the vehicle and the controlling of increasing a belt angle of the vehicle are performed.

[0015] According to some embodiments of the present invention, the controlling and adjusting the steering system of the vehicle further comprises: When the second offset torque value is less than the steering wheel torque threshold, the control adjustment of the vehicle steering system is ended.

[0016] According to some embodiments of the present invention, the controlling and adjusting the steering system of the vehicle further comprises: When the tie rod of the vehicle is within tolerance, the steering gear of the vehicle is controlled to be adjusted and / or the tire of the vehicle is controlled to be adjusted.

[0017] A vehicle according to an embodiment of the second aspect of the present invention is designed using the above-mentioned design method for controlling the deviation performance of a commercial vehicle.

[0018] This technical solution has at least the following beneficial effects: when designing a vehicle, based on the judgment of the second offset torque value, whether the vehicle is running off the track can be monitored more intuitively and timely when designing the control of the running off performance of the commercial vehicle, thereby improving the efficiency of obtaining the vehicle data status, and through the control and adjustment of the vehicle steering system, the vehicle running off performance can be quickly and effectively controlled, thereby improving the efficiency of the design of the commercial vehicle control running off performance, reducing the production debugging costs, and improving the production efficiency.

[0019] According to a computer-readable storage medium of an embodiment of the third aspect of the present invention, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the above-mentioned design method for controlling the deviation performance of a commercial vehicle.

[0020] The technical solution has at least the following beneficial effects: the above-mentioned design method for controlling the deviation performance of a commercial vehicle can be implemented as a computer program and tangibly contained in a computer-readable storage medium. When the processor uses this computer-readable storage medium to design the control of the deviation performance of a commercial vehicle, it can monitor whether the vehicle is deviating more intuitively and timely, thereby improving the efficiency of obtaining the vehicle data status, and through the control and adjustment of the vehicle steering system, it can achieve rapid and effective control of the vehicle deviation performance, thereby improving the efficiency of the design of the control performance of the commercial vehicle deviation.

[0021] A computer program product according to an embodiment of the fourth aspect of the present invention includes a computer program or computer instructions, the computer program or computer instructions are stored in a computer-readable storage medium, a processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium, and the processor executes the computer program or computer instructions, so that the computer device executes the above-mentioned design method for controlling the deviation performance of a commercial vehicle.

[0022] This technical solution has at least the following beneficial effects: this computer program product records a design method for controlling the deviation performance of a commercial vehicle. When a processor uses the computer program or computer instructions recorded by this computer program product to design a method for controlling the deviation performance of a commercial vehicle, it can monitor whether the vehicle is deviating more intuitively and timely, thereby improving the efficiency of obtaining vehicle data status, and through control and adjustment of the vehicle steering system, it can achieve rapid and effective control of the vehicle's deviation performance, thereby improving the efficiency of designing the control performance of commercial vehicles.

[0023] Additional aspects and advantages of the present invention will be described in part in the following description and will be apparent from the following description. This disclosure may be apparent or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly describes the drawings required for use in the description of the embodiments. Obviously, the drawings described are only part of the embodiments of the present invention, not all of the embodiments, and those skilled in the art can also obtain other design solutions and drawings based on these drawings without creative work.

[0025] Figure 1 It is a flow chart of the design method for controlling the deviation performance of a commercial vehicle according to the present invention.

[0026] Figure 2 The present invention is a flow chart of controlling and adjusting the steering system of a vehicle.

[0027] Figure 3 The present invention is a flow chart of controlling the reduction of the length of the steering gear drop arm of a vehicle. DETAILED DESCRIPTION

[0028] Embodiments of the present invention are described in detail below, and examples of the embodiments 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 only used to explain the present invention, and cannot be understood as limiting the present invention.

[0029] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0030] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0031] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0032] The four tires at the output end of the steering gear are driven along the center tie rod, straight tie rod, transverse tie rod, and steering rocker arm (part) through the steering knuckle. The power-assist system uses a recirculating ball steering gear or an electric recirculating ball steering gear connected to the straight tie rod. The transverse tie rod connects the steering gear and the wheel, and is connected to the steering knuckle through a ball head to achieve flexible steering operation. At the input end of the steering gear, the driver controls the steering through the steering wheel, steering column, and intermediate shaft during driving. The steering system of commercial vehicles also has a steering gear drop arm. When the commercial vehicle receives a steering command, the steering command is transmitted to the steering gear through components such as the steering shaft and universal joint. The steering gear, as the core component of the steering system, is responsible for converting the driver's steering command into the swing of the steering rocker arm or the linear motion of the rack shaft, and amplifying the steering control force. In this process, the steering gear drop arm plays a key role. It converts the movement of the steering gear into the rotation or linear motion of the wheel, so that the vehicle can steer according to the driver's wishes. In addition, the parameters that directly affect the running performance of small commercial vehicles include the uniformity of the wheelbase of the front and rear axles, the tire pressure, the toe angle, the caster angle, the steering sensitivity, the residual self-aligning torque of the tire, the tire taper force, and the tightening torque of the connection points of each part in the assembly. For single-sided tires, the centering degree of each layer has an impact on the overall running performance of the tire, which needs to be controlled through mold standardization and off-line inspection. The residual self-aligning torque is mainly determined by the width, angle and structure of the belt layer. The most likely problem is that the belt layer angle is too small, which will cause the commercial vehicle to have a significant decrease in running performance, which is different from that of passenger cars. The belt layer angle needs to be controlled in the design stage.

[0033] In this regard, a design method for controlling the deviation performance of a commercial vehicle according to the first aspect of the present invention is applied to the vehicle, referring to Figure 1 , including but not limited to the following steps: Step S100, obtaining a preset steering wheel torque threshold. According to different deviation performance control requirements for commercial vehicles, the setting of the steering wheel torque threshold is also different. When the deviation performance control requirements for commercial vehicles are high, the steering wheel torque threshold that needs to be set is small, or even tends to zero; when the deviation performance control requirements for commercial vehicles are low, the steering wheel torque threshold that needs to be set is large, so that it is easier to meet the judgment conditions later.

[0034] Step S200, detecting the torque value of the steering wheel when the vehicle is moving in a straight line, and recording it as a first offset torque value. When the vehicle is moving, if the deviation performance of the vehicle is poorly controlled, the road disturbance is easily transmitted to the steering wheel, causing the steering wheel to rotate due to the torque. Therefore, by detecting the torque value of the steering wheel, the deviation of the vehicle can be judged intuitively and quickly.

[0035] Step S300, determining whether the first offset torque value is greater than a steering wheel torque threshold. When the first offset torque value is greater than or equal to the steering wheel torque threshold, it is determined that the vehicle's running performance control does not meet the required requirements; when the first offset torque value is less than the steering wheel torque threshold, the steering wheel does not deflect, or the steering wheel deflection is within an acceptable deflection angle, and it is determined that the vehicle's running performance meets the required requirements.

[0036] When the first offset torque value is greater than or equal to the steering wheel torque threshold, the process proceeds to step S400, where the vehicle's steering system is controlled and adjusted so that the first offset torque value is less than the steering wheel torque threshold. At this time, the steering wheel deflects, and the deflection exceeds an acceptable angle, so the vehicle's steering system is adjusted so that the first offset torque value is less than the steering wheel torque threshold, and the vehicle's running performance control reaches a desired state.

[0037] As can be seen from the above, when producing and designing commercial vehicles, at the stage where the deviation performance of the commercial vehicle needs to be controlled, the torque value of the steering wheel when the vehicle is moving in a straight line is detected. When the deviation performance of the vehicle is well controlled, the road disturbance has little effect on the steering wheel. At this time, the first offset torque value received by the steering wheel is less than the preset steering wheel torque threshold. The steering wheel torque threshold can be set to be smaller or even tend to zero according to the higher requirements for vehicle deviation performance control. When the first offset torque value is greater than or equal to the steering wheel torque threshold, the steering system of the vehicle is adjusted. By adjusting the stability control of the steering system, the road disturbance received by the vehicle can be reduced, so that the first offset torque value is less than the steering wheel torque threshold, and the deviation performance control of the vehicle is improved. In this way, according to the judgment of the first offset torque value, whether the vehicle deviates can be more intuitively and timely monitored when controlling the deviation performance design of the commercial vehicle, thereby improving the efficiency of obtaining the vehicle data status, and by controlling and adjusting the vehicle steering system, the deviation performance of the vehicle can be quickly and effectively controlled, thereby improving the efficiency of the design of the deviation performance control of the commercial vehicle.

[0038] The steering system of commercial vehicles as a whole has non-rigid components: steering dampers. At the same time, the internal clearance of the system and the irremovable internal clearance in the recirculating ball steering gear lead to the fact that the overall system cannot achieve a significant improvement in the deviation performance on the recirculating ball steering gear vehicle using the rod system design by controlling the initial toe in the way of passenger cars. Therefore, according to the structural characteristics of commercial vehicles, it can be judged that the main focus of controlling the deviation performance excludes the system clearance and component clearance, and the main influencing factor is the performance of the rod system. For vehicles using rod system steering, when adjusting the deviation performance of the vehicle, the main adjustment position is the extension locking bolt and elongation size of the tie rod. Therefore, the component that has the greatest impact on the toe angle is the tie rod in the steering system.

[0039] In step S400, the control adjusts the steering system of the vehicle, such as Figure 2 As shown, including but not limited to the following steps: Step S410, determining whether the tie rod in the steering system is out of tolerance. The tie rod of the vehicle has a great influence on the toe angle of the vehicle. When the tie rod is out of tolerance, one side will be adjusted too much and the other side will be adjusted too little. At this time, the toe angle of the entire steering system will be adjusted well, but the tie rod will be twisted, and the deviation performance control of the whole vehicle will be reduced.

[0040] When the tie rod of the vehicle is out of tolerance, the process proceeds to step S420, where a qualified tie rod is replaced, and the toe angle of the vehicle meets the preset toe angle threshold. A qualified tie rod is a tie rod whose symmetry and dimensional accuracy meet the requirements. Since the cost of the tie rod is relatively low, replacing the tie rod can effectively reduce the cost of the vehicle's deviation performance control design, and can effectively adjust the deviation performance of the vehicle to ensure that the vehicle has a toe angle that meets the requirements.

[0041] Step S430, detecting the torque value of the steering wheel when the vehicle is moving in a straight line after the tie rod is replaced, and recording it as the second offset torque value. Then proceeding to step S440, determining whether the second offset torque value is less than the steering wheel torque threshold. After replacing the qualified tie rod, the vehicle's deviation performance control may not meet the requirements, so it is necessary to determine the second offset torque value of the vehicle after replacing the qualified tie rod.

[0042] Among the indicators that affect steering sensitivity in conventional passenger cars, vehicle height adjustment accuracy and chassis symmetry are the main control indicators. In the structure of commercial vehicles, the larger load and larger size lead to higher cumulative deformation in the chassis with the frame as the main body. The reduction of vehicle height symmetry will cause poor chassis height symmetry, which will lead to internal force in the suspension system and torsional deformation of the stabilizer bar to produce roll steering. If the same deviation control performance is to be achieved, higher requirements are actually put forward for these two indicators. In order to ensure the balance between deviation performance and cost, the steering gear of the wheel can be started, especially the length of the steering gear drop arm.

[0043] In the control of the deviation performance of conventional passenger cars, there are relatively few detection items for the tire mechanical performance indicators, and there are no monitoring indicators for commercial vehicles. The present invention can adjust the tire performance of the wheel based on the posture and load of the whole vehicle, especially the residual self-aligning torque of the tire. The residual self-aligning torque is mainly determined by the width, angle and structure of the belt layer. The most likely problem is that the belt layer angle is too small, which will cause the deviation performance of commercial vehicles to be different from that of passenger cars. It is necessary to control the belt layer angle in the design stage. On the basis of ensuring that other performances are qualified, appropriately increasing the belt layer angle can effectively improve the tire's deviation performance for commercial vehicles.

[0044] Therefore, when the second offset torque value is greater than or equal to the steering wheel torque threshold, the process proceeds to step S450, where the steering gear of the vehicle is controlled and adjusted and / or the tire of the vehicle is controlled and adjusted. The steering gear of the vehicle may be adjusted, or the tire of the vehicle may be adjusted, or both the steering gear of the vehicle and the tire of the vehicle may be adjusted at the same time, so as to adjust the deviation performance control of the vehicle.

[0045] In step S450, the steering gear of the vehicle is controlled and adjusted, including but not limited to the following steps: Step S451, controlling to reduce the length of the steering gear arm of the vehicle. As the length of the steering gear arm increases, the force generated by the road disturbance will be transmitted to the steering wheel through the steering gear arm. Therefore, the longer the steering gear arm is, the easier it will be to cause the vehicle to run off the track. Therefore, reducing the length of the steering gear arm of the vehicle can reduce the impact of the road disturbance on the steering wheel.

[0046] In step S451, the steering arm length of the vehicle is reduced, such as Figure 3 As shown, including but not limited to the following steps: Step S4511, obtaining a preset steering system transmission ratio threshold. The steering gear drop arm length cannot be reduced too much and needs to meet the vehicle's steering system transmission ratio. Therefore, the transmission ratio threshold required by the steering system is preset to ensure that it does not affect the vehicle's structural design.

[0047] Step S4512, obtaining a target value for reducing the length of the steering gear drop arm of the vehicle. Based on the original steering gear drop arm length, the length to which the steering gear drop arm length needs to be reduced can be estimated first and recorded as the target value.

[0048] Step S4513, calculating the steering system transmission ratio of the vehicle according to the target value. There is a mutual influence relationship between the steering gear drop arm length and the steering system transmission ratio of the vehicle. When the steering gear drop arm length changes, the steering system transmission ratio of the vehicle corresponding to this time can be calculated.

[0049] Step S4514, judging whether the steering system transmission ratio of the vehicle is greater than the steering system transmission ratio threshold. By comparing the steering system transmission ratio corresponding to the reduced steering gear drop arm length with the steering system transmission ratio threshold, it can be judged whether the steering gear drop arm target length that needs to be reduced will interfere with the structural design of the vehicle. When the steering system transmission ratio is greater than or equal to the steering system transmission ratio threshold, the target value calculation of the steering gear drop arm length reduction does not meet the design requirements; when the steering system transmission ratio is less than the steering system transmission ratio threshold, the target value of the steering gear drop arm length reduction meets the design requirements.

[0050] When the steering system transmission ratio of the vehicle is less than the steering system transmission ratio threshold, the process proceeds to step S4515 to reduce the steering gear drop arm of the vehicle to the target value. In this way, the required dimension data can be guaranteed to meet the structural design requirements by performing calculation and estimation before reducing the steering gear drop arm length, effectively reducing the design trial and error cost and improving the overall design efficiency.

[0051] When the steering system transmission ratio of the vehicle is greater than or equal to the steering system transmission ratio threshold, the process proceeds to step S4516, the target value is reduced, and the steering system transmission ratio of the vehicle is calculated repeatedly according to the target value until the steering system transmission ratio of the vehicle is less than the steering system transmission ratio threshold. When the steering system transmission ratio is greater than or equal to the steering system transmission ratio threshold, the target value calculation of the steering gear drop arm length reduction does not meet the design requirements, and the steering gear drop arm length reduction amount needs to be reduced, that is, the steering gear drop arm length reduction target value in step S4513 is increased, and then step S4514 is repeated to determine whether the steering gear drop arm target length that needs to be reduced will interfere with the structural design of the vehicle, until the requirement that the steering system transmission ratio of the vehicle is less than the steering system transmission ratio threshold is met.

[0052] In step S450, the tires of the vehicle are adjusted, including but not limited to the following steps: Step S452, controlling to increase the belt angle of the vehicle. Controlling the belt angle in the design stage and appropriately increasing the belt angle can effectively improve the tire's performance against commercial vehicle deviation.

[0053] In step S452, the belt angle of the vehicle is controlled to be increased, and further, the belt angle of the vehicle is controlled to be increased to between 22 degrees and 29 degrees. The smaller the range of the tire belt angle, the greater the sharpness of the tire contacting the road surface, and the smaller the contact area, resulting in a decrease in the deviation performance control of the commercial vehicle. Therefore, increasing the belt angle of the vehicle can effectively increase the contact area between the tire and the road surface and better control the deviation performance of the commercial vehicle.

[0054] Since the replacement cost of the steering gear drop arm and the replacement cost of the tire are different, therefore, in step S450, controlling and adjusting the steering gear of the vehicle and / or controlling and adjusting the tire of the vehicle include but are not limited to the following steps: Step S4531, execute control to reduce the length of the steering gear drop arm of the vehicle. Set the priority of the means for adjusting the vehicle's deviation performance. Since the replacement cost of the steering gear drop arm is lower, the control to reduce the length of the steering gear drop arm of the vehicle is executed first.

[0055] Step S4532, judging whether the second offset torque value is less than the steering wheel torque threshold. After executing the processing in step S4531, the second offset torque value is compared with the steering wheel torque threshold to judge whether the vehicle's running performance control design meets the requirements. When the offset steering wheel torque threshold is greater than or equal to the steering wheel torque threshold, the vehicle's running performance control needs to be continued to be designed; when the offset steering wheel torque threshold is less than the steering wheel torque threshold, the vehicle's running performance control meets the design requirements.

[0056] When the second offset torque value is greater than or equal to the steering wheel torque threshold, the process proceeds to step S4533, where control is executed to increase the belt angle of the vehicle. On the basis of reducing the length of the steering arm of the vehicle, the belt angle of the vehicle is continued to be increased to achieve the required control requirements for the vehicle's deviation performance.

[0057] Step S4534, judging whether the second offset torque value is less than the steering wheel torque threshold. After step S4533, judging whether the vehicle's running performance control design meets the requirements based on the comparison between the second offset torque value and the steering wheel torque threshold. When the offset steering wheel torque threshold is greater than or equal to the steering wheel torque threshold, the vehicle's running performance control needs to be further designed; when the offset steering wheel torque threshold is less than the steering wheel torque threshold, the vehicle's running performance control meets the design requirements.

[0058] When the second offset torque value is greater than or equal to the steering wheel torque threshold, the process proceeds to step S4535, where the steering arm length of the vehicle is reduced and the belt angle of the vehicle is increased. At this time, the steering arm length and the belt angle are adjusted simultaneously, so that the structure of the vehicle can be comprehensively considered and the two influencing factors can be better coordinated to achieve the required vehicle deviation performance control requirements.

[0059] In step 300, when the second offset torque value is less than the steering wheel torque threshold, the process proceeds to step S500 to end the control adjustment of the vehicle steering system. At this time, by replacing and adjusting the vehicle's tie rod, the vehicle can meet the deviation performance control requirements.

[0060] In step S410, when the tie rod of the vehicle is within tolerance, the process proceeds to step S450 to control and adjust the steering gear of the vehicle and / or the tire of the vehicle. In the case that the tie rod is within tolerance, there is no need to replace the tie rod of the vehicle, and the process can directly proceed to step S450 to adjust the steering gear and tire of the vehicle, thereby adjusting the deviation performance of the vehicle more quickly and effectively.

[0061] An embodiment of the present invention also provides a vehicle control device, including a memory, a processor, and a program stored in the memory and executable on the processor. When the program is executed by the processor, the design method for controlling the deviation performance of a commercial vehicle of the above embodiment is implemented.

[0062] Take the example that the processor and memory in the vehicle control device can be connected through a bus. The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one disk memory, a flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the control processor, and these remote memories may be connected to the control device via a network.

[0063] The non-transient software program and instructions required to implement the control method of the above embodiment are stored in the memory, and when executed by the processor, the design method for controlling the deviation performance of the commercial vehicle in the above embodiment is executed.

[0064] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0065] A vehicle according to an embodiment of the second aspect of the present invention is designed using the above-mentioned design method for controlling the deviation performance of a commercial vehicle. The vehicle can be a private car, such as a sedan, SUV, MPV or pickup truck. The vehicle can also be an operating vehicle, such as a van, bus, small truck or large trailer. The vehicle needs to have an electric motor that can output power or store mechanical energy as a generator. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0066] When designing a vehicle, based on the judgment of the first offset torque value and the second offset torque value, whether the vehicle is running off the track can be monitored more intuitively and timely when designing the control of the running off performance of the commercial vehicle, thereby improving the efficiency of obtaining the vehicle data status, and through the control and adjustment of the vehicle steering system, the vehicle running off performance can be quickly and effectively controlled, thereby improving the efficiency of the design of the commercial vehicle control running off performance, reducing the production debugging cost, and improving the production efficiency.

[0067] According to a computer-readable storage medium of an embodiment of the third aspect of the present invention, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the above-mentioned design method for controlling the deviation performance of a commercial vehicle.

[0068] It is worth noting that since the computer-readable storage medium of an embodiment of the present invention can execute the design method for controlling the deviation performance of a commercial vehicle in any of the above-mentioned embodiments, the specific implementation methods and technical effects of the computer-readable storage medium of an embodiment of the present invention can refer to the specific implementation methods and technical effects of the design method for controlling the deviation performance of a commercial vehicle in any of the above-mentioned embodiments.

[0069] The above-mentioned design method for controlling the deviation performance of a commercial vehicle can be implemented as a computer program and tangibly included in a computer-readable storage medium. When the processor uses this computer-readable storage medium to design the control of the deviation performance of a commercial vehicle, it can monitor whether the vehicle is deviating more intuitively and timely, improve the efficiency of obtaining the vehicle data status, and through the control and adjustment of the vehicle steering system, it can achieve rapid and effective control of the vehicle deviation performance, thereby improving the efficiency of the design of the commercial vehicle deviation control performance.

[0070] A computer program product according to an embodiment of the fourth aspect of the present invention includes a computer program or computer instructions, the computer program or computer instructions are stored in a computer-readable storage medium, a processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium, and the processor executes the computer program or computer instructions, so that the computer device executes the above-mentioned design method for controlling the deviation performance of a commercial vehicle.

[0071] This computer program product records a design method for controlling the deviation performance of a commercial vehicle. When a processor uses the computer program or computer instructions recorded in this computer program product to design a method for controlling the deviation performance of a commercial vehicle, it can more intuitively and timely monitor whether the vehicle is deviating, thereby improving the efficiency of obtaining vehicle data status, and through control and adjustment of the vehicle steering system, it can achieve rapid and effective control of the vehicle's deviation performance, thereby improving the efficiency of designing the control performance of commercial vehicles.

[0072] It is worth noting that since the computer program product of the embodiment of the present invention can execute the design method for controlling the running deviation performance of a commercial vehicle in any of the above-mentioned embodiments, the specific implementation methods and technical effects of the computer program product of the embodiment of the present invention can refer to the specific implementation methods and technical effects of the design method for controlling the running deviation performance of a commercial vehicle in any of the above-mentioned embodiments.

[0073] It will be appreciated by those skilled in the art that all or some of the steps and systems in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or transient medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically include computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0074] The preferred embodiments of the present invention are specifically described above, but the invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A design method for controlling the deviation performance of a commercial vehicle, applied to the vehicle, characterized in that: include: Get the preset steering wheel torque threshold; Detecting a torque value applied to the steering wheel when the vehicle is moving in a straight line, and recording the torque value as a first offset torque value; determining whether the first offset torque value is greater than the steering wheel torque threshold; When the first offset torque value is greater than or equal to the steering wheel torque threshold, the steering system of the vehicle is controlled to be adjusted so that the first offset torque value is less than the steering wheel torque threshold.

2. A design method for controlling the deviation performance of a commercial vehicle according to claim 1, characterized in that: The control adjusts the steering system of the vehicle, including: Determining whether a tie rod in the steering system is out of tolerance; When the tie rod of the vehicle is out of tolerance, a qualified tie rod is replaced, and the toe angle of the vehicle is made to meet a preset toe angle threshold.

3. A design method for controlling the deviation performance of a commercial vehicle according to claim 2, characterized in that: The controlling and adjusting the steering system of the vehicle further comprises: After the tie rod is replaced, the torque value applied to the steering wheel when the vehicle is moving in a straight line is detected, and recorded as a second offset torque value; determining whether the second offset torque value is less than the steering wheel torque threshold; When the second offset torque value is greater than or equal to the steering wheel torque threshold, control is performed to adjust a steering gear of the vehicle and / or control is performed to adjust a tire of the vehicle.

4. A design method for controlling the deviation performance of a commercial vehicle according to claim 3, characterized in that: The controlling and adjusting the steering gear of the vehicle comprises: Controlling to reduce the steering gear drop arm length of the vehicle.

5. A design method for controlling the deviation performance of a commercial vehicle according to claim 4, characterized in that: The controlling step of reducing the steering gear drop arm length of the vehicle comprises: Obtaining a preset steering system transmission ratio threshold; Obtaining a target value for reducing the length of a steering gear drop arm of the vehicle; Calculating a steering system transmission ratio of the vehicle according to the target value; Determining whether a steering system transmission ratio of the vehicle is greater than a steering system transmission ratio threshold; When the steering system transmission ratio of the vehicle is less than the steering system transmission ratio threshold, the steering gear drop arm length of the vehicle is reduced to the target value.

6. A design method for controlling the deviation performance of a commercial vehicle according to claim 5, characterized in that: The controlling step of reducing the steering gear drop arm length of the vehicle further includes: When the steering system transmission ratio of the vehicle is greater than or equal to the steering system transmission ratio threshold, the target value is reduced, and the calculation of the steering system transmission ratio of the vehicle based on the target value is repeated until the steering system transmission ratio of the vehicle is less than the steering system transmission ratio threshold.

7. The design method for controlling the deviation performance of a commercial vehicle according to claim 3, characterized in that: The controlling and adjusting the tires of the vehicle comprises: Controlling to increase a belt angle of the vehicle.

8. A design method for controlling the deviation performance of a commercial vehicle according to claim 7, characterized in that: Controlling to increase a belt angle of the vehicle includes: The belt angle of the vehicle is controlled to increase to between 22 degrees and 29 degrees.

9. A design method for controlling the deviation performance of a commercial vehicle according to claim 7, characterized in that: The controlling and adjusting the steering gear of the vehicle and / or the controlling and adjusting the tires of the vehicle include: Executing the control to reduce the length of the steering gear drop arm of the vehicle; determining whether the second offset torque value is less than the steering wheel torque threshold; When the second offset torque value is greater than or equal to the steering wheel torque threshold value, the control is performed to increase a belt angle of the vehicle.

10. The design method for controlling the deviation performance of a commercial vehicle according to claim 7, characterized in that: The controlling and adjusting the steering gear of the vehicle and / or the controlling and adjusting the tires of the vehicle further comprises: determining whether the second offset torque value is less than the steering wheel torque threshold; When the second offset torque value is greater than or equal to the steering wheel torque threshold, the controlling of reducing a steering drop arm length of the vehicle and the controlling of increasing a belt angle of the vehicle are performed.

11. The design method for controlling the deviation performance of a commercial vehicle according to claim 3, characterized in that: The controlling and adjusting the steering system of the vehicle further comprises: When the second offset torque value is less than the steering wheel torque threshold, the control adjustment of the vehicle steering system is ended.

12. A design method for controlling the deviation performance of a commercial vehicle according to claim 2, characterized in that: The controlling and adjusting the steering system of the vehicle further comprises: When the tie rod of the vehicle is within tolerance, the steering gear of the vehicle is controlled to be adjusted and / or the tire of the vehicle is controlled to be adjusted.

13. A vehicle, characterized in that: The design is performed using the design method for controlling the deviation performance of a commercial vehicle as described in any one of claims 1 to 12.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the design method for controlling the deviation performance of a commercial vehicle according to any one of claims 1 to 12.

15. A computer program product, characterized in that: The method comprises a computer program or a computer instruction, wherein the computer program or the computer instruction is stored in a computer-readable storage medium, a processor of a computer device reads the computer program or the computer instruction from the computer-readable storage medium, and the processor executes the computer program or the computer instruction, so that the computer device executes the design method for controlling the deviation performance of a commercial vehicle as described in any one of claims 1 to 12.

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