Steering transition method in vehicle transverse control process, control system and device, storage medium and automobile

Abstract

The invention discloses a steering transition method in a vehicle transverse control process, a control system, a device, a storage medium and an automobile, through mutual cooperation of a vehicle body stabilizing system, a steering wheel, an EPS system and an ADAS system, the vehicle body stabilizing system collects ABS vehicle speed and transverse acceleration, and a hand torque sensor collects a driver hand torque value; the camera detects a lane line and the real-time position of a vehicle, the ADAS judges the ABS speed, the transverse acceleration, the hand torque value, the lane line and the real-time position of the vehicle and sends a steering wheel angle theta, a request activation instruction and an attenuation coefficient beta to the EPS system, the EPS system calculates execution current according to information sent by the ADAS system, the steering action is executed, and the vehicle speed is adjusted according to the execution current. According to the method, for the whole transverse driving control process, a transition process exists when the driver exits from the intelligent driving state, and the problem that the driver and the steering wheel are cheerful is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle lateral control, and in particular relates to a steering transition method, a control system, a device, a storage medium and a car in a vehicle lateral control process. Background Art

[0002] In the prior art, when a smart driving vehicle is in lane keeping, lane centering, or active lane changing, if the driver wants to intervene, the system will generally exit the smart driving state and enter the standby state when the maximum torque value is greater than the maximum torque value. If the maximum torque value is set too high, such as 2~3Nm, the driver will need to reach the set 2~3Nm before exiting the smart driving state and entering the standby state. If the maximum torque value is set too low, the system will exit with a slight movement of the steering wheel.

[0003] For example, a Chinese invention patent with publication number CN 116142292 A discloses a control method suitable for a human-machine co-driving steering system, including an internal torque assist mode, an external angle execution mode and an external angle compensation mode; in the internal torque assist mode, the driver directly and completely controls the steering action of the steering wheel, and according to different power-assist calibrations, the human-machine co-driving steering system gives the driver different steering feel and road feel feedback; in the external angle execution mode, the human-machine co-driving steering system independently executes the steering angle signal from ADAS or ADS to perform lateral control of the vehicle. This control method compensates for the steering angle input by the driver, dynamically allocates the driving weights of the CDS system and the driver, affects the result of lateral control, and the accuracy of the steering calculation is not high.

[0004] For example, the Chinese invention patent with publication number CN 114852070 A is a human-machine co-driving control method for centering control of intelligent driving cars. The actual output current of the steering motor is controlled by Tf, thereby controlling the torque applied to the steering wheel by the ADAS system, thereby avoiding the problem of ADAS and the driver competing for control of the steering wheel when the driver turns the steering wheel to intervene in lateral control. In the process, only one variable, the driver's hand force, is considered, and no distinction is made between vehicle speed ranges. As a result, at high speeds, the driver's slight intervention will cause the vehicle to change drastically, and the high-speed stability of the vehicle is not high at this time.

[0005] During the entire lateral control process, the set maximum torque value is the same for different drivers. When the driver wants to exit the intelligent driving state, due to the different strength of holding the steering wheel, when the maximum torque value is not reached, the driver is forcibly controlling the vehicle. At this time, the driver with less strength holding the steering wheel will have a feeling of struggling with the steering wheel during the entire driving process. In other words, there is a problem of the driver competing with the ADAS system for control of the steering wheel, which may cause panic for drivers who are not familiar with the vehicle they are driving. Summary of the invention

[0006] The purpose of the present invention is to provide a steering transition method during vehicle lateral control, which is used to solve the technical problem of the driver competing with the ADAS system for the control of the steering wheel during the process of the driver intervening in the intelligent driving state.

[0007] A further object of the present invention is to provide a transition control system during vehicle lateral control.

[0008] A further object of the present invention is to provide a vehicle.

[0009] A further object of the present invention is to provide a steering transition device during the lateral control of a vehicle.

[0010] A further object of the present invention is to provide a computer-readable storage medium.

[0011] The technical solution of the present invention to solve the technical problem is: A steering transition method in a vehicle lateral control process, the specific steps of the transition method are as follows: S1: Calculate the ABS vehicle speed through the four wheel speeds collected by the four wheel speed sensors in the vehicle body stability system, and send the ABS vehicle speed and the lateral acceleration collected by the acceleration sensor to the ADAS system; The hand force value of the driver is sent to the EPS system through the hand force sensor of the steering wheel. The EPS system converts the hand force value of the driver into a hand force torque value and sends the hand force torque value to the ADAS system. The camera detects the lane lines and the real-time position of the vehicle, records the detection results and sends them to the ADAS system; S2: The ADAS system determines the ABS vehicle speed, lateral acceleration and hand torque value, and queries the pre-calibrated torque attenuation coefficient β; The ADAS system calculates the steering wheel angle θ required for lane keeping, centering or lane changing according to the detection result of the camera in step S1 and the torque attenuation coefficient β, and sends the steering wheel angle θ, the activation request instruction and the torque attenuation coefficient β to the EPS system; S3: The EPS system determines the steering wheel angle θ and the activation request command sent by the ADAS system to determine whether the requested range is within the allowed range. If so, it proceeds to step S4. If not, it does not perform the steering action. S4: According to the result of S3, the execution current is calculated and the steering action is executed.

[0012] The calculation formula of the ABS vehicle speed in step S1 is: ABS vehicle speed = (left front wheel speed or right front wheel speed + left rear wheel speed or right rear wheel speed) / 2, and the vehicle speed selection principle is: the smaller of the left front wheel speed and the right front wheel speed, and the smaller of the left rear wheel speed and the right rear wheel speed.

[0013] The non-execution of the steering action in step S3 includes the following situations: 1) The steering wheel angle θ and activation request sent by the ADAS system are not received; 2) The ADAS system sends a deactivation command, the angular rate is within the allowable range, and the angle request value is within the allowable range; 3) The ADAS system sends an activation command, the angular rate is within the allowable range, but the angle request value exceeds the allowable range and lasts for a set time; 4) The ADAS system sends an activation command, the angle request value is within the allowable range, but the angular rate exceeds the allowable range and lasts for a set time.

[0014] The calculation method of the current executed in step S4 is: 1) Calculate the steering motor torque, M=F*L, F=F1+F2+F3+F4, where M is the steering motor torque, L is the distance between the steering motor rotation axis center and the rotation chain, F1 is the driver's hand force, F2 is the torque value required to rotate to the steering wheel angle θ calculated by the steering motor controller, F3 is the steering motor gear chain friction resistance value, and F4 is the front steering wheel friction resistance value; 2) Calculate the current value, I=P / V, P=M*ω, that is, I= M *ω / V, where I is the current value, P is the steering motor power, V is the vehicle rated voltage, M is the steering motor torque, and ω is the steering motor speed; 3) Calculate the execution current, I1= I*β, where I1 is the execution current, I is the current value, β is the pre-calibrated torque attenuation coefficient, and the value of β is not greater than 1.

[0015] The calculation formula of the steering wheel angle in step S2 is: tanθ=S / (V *t), S=Y / 2—|Y1| or S=Y / 2—|Y2|, Y =|Y2-Y1|, Y1=a1+b1X+c1X²+d1X³, Y2=a2+b2X+c2X²+d2X³, the vehicle origin is the center of the rear axle of the vehicle, where θ is the steering wheel angle, S is the correction distance to the center of the road according to the planned path, V is the ABS speed, t is the time required to drive to the center of the road according to the planned path, Y is the width of the lane, Y1 is the distance from the center of the front axle of the vehicle to the left lane line, Y2 is the distance from the center of the front axle of the vehicle to the right lane line, X is the vehicle wheelbase, a1 is the distance from the left lane line to the vehicle origin, b1 is the heading angle of the left lane line, c1 is the curvature of the left lane line, d1 is the curvature change rate of the left lane line, a2 is the distance from the right lane line to the vehicle origin, b2 is the heading angle of the right lane line, c2 is the curvature of the right lane line, and d2 is the curvature change rate of the right lane line.

[0016] A transition control system in a vehicle lateral control process, the system adopts the above-mentioned transition method in a vehicle lateral control process.

[0017] A car adopts the above-mentioned transition control system in the process of lateral control of the vehicle.

[0018] A steering transition device in a vehicle lateral control process, comprising a sensor, a processor and a memory; The sensor is used to obtain the vehicle speed, lateral acceleration and steering wheel torque; The memory is used to store a computer program running on the processor; The processor is used to execute the computer program, and when executing the computer program to process the judgment of ABS vehicle speed, lateral acceleration and hand torque value, it executes the above-mentioned transition method in the vehicle lateral control process.

[0019] A computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the above-mentioned transition method in a vehicle lateral control process.

[0020] The beneficial effects of the present invention are as follows: through the mutual cooperation among the vehicle body stability system, steering wheel, EPS system and ADAS system, the vehicle body stability system provides the ABS vehicle speed, and the lateral acceleration collected by the acceleration sensor is sent to the ADAS system, the EPS system converts the driver's hand force value collected by the hand force sensor of the steering wheel into a hand force torque value and sends it to the ADAS system, the camera detects the lane line and the real-time position of the vehicle, records the detection results and sends them to the ADAS system, The ADAS system judges the ABS vehicle speed, lateral acceleration and hand force torque value, and queries the calibrated torque attenuation coefficient β; the ADAS system calculates the steering wheel angle θ required for lane keeping, centering or lane changing based on the detection results of the camera and the torque attenuation coefficient β, and sends the steering wheel angle θ, the request activation instruction and the attenuation coefficient β to the EPS system. The EPS system calculates the execution current and executes the steering action based on the information sent by the ADAS system. The vehicle speed segments are divided in the specific steps of this method, and multiple influencing factors are superimposed and considered when calculating the attenuation coefficient and the output execution current, so that the accuracy of the calculation result is improved and the stability of the vehicle is improved. For the entire lateral driving control process, this method has a transition process when the driver intervenes in or exits the intelligent driving state, which effectively solves the technical problem of the driver and the ADAS system competing for the control of the steering wheel and improves the driver's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a flow chart of the specific steps of the present invention. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0023] Example 1 like Figure 1 As shown, the specific steps of the transition method of the present invention are as follows: S1: Calculate the ABS speed through the four wheel speeds collected by the four wheel speed sensors in the vehicle body stability system, and send the ABS speed and the lateral acceleration collected by the acceleration sensor to the ADAS system. The calculation formula of the ABS speed is: ABS speed = (left front wheel speed or right front wheel speed + left rear wheel speed or right rear wheel speed) / 2. The speed selection principle is: the smaller of the left front wheel speed and the right front wheel speed, and the smaller of the left rear wheel speed and the right rear wheel speed; The hand force value of the driver is sent to the EPS system through the hand force sensor of the steering wheel. The EPS system converts the hand force value of the driver into a hand force torque value and sends the hand force torque value to the ADAS system. The camera detects the lane lines and the real-time position of the vehicle, records the detection results and sends them to the ADAS system; In this step, the body stability system, steering wheel and camera collect information simultaneously.

[0024] S2: The ADAS system determines the ABS vehicle speed, lateral acceleration and hand torque value, and queries the pre-calibrated torque attenuation coefficient β; The ADAS system calculates the steering wheel angle θ required for lane keeping, centering or lane changing according to the detection result of the camera in step S1 and the torque attenuation coefficient β, and sends the steering wheel angle θ, the activation request instruction and the torque attenuation coefficient β to the EPS system; The formula for calculating the steering wheel angle θ is: tanθ=S / (V *t), S=Y / 2—|Y1| or S=Y / 2—|Y2|, Y =|Y2-Y1|, Y1=a1+b1X+c1X²+d1X³, Y2=a2+b2X+c2X²+d2X³, the vehicle origin is the center of the rear axle of the vehicle, where θ is the steering wheel angle, S is the correction distance to the center of the road according to the planned path, V is the ABS speed, t is the time required to drive to the center of the road according to the planned path, Y is the width of the lane, Y1 is the distance from the center of the front axle of the vehicle to the left lane line, Y2 is the distance from the center of the front axle of the vehicle to the right lane line, X is the vehicle wheelbase, a1 is the distance from the left lane line to the vehicle origin, b1 is the heading angle of the left lane line, c1 is the curvature of the left lane line, d1 is the curvature change rate of the left lane line, a2 is the distance from the right lane line to the vehicle origin, b2 is the heading angle of the right lane line, c2 is the curvature of the right lane line, d2 is the curvature change rate of the right lane line, where a1, b1, c1, d 1、 a2, b2, c2 and d2 are automatically calculated by the system based on the camera's monitoring data of the road and the vehicle.

[0025] The angle of the steering wheel is generally based on the normal driving direction of the driver. When the direction is left, the steering wheel angle is -θ, and when the direction is right, the steering wheel angle is +θ.

[0026] During the entire steering intervention process, the torque attenuation coefficient β changes with the strength of the driver's hand holding the steering wheel. The ADAS system dynamically queries and calls the pre-calibrated torque attenuation coefficient β stored in the system based on the real-time ABS vehicle speed, real-time lateral acceleration and real-time hand torque values. The torque attenuation coefficient β is shown in the following table. Different vehicle speeds, lateral accelerations and hand torque values ​​correspond to different torque attenuation coefficients. During the pre-calibration process, various types of evaluators are absorbed. For example, a group of ten people are generally selected, and five boys and five girls are randomly selected from the customers. During the lateral control process, the driver intervenes at any time. If the driver feels that the steering wheel is obviously hitting the hand, the β value under the corresponding conditions is reduced until the calibration result under the corresponding conditions of a certain model in the table can be accepted by all selected customers, and then the torque attenuation coefficient β under the condition is solidified until all torque attenuation coefficients β are calibrated and stored. The following data is only an example and can be set according to the specific model. In order to obtain a better experience, multiple speed intervals, lateral acceleration intervals, and hand torque intervals can be set to reduce the feeling of the driver competing with the steering wheel. For example, when the vehicle speed is between 100 and 120 km / h, when the vehicle torque is 0.2 Nm and the lateral acceleration is 0.02 g, the corresponding torque attenuation coefficient β is 0.980.

[0027] Table 1: Vehicle speed 100~120km / h Table 2: Vehicle speed 60~100km / h Table 3: Vehicle speed 0~60km / h S3: The EPS system determines the steering wheel angle θ and the activation request command sent by the ADAS system to determine whether the request range is within the allowable range. If so, it proceeds to step S4. If not, it does not perform the steering action. For example: the allowable range of the angle request value signal is 0°-100°, and the angle rate is greater than 40° / s, which is out of range. There are generally two types of activation request commands: Command = 0x0: Not Active is an inactive command, and Activation Command = 0x1: Active is an active command; There are several situations where the steering action is not performed: 1) The steering wheel angle θ and activation request sent by the ADAS system are not received; 2) The ADAS system sends a deactivation command, the angular rate is within the allowable range, and the angle request value is within the allowable range; 3) The ADAS system sends an activation command, the angular rate is within the allowable range, but the angle request value exceeds the allowable range and lasts for a set time; 4) The ADAS system sends an activation command, the angle request value is within the allowable range, but the angular rate exceeds the allowable range and lasts for a set time.

[0028] The calculation method of the execution current is: 1) Calculate the steering motor torque, M=F*L, F=F1+F2+F3+F4, where M is the steering motor torque, L is the distance between the steering motor rotation axis center and the rotation chain, F1 is the driver's hand force, F2 is the torque value required to rotate to the steering wheel angle θ calculated by the steering motor controller, F3 is the steering motor gear chain friction resistance value, and F4 is the front steering wheel friction resistance value; 2) Calculate the current value, I=P / V, P=M*ω, that is, I= M *ω / V, where I is the current value, P is the steering motor power, V is the vehicle rated voltage, M is the steering motor torque, and ω is the steering motor speed; 3) Calculate the execution current, I1= I*β, where I1 is the execution current, I is the current value, β is the pre-calibrated torque attenuation coefficient, and the value of β is not greater than 1.

[0029] Step S3 determines the information of step S2 to see whether it is within the allowable range. According to the determination result of step S3, step S4 calculates the corresponding execution current and executes the steering operation. The present invention pre-calibrates the torque attenuation coefficient, and factors that may affect the current value are superimposed when calculating the current value, such as the friction resistance of the steering motor chain, the friction resistance of the front axle steering, the hand force value, etc. The execution current is obtained by multiplying the corresponding torque attenuation coefficient, so this execution current makes the lateral control process smoother.

[0030] Example 2 A transition control system in a vehicle lateral control process, the system adopts the above-mentioned transition method in a vehicle lateral control process.

[0031] Example 3 A car adopts the above-mentioned transition control system in the process of lateral control of the vehicle.

[0032] Example 4 A steering transition device for use in a vehicle lateral control process, comprising a sensor, a processor and a memory; The sensor is used to obtain the vehicle speed, lateral acceleration and steering wheel torque; The memory is used to store a computer program running on the processor; The processor is used to execute the computer program, and when executing the computer program to process the judgment of ABS vehicle speed, lateral acceleration and hand torque value, it executes the above-mentioned transition method in the vehicle lateral control process.

[0033] Example 5 A computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the above-mentioned transition method in a vehicle lateral control process.

[0034] The present invention calibrates the one-to-one correspondence between vehicle speed, vehicle torque and hand torque through the mutual cooperation among the vehicle body stabilization system, steering wheel, EPS system and intelligent camera, sets the torque attenuation coefficient, and the torque attenuation coefficient changes with the strength of the driver's hand holding the steering wheel. The EPS system calculates the execution current. For the entire lateral driving control process, this execution current has a transition process for exiting the intelligent driving state, thereby solving the problem of the driver struggling with the steering wheel.

[0035] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

Claims

1. A steering transition method during vehicle lateral control, characterized in that: The specific steps of the transition method are as follows: S1: Calculate the ABS vehicle speed through the four wheel speeds collected by the four wheel speed sensors in the vehicle body stability system, and send the ABS vehicle speed and the lateral acceleration collected by the acceleration sensor to the ADAS system; The hand force value of the driver is sent to the EPS system through the hand force sensor of the steering wheel. The EPS system converts the hand force value of the driver into a hand force torque value and sends the hand force torque value to the ADAS system. The camera detects the lane lines and the real-time position of the vehicle, records the detection results and sends them to the ADAS system; S2: The ADAS system determines the ABS vehicle speed, lateral acceleration and hand torque value, and queries the pre-calibrated torque attenuation coefficient β; The ADAS system calculates the steering wheel angle θ required for lane keeping, centering or lane changing according to the detection result of the camera in step S1 and the torque attenuation coefficient β, and sends the steering wheel angle θ, the activation request instruction and the torque attenuation coefficient β to the EPS system; S3: The EPS system determines the steering wheel angle θ and the activation request command sent by the ADAS system to determine whether the requested range is within the allowed range. If so, it proceeds to step S4. If not, it does not perform the steering action. S4: According to the result of S3, the execution current is calculated and the steering action is executed.

2. The transition method during vehicle lateral control according to claim 1, characterized in that: The calculation formula of the ABS vehicle speed in step S1 is: ABS vehicle speed = (left front wheel speed or right front wheel speed + left rear wheel speed or right rear wheel speed) / 2, and the vehicle speed selection principle is: the smaller of the left front wheel speed and the right front wheel speed, and the smaller of the left rear wheel speed and the right rear wheel speed.

3. The transition method during vehicle lateral control according to claim 1, characterized in that: The non-execution of the steering action in step S3 includes the following situations: 1) The steering wheel angle θ and activation request sent by the ADAS system are not received; 2) The ADAS system sends a deactivation command, the angular rate is within the allowable range, and the angle request value is within the allowable range; 3) The ADAS system sends an activation command, the angular rate is within the allowable range, but the angle request value exceeds the allowable range and lasts for a set time; 4) The ADAS system sends an activation command, the angle request value is within the allowable range, but the angular rate exceeds the allowable range and lasts for a set time.

4. The method for transition during vehicle lateral control according to claim 1, characterized in that: The calculation method of the current executed in step S4 is: 1) Calculate the steering motor torque, M=F*L, F=F1+F2+F3+F4, where M is the steering motor torque, L is the distance between the steering motor rotation axis center and the rotation chain, F1 is the driver's hand force, F2 is the torque value required to rotate to the steering wheel angle θ calculated by the steering motor controller, F3 is the steering motor gear chain friction resistance value, and F4 is the front steering wheel friction resistance value; 2) Calculate the current value, I=P / V, P=M*ω, that is, I= M *ω / V, where I is the current value, P is the steering motor power, V is the vehicle rated voltage, M is the steering motor torque, and ω is the steering motor speed; 3) Calculate the execution current, I1= I*β, where I1 is the execution current, I is the current value, β is the pre-calibrated torque attenuation coefficient, and the value of β is not greater than 1.

5. The transition method during vehicle lateral control according to claim 1, characterized in that: The calculation formula of the steering wheel angle in step S2 is: tanθ=S / (V *t), S=Y / 2—|Y1| or S=Y / 2—|Y2|, Y =|Y2-Y1|, Y1=a1+b1X+c1X²+d1X³, Y2=a2+b2X+c2X²+d2X³, the vehicle origin is the center of the rear axle of the vehicle, where θ is the steering wheel angle, S is the correction distance to the center of the road according to the planned path, V is the ABS speed, t is the time required to drive to the center of the road according to the planned path, Y is the width of the lane, Y1 is the distance from the center of the front axle of the vehicle to the left lane line, Y2 is the distance from the center of the front axle of the vehicle to the right lane line, X is the vehicle wheelbase, a1 is the distance from the left lane line to the vehicle origin, b1 is the heading angle of the left lane line, c1 is the curvature of the left lane line, d1 is the curvature change rate of the left lane line, a2 is the distance from the right lane line to the vehicle origin, b2 is the heading angle of the right lane line, c2 is the curvature of the right lane line, and d2 is the curvature change rate of the right lane line.

6. A transition control system during vehicle lateral control, characterized in that: The system adopts the transition method in the vehicle lateral control process described in any one of claims 1-5.

7. A car, characterized in that: The automobile adopts the transient control system during the vehicle lateral control process described in claim 6.

8. A steering transition device for use in the lateral control process of a vehicle according to claim 1, characterized in that: Includes sensors, processors and memory; The sensor is used to obtain the vehicle speed, lateral acceleration and steering wheel torque; The memory is used to store a computer program running on the processor; The processor is used to execute the computer program, and when executing the computer program to process the judgment of ABS vehicle speed, lateral acceleration and hand force torque value, it executes the transition method in the vehicle lateral control process as described in any one of claims 1-5.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the transition method in the vehicle lateral control process according to any one of claims 1 to 5.

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