Torque intelligent driving control method based on EPS

Abstract

The invention discloses a torque intelligent driving control method based on an EPS, and the method comprises the steps: limiting the amplitude and slope of a request torque of an ADAS by the EPS when a torque intelligent driving control function of the EPS is activated, and executing the limited request torque by the EPS; when the torque intelligent driving control function of the EPS is activated and the function mode of the ADAS is a driving function, the EPS negates the hand power of the driver and calculates the value of the hand power compensation force of the driver according to the vehicle speed and the hand power of the driver, and the EPS executes the torque obtained by superposing the hand power compensation force of the driver and the limited request torque; and when the torque intelligent driving control function of the EPS is activated and the function mode of the ADAS is a parking function, the EPS adjusts a vehicle return coefficient and a damping coefficient according to the request torque of the ADAS.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile steering control, and in particular to a torque intelligent driving control method based on EPS. Background Art

[0002] At present, the automotive industry usually adopts angle-controlled automatic parking and remote parking. When the driving function of the Advanced Driving Assistance System (ADAS) is activated, the driver's hand feeling and the ADAS request torque are both the torsion bar end torque. EPS converts the torsion bar end torque into motor force to control EPS. When driving, in order to improve the torque response of EPS to ADAS, EPS has a more flexible response to the torque of the torsion bar end. At this time, the driver's hands on the steering wheel will affect the driving state of the vehicle. Summary of the invention

[0003] The technical problem to be solved by the present invention is how to provide a technical solution to prevent the driver's hand force from affecting the driving state of the vehicle when the ADAS is activated.

[0004] In order to solve the above technical problems, the present invention provides a torque intelligent driving control method based on EPS. When the torque intelligent driving control function of EPS is activated, EPS limits the amplitude and slope of the requested torque of ADAS, and EPS executes the requested torque after the limit;

[0005] When the torque intelligent driving control function of EPS is activated and the function mode of ADAS is driving function, EPS inverts the driver's hand force and calculates the value of the driver's hand force compensation force according to the vehicle speed and the driver's hand force. EPS executes the torque obtained by superimposing the driver's hand force compensation force and the limited requested torque;

[0006] When the torque intelligent driving control function of EPS is activated and the functional mode of ADAS is parking function, EPS adjusts the vehicle's return coefficient and damping coefficient according to the requested torque of ADAS.

[0007] Preferably, the method for activating the torque intelligent driving control function is:

[0008] Step 1, receiving an ADAS signal and a sensor signal; the ADAS signal includes a request for activation, a request for torque, and a functional mode; the sensor signal includes a driver's hand force, a vehicle speed, and an EPS power assist level;

[0009] Step 2: When the activation enable request is met, the requested torque is less than the preset threshold, the functional mode is the driving function or the parking function, the driver's hand force is less than the preset hand force threshold, the vehicle speed is less than the preset vehicle speed threshold, and the EPS assist level is greater than the preset assist level threshold, the torque intelligent driving control function is activated.

[0010] Preferably, a difference table lookup is performed based on the vehicle speed and the driver's hand force to obtain the value of the driver's hand force compensation force.

[0011] Preferably, when the torque intelligent driving control function is activated, the driver's hand force compensation force is limited with a first gradient.

[0012] Preferably, when the torque intelligent driving control function is launched, the driver's hand force compensation force is limited with a second gradient.

[0013] Preferably, the preset power assist level threshold is a minimum power assist level.

[0014] Preferably, the preset power-assistance level threshold is the maximum power-assistance level. When the EPS power-assistance level is less than the maximum power-assistance level and greater than the minimum power-assistance level, the EPS feeds back torque intelligent driving control function to the ADAS in an under-power-assistance activation state.

[0015] Compared with the prior art, the present invention proposes a new way to process the driver's feel. When the driving function is activated, the feel can be independent of the ADAS requested torque to a certain extent. This can flexibly respond to the ADAS requested torque, while ensuring a steady driver feel and preventing the driver's hand force from affecting the vehicle's driving state. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0017] Figure 1 Schematic diagram of the torque intelligent driving control method based on EPS in Example 1;

[0018] Figure 2 This is a schematic diagram of the method for activating the torque intelligent driving control function based on EPS in Example 1. DETAILED DESCRIPTION

[0019] The following describes the implementation methods of the present invention through specific specific embodiments, and those skilled in the art can fully understand other advantages and technical effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through different specific implementation methods, and the details in this specification can also be applied based on different viewpoints, and various modifications or changes can be made without deviating from the overall design concept of the invention. It should be noted that the following embodiments and the features in the embodiments can be combined with each other in the absence of conflict. The following exemplary embodiments of the present invention can be implemented in a variety of different forms and should not be interpreted as being limited to the specific embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present invention thorough and complete, and to fully convey the technical solutions of these exemplary specific embodiments to those skilled in the art.

[0020] Example 1

[0021] like Figure 1 As shown, this embodiment provides a torque intelligent driving control method based on EPS. When the torque intelligent driving control function of EPS is activated, EPS requests torque m for ADAS. ReqTrq The amplitude and slope are limited, and EPS executes the requested torque after the limitation;

[0022] ADAS functional modes ReqMod Including lane centering LKA, emergency avoidance ELK, automatic parking APA, and remote parking RPA. When in lane centering LKA or emergency avoidance ELK mode, it can be collectively referred to as being in the driving function, and when in automatic parking APA or remote parking RPA mode, it can be collectively referred to as being in the parking function.

[0023] When the torque intelligent driving control function of EPS is activated and the function mode of ADAS is ReqMod When the driving function is ReqMod =LKA / ELK), EPS on the driver's hand force m TBT Take the inversion and according to the vehicle speed v Veh and driver's hand force m TBT Calculate the driver's hand force compensation force m TBTComp The value of EPS is the torque obtained by superimposing the driver's hand force compensation force and the limited request torque;

[0024] When the torque intelligent driving control function of EPS is activated and the function mode of ADAS is parking function, EPS will adjust the torque m according to the request torque m of ADAS. RespTrq Carry out vehicle return coefficient x ActRet and the damping coefficient x Damping of adjustment.

[0025] like Figure 2 As shown in the figure, the specific method of activating the torque intelligent driving control function is:

[0026] Step 1, receiving an ADAS signal and a sensor signal; the ADAS signal includes a request to activate s ReqAct , Requested torque m ReqTrq and functional modes ReqMod The sensor signal includes the driver's hand force m TBT , vehicle speed Veh and EPS assist level x Limit ;

[0027] Step 2: When the request is satisfied, the activation enable (s ReqAct =Active), request torque m ReqTrq Less than the preset threshold (mReqTrq <m ReqMax )(such as 3Nm), function mode s ReqMod For driving or parking functions, the driver's hand force is less than the preset hand force threshold (m TBT <m HandsOn ) (e.g. 2Nm), the vehicle speed is less than the preset speed threshold, and the EPS assist level x Limit When the assist level is greater than the preset threshold, the torque intelligent driving control function is activated.

[0028] In step 2, the vehicle speed is less than the preset vehicle speed threshold and is processed in two cases. When the function mode is driving function s ReqMod =LKA / ELK, v Veh <v LKA (such as 120km / h); when the function mode is parking function ReqMod =APA / RPA, v Veh <v APA (e.g. 15km / h)

[0029] The setting of the preset power level threshold can also be divided into two cases: one is the preset power level threshold is the minimum power level x LimiMin (such as 80%). The other is divided into two activation states, and the preset power level threshold is the maximum power level x LimRPAMax (such as 95%), if the power level is full power: x Limit >x LimRPAMax (such as 95%), then the outgoing activation state; if the power level is low: x LimRPAMax (e.g. 95%)>x Limit >x LimiMin When the vehicle reaches the limit of 80%, the under-assistance activation state is output to ADAS. If the under-assistance activation state is fed back to ADAS, ADAS can guide the vehicle to park on the side of the road in time to avoid congestion in the parking lot.

[0030] More specifically, when the torque intelligent driving control function of EPS is activated, the vehicle speed v Veh and driver's hand force m TBT Perform a difference lookup to obtain the driver's hand force compensation force m TBTComp The value of .

[0031] And further the driver's hand force compensation force m TBTComp Set the gradient limit. When the torque intelligent driving control function is activated, the driver's hand force compensation force m TBTComp With the first gradient m TBTCompRamp When the torque intelligent driving control function is launched, the driver's hand force compensation force m TBTComp With the second gradient m TBTCompRampOut Make restrictions.

[0032] The present invention has been described in detail above through specific implementation modes and embodiments, but these do not constitute limitations of the present invention. Without departing from the principles of the present invention, those skilled in the art may also make many variations and improvements, which should also be regarded as the protection scope of the present invention.

Claims

1. A torque intelligent driving control method based on EPS, characterized in that: When the torque intelligent driving control function of EPS is activated, EPS limits the amplitude and slope of the ADAS request torque, and EPS executes the requested torque after the limit; When the torque intelligent driving control function of EPS is activated and the function mode of ADAS is driving function, EPS inverts the driver's hand force and calculates the value of the driver's hand force compensation force according to the vehicle speed and the driver's hand force. EPS executes the torque obtained by superimposing the driver's hand force compensation force and the limited requested torque; When the torque intelligent driving control function of EPS is activated and the functional mode of ADAS is parking function, EPS adjusts the vehicle's return coefficient and damping coefficient according to the requested torque of ADAS.

2. The torque intelligent driving control method based on EPS according to claim 1 is characterized in that: The method for activating the torque intelligent driving control function is: Step 1, receiving an ADAS signal and a sensor signal; the ADAS signal includes a request for activation, a request for torque, and a functional mode; the sensor signal includes a driver's hand force, a vehicle speed, and an EPS power assist level; Step 2: When the activation enable request is met, the requested torque is less than the preset threshold, the functional mode is the driving function or the parking function, the driver's hand force is less than the preset hand force threshold, the vehicle speed is less than the preset vehicle speed threshold, and the EPS assist level is greater than the preset assist level threshold, the torque intelligent driving control function is activated.

3. The torque intelligent driving control method based on EPS according to claim 1 is characterized in that: The value of the driver's hand force compensation force is obtained by performing a difference lookup table based on the vehicle speed and the driver's hand force.

4. The torque intelligent driving control method based on EPS according to claim 1 is characterized in that: When the torque intelligent driving control function is activated, the driver's hand force compensation force is limited with a first gradient.

5. The torque intelligent driving control method based on EPS according to claim 4 is characterized in that: When the torque intelligent driving control function is launched, the driver's hand force compensation force is limited with a second gradient.

6. The torque intelligent driving control method based on EPS according to claim 2 is characterized in that: The preset power assist level threshold is the minimum power assist level.

7. The torque intelligent driving control method based on EPS according to claim 2 is characterized in that: The preset power assist level threshold is the maximum power assist level.

8. The torque intelligent driving control method based on EPS according to claim 7 is characterized in that: When the EPS assist level is less than the maximum assist level and greater than the minimum assist level, the EPS feeds back torque intelligent driving control function to ADAS and is in an under-assist activation state.

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