Steering control method, device and system

Abstract

The invention discloses a steering control method, device and system, relates to the technical field of automobile control, is applied to a vehicle control unit, and controls the rotating speed of an electric steering oil pump according to the speed of an automobile so as to adjust the flow of the electric steering oil pump. And the driving mode of the automobile is obtained, and the driving mode and the automobile speed are sent to the electro-hydraulic intelligent steering gear assembly, so that the electro-hydraulic intelligent steering gear assembly adjusts the steering assisting force of a steering wheel according to the driving mode and the automobile speed under the flow. The vehicle control unit can dynamically adjust the rotating speed of the electric steering oil pump according to the vehicle speed, so that the flow of the electric steering oil pump is adjusted, control and adjustment of the steering force are achieved, meanwhile, the electro-hydraulic intelligent steering gear assembly can adjust the steering assisting force of the steering wheel in the driving mode and the vehicle speed under the flow, and the steering efficiency is improved. Therefore, the steering force can be adjusted at different vehicle speeds, a driver can better operate a steering system, the situation that the steering force is too light at a high speed is avoided, and meanwhile energy consumption can be reduced.

Description

Technical Field

[0001] The present application relates to the field of automobile control technology, and in particular to a steering control method, device and system. Background Art

[0002] With the continuous advancement of electrification, the user demand for steering systems related to driving in electric commercial vehicles has become more obvious. How to make the driver's control of the steering system more convenient while also reflecting the fun of driving has become a key issue of concern.

[0003] Currently, in the steering system, the electric steering oil pump usually operates at a constant speed, and the flow of the electric steering oil pump is also constant, which will cause the problem of steering force being too light at high speed. At the same time, the constant flow of the electric steering oil pump will also increase its energy consumption. Summary of the invention

[0004] In view of the above problems, the present application provides a steering control method, device and system to achieve the purpose of dynamically adjusting the flow rate of the electric steering oil pump according to the vehicle speed. The specific scheme is as follows:

[0005] A first aspect of the present application provides a steering control method, which is applied to a vehicle controller, and the steering control method includes:

[0006] Controlling the rotation speed of the electric steering oil pump according to the speed of the vehicle to adjust the flow rate of the electric steering oil pump;

[0007] The driving mode of the automobile is obtained, and the driving mode and the vehicle speed are sent to the electro-hydraulic intelligent steering gear assembly, so that the electro-hydraulic intelligent steering gear assembly adjusts the steering force assistance of the steering wheel according to the driving mode and the vehicle speed under the flow rate.

[0008] In a possible implementation, controlling the rotation speed of the electric steering oil pump according to the vehicle speed includes:

[0009] When the vehicle is powered on at high voltage, controlling the electric steering oil pump to run at a first speed through a steering DC-AC converter;

[0010] When the running time of the electric steering oil pump at the first speed reaches a preset time, collecting the current speed of the vehicle;

[0011] When the current vehicle speed satisfies a preset stationary condition, collecting current gear shift information of the vehicle;

[0012] If the current gear shift information is the parking mode or the N gear, the electric steering oil pump is controlled to operate at a second speed through the steering DC / AC converter, and the second speed is less than the first speed;

[0013] If the current gear shift information is not the parking mode or the N gear, the electric steering oil pump is controlled to operate at a third speed through the steering DC / AC converter, and the third speed is less than the first speed and greater than the second speed;

[0014] When the current vehicle speed does not meet the preset stationary condition, a fourth speed is determined according to the speed range in which the current vehicle speed is located, and the electric steering oil pump is controlled to operate at the fourth speed through the steering DC-AC converter, and the vehicle speed range is negatively correlated with the fourth speed.

[0015] In a possible implementation, determining the fourth speed according to the vehicle speed interval in which the current vehicle speed is located includes:

[0016] When the current vehicle speed is switched from the first vehicle speed interval to the second vehicle speed interval, determining the node vehicle speeds between the first vehicle speed interval and the second vehicle speed interval;

[0017] Calculating a vehicle speed difference between the current vehicle speed and the node vehicle speed;

[0018] Determining whether the vehicle speed difference is greater than a preset difference threshold;

[0019] If so, determining the fourth speed according to the second vehicle speed range;

[0020] If not, the fourth speed is determined according to the first vehicle speed range.

[0021] In a possible implementation, controlling the rotation speed of the electric steering oil pump according to the vehicle speed further includes:

[0022] In the event of a failure in communication with the steering DC / AC converter, the electric steering oil pump is controlled by the steering DC / AC converter to operate at the first speed.

[0023] A second aspect of the present application provides a steering control device, which is applied to a vehicle controller, and includes:

[0024] A speed control module, used to control the speed of the electric steering oil pump according to the speed of the vehicle, so as to adjust the flow rate of the electric steering oil pump;

[0025] The sending module is used to obtain the driving mode of the automobile and send the driving mode and the vehicle speed to the electro-hydraulic intelligent steering gear assembly, so that the electro-hydraulic intelligent steering gear assembly adjusts the steering force assistance of the steering wheel according to the driving mode and the vehicle speed under the flow rate.

[0026] In a possible implementation, the speed control module for controlling the speed of the electric steering oil pump according to the speed of the vehicle is specifically used to:

[0027] When the automobile is powered on at high voltage, the electric steering oil pump is controlled to run at a first speed through the steering DC-AC converter; when the running time of the electric steering oil pump at the first speed reaches a preset time, the current vehicle speed of the automobile is collected; when the current vehicle speed meets the preset static condition, the current gear shift information of the automobile is collected; if the current gear shift information is parking mode or N gear, the electric steering oil pump is controlled to run at a second speed through the steering DC-AC converter, and the second speed is less than the first speed; if the current gear shift information is not parking mode or N gear, the electric steering oil pump is controlled to run at a third speed through the steering DC-AC converter, and the third speed is less than the first speed and greater than the second speed; when the current vehicle speed does not meet the preset static condition, a fourth speed is determined according to the vehicle speed range in which the current vehicle speed is located, and the electric steering oil pump is controlled to run at the fourth speed through the steering DC-AC converter, and the vehicle speed range is negatively correlated with the fourth speed.

[0028] A third aspect of the present application provides a steering control method, which is applied to an electro-hydraulic intelligent steering gear assembly, and the steering control method includes:

[0029] Receiving the driving mode and vehicle speed of the vehicle sent by the vehicle controller, wherein the vehicle speed is the basis for the vehicle controller to control the rotation speed of the electric steering oil pump so as to adjust the flow rate of the electric steering oil pump;

[0030] The steering force assistance of the steering wheel is adjusted according to the driving mode and the vehicle speed at the flow rate.

[0031] In a possible implementation, adjusting the steering force assistance of the steering wheel according to the driving mode and the vehicle speed at the flow rate includes:

[0032] The functional control of the steering force is performed according to the driving mode and the vehicle speed under the flow rate, and the functional control includes at least one of speed-dependent power assistance, active self-centering, inertia compensation, friction compensation, deviation compensation, road interference suppression compensation, damping compensation, high-frequency gain compensation, phase compensation, terminal protection gain compensation, overload protection, overheating protection, power management and internal heat protection of the motor.

[0033] A fourth aspect of the present application provides a steering control device, which is applied to an electro-hydraulic intelligent steering gear assembly, and includes:

[0034] A receiving module, used for receiving the driving mode and vehicle speed of the vehicle sent by the vehicle controller, wherein the vehicle speed is the basis for the vehicle controller to control the rotation speed of the electric steering oil pump so as to adjust the flow rate of the electric steering oil pump;

[0035] The steering force adjustment module is used to adjust the steering force assistance of the steering wheel according to the driving mode and the vehicle speed under the flow rate.

[0036] The fifth aspect of the present application provides a steering control system, which includes: a vehicle controller and an electro-hydraulic intelligent steering gear assembly, the vehicle controller is used to execute the steering control method of the first aspect or any implementation of the first aspect, and the electro-hydraulic intelligent steering gear assembly is used to execute the steering control method of the third aspect or any implementation of the third aspect.

[0037] By means of the above technical scheme, a steering control method, device and system provided in the present application are applied to the vehicle controller, and the rotation speed of the electric steering oil pump is controlled according to the vehicle speed to adjust the flow rate of the electric steering oil pump; the driving mode of the vehicle is obtained, and the driving mode and vehicle speed are sent to the electro-hydraulic intelligent steering gear assembly, so that the electro-hydraulic intelligent steering gear assembly can adjust the steering force assistance of the steering wheel according to the driving mode and vehicle speed under the flow rate. In the present application, the vehicle controller can dynamically adjust the rotation speed of the electric steering oil pump according to the vehicle speed, thereby adjusting the flow rate of the electric steering oil pump to achieve control and regulation of the steering force. At the same time, the electro-hydraulic intelligent steering gear assembly can adjust the steering force assistance of the steering wheel according to the driving mode and vehicle speed under the flow rate, thereby achieving adjustable steering force at different vehicle speeds, so that the driver can better operate the steering system, avoid the steering force being too light at high speed, and reduce energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0039] Figure 1 A schematic diagram of the structure of a steering control system provided in an embodiment of the present application;

[0040] Figure 2 A schematic diagram of a flow chart of a steering control method provided in an embodiment of the present application;

[0041] Figure 3 A partial flow chart of a steering control method provided in an embodiment of the present application;

[0042] Figure 4 A schematic diagram of another part of the flow chart of a steering control method provided in an embodiment of the present application;

[0043] Figure 5 A schematic diagram of the structure of a steering control device provided in an embodiment of the present application;

[0044] Figure 6 Another schematic diagram of a flow chart of a steering control method provided in an embodiment of the present application;

[0045] Figure 7 A schematic structural diagram of a steering control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] The following describes the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. The terms used in the implementation method section of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application.

[0047] The embodiments of the present application are described below in conjunction with the accompanying drawings. Those skilled in the art will appreciate that, with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0048] The terms "first", "second" etc. in the specification of the application and the above-mentioned drawings are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable in appropriate circumstances, and this is only to describe the distinction mode adopted by the objects of the same attributes when describing in the embodiments of the application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0049] Electro-hydraulic intelligent steering assembly: an electro-hydraulic intelligent steering gear is used, and the power assist of the motor is amplified through the worm gear structure on the electro-hydraulic intelligent steering gear, so that when the hydraulic steering gear assists, the electronic control part can control and adjust the steering force according to the vehicle speed. The assembly mainly uses the hydraulic system to provide power assistance to the steering gear, and the electronic control part adjusts the steering force through the control strategy. In this application, the steering force is associated with the vehicle speed, and at the same time, it can also meet the steering force requirements of the entire vehicle. The electronic control part monitors and feedbacks the steering force, controls the size of the steering force, and realizes that the steering force changes with the vehicle speed.

[0050] See also Figure 1 , Figure 1 A schematic diagram of the structure of a steering control system provided in an embodiment of the present application. Figure 1As shown, the steering control system includes a vehicle controller A and an electro-hydraulic intelligent steering gear assembly B. The vehicle controller A controls the speed of the electric steering oil pump according to different vehicle speeds, thereby adjusting the flow of the electric steering oil pump, realizing the flow change of the electric steering oil pump at different vehicle speeds, thereby realizing the control and regulation of the steering force; the electro-hydraulic intelligent steering gear assembly B synchronously adjusts the steering force assistance. This can achieve adjustable steering force at different vehicle speeds to meet the driver's demand for steering force.

[0051] See also Figure 2 , Figure 2 A schematic diagram of a steering control method provided in an embodiment of the present application. Figure 2 As shown, a steering control method provided in an embodiment of the present application is applied to a vehicle controller A and may include steps S101 to S102, and these steps are described in detail below.

[0052] S101, controlling the rotation speed of the electric steering oil pump according to the vehicle speed to adjust the flow rate of the electric steering oil pump.

[0053] In an embodiment of the present application, the current motion state of the vehicle, such as idling, low speed or high speed, can be determined based on the vehicle speed, so that the speed of the electric steering oil pump can be controlled through a DC-AC converter, so that the flow rate of the electric steering oil pump can be dynamically adjusted with the vehicle speed.

[0054] See also Figure 3 , Figure 3 A partial flow chart of a steering control method provided in an embodiment of the present application. Figure 3 As shown, an embodiment of the present application provides a steering control method, wherein "controlling the rotation speed of the electric steering oil pump according to the speed of the vehicle" in step S101 may include steps S1011 to S1016, and these steps are described in detail below.

[0055] S1011, when the vehicle is powered on at high voltage, controlling the electric steering oil pump to operate at a first speed through the steering DC-AC converter.

[0056] In an embodiment of the present application, after the automobile is powered on at high voltage, the electric steering oil pump can be controlled to operate at a first speed through the steering DC-AC converter. For example, the first speed can be 1500r / min, and the output frequency of the steering DC-AC converter is 100HZ.

[0057] S1012: When the operating time of the electric steering oil pump at the first speed reaches a preset time, the current speed of the vehicle is collected.

[0058] In an embodiment of the present application, the electric steering oil pump is controlled to operate at a first speed within a preset time. Continuing with the example, the preset time may be 5S, that is, after the high voltage of the vehicle is powered on, the output frequency of the steering DC-AC converter may be 100HZ within the first 5S to control the speed of the electric steering oil pump to be maintained at 1500r / min.

[0059] Until the running time of the electric steering oil pump at the first speed reaches a preset time, the current speed of the vehicle is collected, and it is determined whether the current speed meets the preset stationary condition. For example, the preset stationary condition may be less than 0.1km / h. After the vehicle is powered on with high voltage for 5S, the current speed of the vehicle may be collected, and it is determined whether the current speed is less than 0.1km / h. If the current speed is less than 0.1km / h, it is determined that the current speed meets the preset stationary condition. Otherwise, if the current speed is greater than or equal to 0.1km / h, it is determined that the current speed does not meet the preset stationary condition.

[0060] S1013, when the current vehicle speed meets the preset stationary condition, collecting the current gear shifting information of the vehicle.

[0061] In the embodiment of the present application, when the current vehicle speed meets the preset stationary condition, the current gear shift information of the vehicle is collected, and the current gear shift information includes the gear shift signal of the driver's gear shift operation.

[0062] S1014: If the current gear shift information is the parking mode or the N gear, the electric steering oil pump is controlled to operate at a second speed through the steering DC-AC converter, and the second speed is less than the first speed.

[0063] In an embodiment of the present application, if the current gear shift information is parking mode or N gear, it means that the vehicle is currently in idle state. At this time, the electric steering oil pump can be controlled to operate at a second speed through the steering DC-AC converter. For example, the second speed can be 800 r / min. At this time, the output frequency of the steering DC-AC converter is 53.3HZ, which can reduce energy consumption at idle.

[0064] S1015: If the current gear shift information is not the parking mode or the N gear, the electric steering oil pump is controlled to operate at a third speed through the steering DC-AC converter, where the third speed is less than the first speed and greater than the second speed.

[0065] In an embodiment of the present application, if the current gear shift information is neither parking mode nor N gear, it means that the vehicle is currently in a state between idling and moving. At this time, the electric steering oil pump can be controlled to operate at a third speed through the steering DC-AC converter. For example, the third speed can be 1200 r / min, and the output frequency of the steering DC-AC converter is 80HZ.

[0066] S1016, when the current vehicle speed does not meet the preset stationary condition, determine the fourth speed according to the speed range in which the current vehicle speed is located, and control the electric steering oil pump to operate at the fourth speed through the steering DC-AC converter, and the vehicle speed range is negatively correlated with the fourth speed.

[0067] In the embodiment of the present application, the electric steering oil pump is pre-configured with corresponding speeds in different vehicle speed ranges. If the current vehicle speed does not meet the preset static condition, that is, the vehicle is in a low-speed or high-speed moving state, the fourth speed can be determined according to the vehicle speed range in which the current vehicle speed is located, and the electric steering oil pump is controlled to operate at the fourth speed through the steering DC-AC converter.

[0068] For example, when the current vehicle speed is in the speed range (0, 30km / h], the fourth speed can be 1500 r / min, and the output frequency of the steering DC-AC converter is 100HZ; when the current vehicle speed is in the speed range (30 km / h, 60 km / h], the fourth speed can be 1500 r / min, and the output frequency of the steering DC-AC converter is 100HZ; when the current vehicle speed is in the speed range (60 km / h, 90km / h], the fourth speed can be 1200 r / min, and the output frequency of the steering DC-AC converter is 80HZ; when the current vehicle speed is in the speed range (90 km / h, maximum speed], the fourth speed can be 1000 r / min, and the output frequency of the steering DC-AC converter is 66.7HZ.

[0069] In a possible implementation, the speed fluctuation of the electric steering oil pump can be reduced by setting a vehicle speed buffer, thereby improving the driver's operating feel and reducing energy consumption. Figure 4 , Figure 4 This is another partial flow chart of a steering control method provided in an embodiment of the present application. Figure 4 As shown, an embodiment of the present application provides a steering control method, wherein in step S1016 "determine the fourth speed according to the speed range in which the current vehicle speed is located", may include steps S10161 to S10165, and these steps are described in detail below.

[0070] S10161: When the current vehicle speed is switched from the first vehicle speed interval to the second vehicle speed interval, a node vehicle speed between the first vehicle speed interval and the second vehicle speed interval is determined.

[0071] In the embodiment of the present application, if the current vehicle speed is switched from the first speed interval to the second speed interval, the node speeds of the first speed interval and the second speed interval are determined. For example, assuming that when the car accelerates, the current vehicle speed switches from the speed interval (0, 30 km / h] to the speed interval (30 km / h, 60 km / h], then the node speed is 30 km / h. Continuing with the example, assuming that when the car decelerates, the current vehicle speed switches from the speed interval (60 km / h, 90 km / h] to the speed interval (30 km / h, 60 km / h], then the node speed is 60 km / h.

[0072] S10162, calculating the vehicle speed difference between the current vehicle speed and the node vehicle speed.

[0073] In the embodiment of the present application, for example, assuming that the current vehicle speed switches from (0, 30 km / h] to (30 km / h, 60 km / h] when the car accelerates, the difference between the current vehicle speed and the node speed (30 km / h) is calculated as the vehicle speed difference; assuming that the current vehicle speed switches from (60 km / h, 90 km / h] to (30 km / h, 60 km / h] when the car decelerates, the difference between the current vehicle speed and the node speed (60 km / h) is calculated as the vehicle speed difference. It should be noted that the vehicle speed difference is a positive value.

[0074] S10163, determine whether the vehicle speed difference is greater than a preset difference threshold; if so, execute step S10164; if not, execute step S10165.

[0075] In an embodiment of the present application, it is determined whether the vehicle speed difference is greater than a preset difference threshold. For example, the preset difference threshold may be 8 km / h. If the vehicle speed difference is greater than 8 km / h, step S10164 is executed. Otherwise, if the vehicle speed difference is less than or equal to 8 km / h, step S10165 is executed.

[0076] S10164: Determine a fourth speed according to the second vehicle speed range.

[0077] In the embodiment of the present application, for example, assuming that the current vehicle speed is switched from the speed interval (0, 30 km / h] to the speed interval (30 km / h, 60 km / h] when the car is accelerating, if the speed difference between the current vehicle speed and the node speed (30 km / h) is greater than 8 km / h (that is, the current vehicle speed is at least 8 km / h higher than 30 km / h), then the fourth speed is determined to be 1500 r / min according to the speed interval (30 km / h, 60 km / h); assuming that the current vehicle speed is switched from the speed interval (60 km / h, 90 km / h] to the speed interval (30 km / h, 60 km / h] when the car is decelerating, if the speed difference between the current vehicle speed and the node speed (30 km / h) is greater than 8 km / h (that is, the current vehicle speed is at least 8 km / h lower than 60 km / h), then the fourth speed is determined to be 1500 r / min according to the speed interval (30 km / h, 60 km / h].

[0078] S10165: Determine a fourth speed according to the first vehicle speed range.

[0079] In the embodiment of the present application, for example, assuming that the current vehicle speed is switched from the speed interval (0, 30 km / h] to the speed interval (30 km / h, 60 km / h] when the car is accelerating, if the speed difference between the current vehicle speed and the node speed (30 km / h) is less than or equal to 8 km / h (that is, the current vehicle speed is higher than 30 km / h but not more than 8 km / h), then the fourth speed is determined to be 1500 r / min according to the speed interval (0, 30 km / h); assuming that the current vehicle speed is switched from the speed interval (60 km / h, 90 km / h] to the speed interval (30 km / h, 60 km / h] when the car is decelerating, if the speed difference between the current vehicle speed and the node speed (30 km / h) is less than or equal to 8 km / h (that is, the current vehicle speed is lower than 60 km / h but not more than 8 km / h), then the fourth speed is determined to be 1200 r / min according to the speed interval (60 km / h, 90 km / h].

[0080] Therefore, the embodiment of the present application can achieve that when the car accelerates, the output frequency is allowed to change to the next node only after it exceeds the node speed by 8 km / h, and when the car decelerates, the output frequency is allowed to change to the next node only after it falls below the node speed by 8 km / h.

[0081] The vehicle controller A communicates with the steering DC-AC converter using CAN (Controller Area Network), so when the CAN communication is valid, the vehicle controller A can adjust the speed of the electric steering oil pump in real time through the steering DC-AC converter. In one possible implementation, if the CAN communication fails, the steering DC-AC converter can forcibly control the electric steering oil pump to work to ensure the normal operation of the vehicle steering. In this regard, an embodiment of the present application provides a steering control method, in which "controlling the speed of the electric steering oil pump according to the speed of the vehicle" in step S101 also includes the following steps:

[0082] In case of failure of communication with the steering DC-AC converter, the electric steering oil pump is controlled to run at a first speed through the steering DC-AC converter.

[0083] In the embodiment of the present application, when the steering DC-AC converter detects that the CAN communication between it and the vehicle controller A fails, it can control the electric steering oil pump to run at a constant speed (for example, 1500 r / min) to ensure the normal operation of the vehicle steering.

[0084] S102, obtaining a driving mode of the vehicle, and sending the driving mode and the vehicle speed to the electro-hydraulic intelligent steering gear assembly, so that the electro-hydraulic intelligent steering gear assembly adjusts the steering force assistance of the steering wheel according to the driving mode and the vehicle speed under flow.

[0085] In an embodiment of the present application, a driving mode of the car is obtained, and the driving mode is used to characterize the driver's demand for steering force. At this time, the driving mode and the vehicle speed can be sent to the electro-hydraulic intelligent steering gear assembly so that the electro-hydraulic intelligent steering gear assembly can adjust the steering force assistance of the steering wheel under the flow rate of the electric steering oil pump.

[0086] Specifically, the electro-hydraulic intelligent steering gear assembly performs functional control of steering force according to the driving mode and vehicle speed under the flow of the electric steering oil pump. The functional control includes at least one of speed-dependent power assistance, active return, inertia compensation, friction compensation, deviation compensation, road interference suppression compensation, damping compensation, high-frequency gain compensation, phase compensation, terminal protection gain compensation, overload protection, overheating protection, power management and internal thermal protection of the motor.

[0087] The following are explanations of speed-dependent power assistance, active return, inertia compensation, friction compensation, deviation compensation, road disturbance suppression compensation, damping compensation, high-frequency gain compensation, phase compensation, terminal protection gain compensation, overload protection, overheating protection, power management and motor internal thermal protection:

[0088] 1) Speed-dependent power assist. The electro-hydraulic intelligent steering gear assembly obtains the steering wheel hand torque from the torque angle sensor, and outputs the speed-dependent power assist torque by table lookup method according to the steering wheel hand torque, driving mode and vehicle speed. The speed-dependent power assist torque has a direction and represents whether the steering wheel turns left or right.

[0089] 2) Active return. On the one hand, the electro-hydraulic intelligent steering gear assembly determines the first active return coefficient by table lookup according to the driving mode and vehicle speed; on the other hand, it obtains the steering wheel hand torque, steering wheel angle and steering wheel angle rate from the torque angle sensor to determine the second active return coefficient by table lookup; the first active return coefficient and the second active return coefficient are used to calculate the comprehensive active return coefficient, which is the sum of the first active return coefficient and the second active return coefficient; the calibration value of the active return torque is obtained, the calibration value is corrected by the comprehensive active return coefficient, and the actual active return torque is output with a limited amplitude.

[0090] 3) Inertia compensation. Obtain the motor speed from the motor sensor; calculate the motor angular velocity based on the vehicle speed and the motor speed; calculate the superimposed vehicle speed coefficient by performing inertia compensation on the motor angular velocity; calculate the inertia compensation torque using the motor angular acceleration and the superimposed vehicle speed coefficient, and output the actual inertia compensation torque with a limited amplitude. This reduces the effect of motor inertia on steering wheel rotation. In actual applications, inertia compensation is achieved by performing phase compensation through a compensated proportional-differential transfer function. The implementation method of each step can be set according to the actual scenario, and the embodiments of this application do not limit this.

[0091] 4) Friction compensation. The electro-hydraulic intelligent steering gear assembly obtains the steering wheel hand torque from the torque angle sensor, and outputs the torque gain by table lookup according to the vehicle speed and the steering wheel hand torque; determines the vehicle speed coefficient that matches the vehicle speed, and calculates the friction compensation torque according to the vehicle speed coefficient and the torque gain. In practical applications, friction compensation is mainly used to offset the friction between steering mechanisms. The implementation method of each step can be set according to the actual scenario, and the embodiments of this application do not limit this.

[0092] 5) Deviation compensation. The electro-hydraulic intelligent steering gear assembly obtains the relative vehicle speed and yaw rate of each wheel from the brake controller, and determines whether the deviation enabling conditions are met based on the relative vehicle speed and yaw rate of each wheel; if they are met, the steering wheel hand torque, steering wheel angle and steering wheel angle rate are obtained from the torque angle sensor; the deviation compensation coefficient is determined by the table lookup method based on the vehicle speed, steering wheel angle and steering wheel angle rate, and the steering wheel hand torque is corrected using the deviation compensation coefficient, and the deviation compensation torque is output with a limited amplitude. This reduces the impact of vehicle deviation on steering wheel rotation.

[0093] 6) Road disturbance suppression compensation. The steering wheel hand torque is obtained from the torque angle sensor of the electro-hydraulic intelligent steering gear assembly, and the steering wheel hand torque is high-pass filtered; the high-frequency gain coefficient is determined according to the vehicle speed, and the high-frequency gain coefficient is used to correct the high-pass filtering result of the steering wheel hand torque, and the road disturbance suppression torque is output with limited amplitude. In this way, the influence of road bumps and vibrations on the steering wheel rotation is reduced.

[0094] 7) Damping compensation. The electro-hydraulic intelligent steering gear assembly determines the first damping vehicle speed coefficient by table lookup method according to the driving mode and vehicle speed. On the other hand, it obtains the steering wheel hand torque and steering wheel angle from the torque angle sensor to determine the second damping vehicle speed coefficient by table lookup method. The first damping vehicle speed coefficient and the second damping vehicle speed coefficient are used to calculate the comprehensive damping vehicle speed coefficient, which is the product of the first damping vehicle speed coefficient and the second damping vehicle speed coefficient. The motor speed is obtained from the motor sensor, and the fitting coefficient of the comprehensive damping vehicle speed coefficient and the motor speed is calculated. The calibrated value of the damping compensation torque is obtained, the calibrated value is corrected by the fitting coefficient, and the actual damping compensation torque is output with a limited amplitude.

[0095] 8) High-frequency gain compensation. The electro-hydraulic intelligent steering gear assembly obtains the steering wheel hand torque from the torque angle sensor, and determines the high-frequency gain coefficient by table lookup according to the vehicle speed and steering wheel hand torque; obtains the calibration value of the filter parameter, corrects the parameter value with the high-frequency gain coefficient, and limits the actual filter parameter; obtains the speed-dependent power-assist torque, and calculates the high-frequency gain torque using the actual filter parameter and the speed-dependent power-assist torque. The high-frequency gain torque is the product of the actual filter parameter and the speed-dependent power-assist torque. This is to filter out the influence of high-frequency factors such as road surface and vehicle vibration on steering wheel rotation.

[0096] 9) Phase compensation. This is achieved through a lead-lag compensator. In the low frequency band, the amplitude-frequency and phase-frequency characteristics of the original system are not affected as much as possible. In the medium frequency band, the system gain is reduced. In the high frequency band, the phase-frequency characteristics of the system are improved to obtain a larger phase margin and a phase compensation torque. The electro-hydraulic intelligent steering gear assembly obtains the steering wheel hand torque and the steering wheel angle rate from the torque angle sensor; the target frequency band to which the steering wheel hand torque belongs is determined according to the steering wheel angle rate. The target frequency band is one of the low frequency band, the medium frequency band and the high frequency band; if the target frequency band is the high frequency band, the steering wheel hand torque is processed by the lead-lag compensator to obtain the phase compensation torque. This reduces the impact of fast steering on steering wheel rotation.

[0097] 10) Terminal protection gain compensation. The electro-hydraulic intelligent steering gear assembly obtains the steering wheel angle from the torque angle sensor; determines the terminal protection limit range according to the vehicle speed; if the steering wheel angle is within the terminal protection limit range, determines the terminal protection gain supplement amount corresponding to the steering wheel angle according to the vehicle speed, and the vehicle speed is negatively correlated with the terminal protection gain supplement amount.

[0098] 11) Overload protection. The electro-hydraulic intelligent steering gear assembly obtains the steering wheel hand torque from the torque angle sensor, and determines the motor target torque based on the steering wheel hand torque; the motor target torque is converted into the corresponding target current through the torque current conversion coefficient, and matched with the overload current protection condition to obtain the overload protection level corresponding to the target current. The overload current protection condition includes the overload current protection threshold and the actual value; the motor current limit value is determined according to the overload protection level, the motor current is obtained from the motor sensor, and the motor current is limited with the motor current limit value.

[0099] 12) Overheat protection. The electro-hydraulic intelligent steering gear assembly obtains the MCU (Microcontroller Unit) temperature from the IO (signal input and output); determines the overheat protection assist level (such as full assist, reduced assist, etc.) according to the temperature range to which the MCU temperature belongs; determines the motor current limit value according to the thermal protection assist level, obtains the motor current from the motor sensor, and limits the motor current with the motor current limit value.

[0100] 13) Power management. The electro-hydraulic intelligent steering gear assembly obtains 24V battery voltage from the power supply; determines the power assistance protection level (such as normal, degraded, zero, etc.) according to the 24V battery voltage; determines the motor current limit value according to the power assistance protection level, obtains the motor current from the motor sensor, and limits the motor current with the motor current limit value.

[0101] 14) Internal thermal protection of the motor. The electro-hydraulic intelligent steering gear assembly obtains the motor current and motor speed from the motor sensor, and obtains the MOS (field effect transistor) temperature from the IO; estimates the internal temperature of the motor based on the motor current, motor speed and MOS temperature; determines the motor power assistance protection level (such as full power assistance, reduced power assistance, etc.) based on the internal temperature of the motor; determines the motor current limit value based on the motor power assistance protection level, and limits the motor current with the motor current limit value.

[0102] In addition, when a fault occurs in the electro-hydraulic intelligent steering gear assembly, the fault can be correctly identified and a corresponding fault status signal can be issued to indicate the current fault status.

[0103] Through the above description, the steering control method provided by the embodiment of the present application, the vehicle controller controls the flow of the electric steering oil pump by controlling the speed of the electric steering oil pump. The adjustment of the flow of the electric steering oil pump can optimize the steering force of the steering wheel, making the steering system lighter during operation, and at the same time can reflect the needs of the driver. The hand force is heavier in medium and high speed conditions, which increases the driver's controllability of the vehicle. In addition, through the speed signal sent by the vehicle controller, the electric steering oil pump and the electro-hydraulic intelligent steering gear assembly work together to realize the speed control of the vehicle, increase the intelligent control of the vehicle, and give the driver a better sense of operation of the vehicle's driving performance.

[0104] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of a steering control device provided in an embodiment of the present application. Figure 5 As shown, the steering control device is applied to a vehicle controller A, comprising:

[0105] The speed control module 101 is used to control the speed of the electric steering oil pump according to the speed of the vehicle to adjust the flow rate of the electric steering oil pump;

[0106] The sending module 102 is used to obtain the driving mode of the car and send the driving mode and the vehicle speed to the electro-hydraulic intelligent steering gear assembly, so that the electro-hydraulic intelligent steering gear assembly adjusts the steering force assistance of the steering wheel according to the driving mode and the vehicle speed under the flow rate.

[0107] In a possible implementation, the speed control module 101 for controlling the speed of the electric steering oil pump according to the speed of the vehicle is specifically used for:

[0108] When the vehicle is powered on at high voltage, the electric steering oil pump is controlled to run at a first speed through the steering DC-AC converter; when the running time of the electric steering oil pump at the first speed reaches a preset time, the current vehicle speed is collected; when the current vehicle speed meets the preset stationary condition, the current gear shift information of the vehicle is collected; if the current gear shift information is parking mode or N gear, the electric steering oil pump is controlled to run at a second speed through the steering DC-AC converter, and the second speed is less than the first speed; if the current gear shift information is not parking mode or N gear, the electric steering oil pump is controlled to run at a third speed through the steering DC-AC converter, and the third speed is less than the first speed and greater than the second speed; when the current vehicle speed does not meet the preset stationary condition, the fourth speed is determined according to the speed range in which the current vehicle speed is located, and the electric steering oil pump is controlled to run at the fourth speed through the steering DC-AC converter, and the speed range is negatively correlated with the fourth speed.

[0109] In a possible implementation, the speed control module 101 for determining the fourth speed according to the speed interval in which the current vehicle speed is located is specifically configured to:

[0110] When the current vehicle speed switches from the first speed interval to the second speed interval, determine the node speeds of the first speed interval and the second speed interval; calculate the speed difference between the current vehicle speed and the node speed; determine whether the speed difference is greater than a preset difference threshold; if so, determine the fourth speed according to the second speed interval; if not, determine the fourth speed according to the first speed interval.

[0111] In a possible implementation, the speed control module 101 for controlling the speed of the electric steering oil pump according to the speed of the vehicle is further used to:

[0112] In case of failure of communication with the steering DC-AC converter, the electric steering oil pump is controlled to run at a first speed through the steering DC-AC converter.

[0113] It should be noted that the detailed functions of each module in the embodiment of the present application can be found in the corresponding disclosed part of the above-mentioned steering control method embodiment, and will not be repeated here.

[0114] The above introduces a steering control method and device applied to a vehicle controller A provided in an embodiment of the present application. The following will introduce a steering control method and device applied to an electro-hydraulic intelligent steering gear assembly B.

[0115] See also Figure 6 , Figure 6 Another flow chart of a steering control method provided in an embodiment of the present application. Figure 6 As shown, a steering control method provided in an embodiment of the present application is applied to an electro-hydraulic intelligent steering gear assembly B and may include steps S201 to S202, and these steps are described in detail below.

[0116] S201, receiving the driving mode and vehicle speed of the vehicle sent by the vehicle controller. The vehicle speed is the basis for the vehicle controller to control the rotation speed of the electric steering oil pump to adjust the flow rate of the electric steering oil pump.

[0117] S202, adjusts the steering force assistance of the steering wheel according to the driving mode and vehicle speed under traffic conditions.

[0118] In a possible implementation, the above step S202 “adjusting the steering force assistance of the steering wheel according to the driving mode and the vehicle speed under the flow rate” can adopt the following steps:

[0119] The steering force is functionally controlled according to the driving mode and vehicle speed under traffic flow, and the functional control includes at least one of speed-dependent power assistance, active self-centering, inertia compensation, friction compensation, deviation compensation, road interference suppression compensation, damping compensation, high-frequency gain compensation, phase compensation, terminal protection gain compensation, overload protection, overheating protection, power management and internal thermal protection of the motor.

[0120] It should be noted that the specific implementation of each step in the embodiment of the present application can refer to the corresponding disclosed part of the above-mentioned steering control method embodiment applied to the vehicle controller A, which will not be repeated here.

[0121] See also Figure 7 , Figure 7 This is a schematic diagram of the structure of a steering control device provided in an embodiment of the present application. Figure 7 As shown, the steering control device is applied to an electro-hydraulic intelligent steering gear assembly B, comprising:

[0122] The receiving module 201 is used to receive the driving mode and vehicle speed of the vehicle sent by the vehicle controller. The vehicle speed is the basis for the vehicle controller to control the speed of the electric steering oil pump to adjust the flow rate of the electric steering oil pump;

[0123] The steering force adjustment module 202 is used to adjust the steering force assistance of the steering wheel according to the driving mode and the vehicle speed under the flow rate.

[0124] In a possible implementation, the steering force adjustment module 202 is specifically configured to:

[0125] The steering force is functionally controlled according to the driving mode and vehicle speed under traffic flow, and the functional control includes at least one of speed-dependent power assistance, active self-centering, inertia compensation, friction compensation, deviation compensation, road interference suppression compensation, damping compensation, high-frequency gain compensation, phase compensation, terminal protection gain compensation, overload protection, overheating protection, power management and internal thermal protection of the motor.

[0126] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the drawings of the device embodiments provided by the present application, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines.

[0127] Through the description of the above implementation mode, the technicians in the field can clearly understand that the present application can be implemented by means of software plus necessary general hardware, and of course, it can also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components, etc. In general, all functions completed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be various, such as analog circuits, digital circuits or special circuits. However, for the present application, software program implementation is a better implementation mode in more cases. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer floppy disk, a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, etc., including a number of instructions to enable a computer device (which can be a personal computer, a training device, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0128] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0129] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a training device, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, training device, or data center. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device, a data center, etc. that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

Claims

1. A steering control method, characterized in that: The steering control method is applied to a vehicle controller, and the steering control method comprises: Controlling the rotation speed of the electric steering oil pump according to the speed of the vehicle to adjust the flow rate of the electric steering oil pump; The driving mode of the automobile is obtained, and the driving mode and the vehicle speed are sent to the electro-hydraulic intelligent steering gear assembly, so that the electro-hydraulic intelligent steering gear assembly adjusts the steering force assistance of the steering wheel according to the driving mode and the vehicle speed under the flow rate.

2. The steering control method according to claim 1, characterized in that: The method of controlling the rotation speed of the electric steering oil pump according to the vehicle speed comprises: When the vehicle is powered on at high voltage, controlling the electric steering oil pump to run at a first speed through a steering DC-AC converter; When the running time of the electric steering oil pump at the first speed reaches a preset time, collecting the current speed of the vehicle; When the current vehicle speed satisfies a preset stationary condition, collecting current gear shift information of the vehicle; If the current gear shift information is the parking mode or the N gear, the electric steering oil pump is controlled to operate at a second speed through the steering DC / AC converter, and the second speed is less than the first speed; If the current gear shift information is not the parking mode or the N gear, the electric steering oil pump is controlled to operate at a third speed through the steering DC / AC converter, and the third speed is less than the first speed and greater than the second speed; When the current vehicle speed does not meet the preset stationary condition, a fourth speed is determined according to the speed range in which the current vehicle speed is located, and the electric steering oil pump is controlled to operate at the fourth speed through the steering DC-AC converter, and the vehicle speed range is negatively correlated with the fourth speed.

3. The steering control method according to claim 2, characterized in that: The determining the fourth speed according to the vehicle speed interval in which the current vehicle speed is located includes: When the current vehicle speed is switched from the first vehicle speed interval to the second vehicle speed interval, determining the node vehicle speeds between the first vehicle speed interval and the second vehicle speed interval; Calculating a vehicle speed difference between the current vehicle speed and the node vehicle speed; Determining whether the vehicle speed difference is greater than a preset difference threshold; If so, determining the fourth speed according to the second vehicle speed range; If not, the fourth speed is determined according to the first vehicle speed range.

4. The steering control method according to claim 2, characterized in that: The method of controlling the rotation speed of the electric steering oil pump according to the vehicle speed also includes: In the event of a failure in communication with the steering DC / AC converter, the electric steering oil pump is controlled by the steering DC / AC converter to operate at the first speed.

5. A steering control device, characterized in that: The steering control device is applied to a vehicle controller, and the steering control device comprises: A speed control module, used to control the speed of the electric steering oil pump according to the speed of the vehicle, so as to adjust the flow rate of the electric steering oil pump; The sending module is used to obtain the driving mode of the automobile and send the driving mode and the vehicle speed to the electro-hydraulic intelligent steering gear assembly, so that the electro-hydraulic intelligent steering gear assembly adjusts the steering force assistance of the steering wheel according to the driving mode and the vehicle speed under the flow rate.

6. The steering control device according to claim 5, characterized in that: The speed control module for controlling the speed of the electric steering oil pump according to the speed of the vehicle is specifically used for: When the automobile is powered on at high voltage, the electric steering oil pump is controlled to run at a first speed through a steering DC-AC converter; when the running time of the electric steering oil pump at the first speed reaches a preset time, the current speed of the automobile is collected; when the current speed meets a preset stationary condition, the current gear shift information of the automobile is collected; If the current gear shift information is the parking mode or the N gear, the electric steering oil pump is controlled to operate at a second speed through the steering DC / AC converter, and the second speed is less than the first speed; If the current gear shift information is not the parking mode or the N gear, the electric steering oil pump is controlled by the steering DC-AC converter to operate at a third speed, and the third speed is less than the first speed and greater than the second speed; when the current vehicle speed does not meet the preset stationary condition, the fourth speed is determined according to the speed range in which the current vehicle speed is located, and the electric steering oil pump is controlled by the steering DC-AC converter to operate at the fourth speed, and the vehicle speed range is negatively correlated with the fourth speed.

7. A steering control method, characterized in that: The steering control method is applied to an electro-hydraulic intelligent steering gear assembly, and the steering control method includes: Receiving the driving mode and vehicle speed of the vehicle sent by the vehicle controller, wherein the vehicle speed is the basis for the vehicle controller to control the rotation speed of the electric steering oil pump so as to adjust the flow rate of the electric steering oil pump; The steering force assistance of the steering wheel is adjusted according to the driving mode and the vehicle speed at the flow rate.

8. The steering control method according to claim 7, characterized in that: The step of adjusting the steering force assistance of the steering wheel according to the driving mode and the vehicle speed at the flow rate includes: The functional control of the steering force is performed according to the driving mode and the vehicle speed under the flow rate, and the functional control includes at least one of speed-dependent power assistance, active self-centering, inertia compensation, friction compensation, deviation compensation, road interference suppression compensation, damping compensation, high-frequency gain compensation, phase compensation, terminal protection gain compensation, overload protection, overheating protection, power management and internal heat protection of the motor.

9. A steering control device, characterized in that: The steering control device is applied to an electro-hydraulic intelligent steering gear assembly, and the steering control device comprises: A receiving module, used for receiving the driving mode and vehicle speed of the vehicle sent by the vehicle controller, wherein the vehicle speed is the basis for the vehicle controller to control the rotation speed of the electric steering oil pump so as to adjust the flow rate of the electric steering oil pump; The steering force adjustment module is used to adjust the steering force assistance of the steering wheel according to the driving mode and the vehicle speed under the flow rate.

10. A steering control system, characterized in that: The steering control system includes: a vehicle controller and an electro-hydraulic intelligent steering gear assembly, the vehicle controller is used to execute the steering control method described in any one of claims 1 to 4, and the electro-hydraulic intelligent steering gear assembly is used to execute the steering control method described in any one of claims 7 to 8.

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