Steering control method and system, computer readable storage medium and vehicle
By applying compensation torque to the steering wheel when the vehicle's tires explode, the vehicle's driving deviation caused by inertia steering is solved, and driving safety guarantees are achieved in the case of tires exploded.
Patent Information
- Application Number
- CN202411931521.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-25
- Publication Date
- 2025-02-21
AI Technical Summary
When the vehicle wheels explode, the vehicle may panic due to inertial steering or operate unconsciously for a short period of time, which will lead to serious driving deviations and safety accidents.
When the vehicle wheels explode, compensated torque is applied to the steering wheel, so that the vehicle can maintain its original driving direction or safe driving direction as much as possible, thus gaining valuable time for the driver and ensuring the safety of the vehicle's driving.
Through torque compensation technology, the steering wheel can be automatically kept in a safe target position when the vehicle wheels explode, reducing the risk of driving deviation and improving driving safety.
Smart Images
Figure CN119489867A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of vehicle steering technology, and in particular to a steering control method for a vehicle, a steering system for a vehicle, a steering control system for a vehicle, a computer-readable storage medium, and a vehicle. Background Art
[0002] The vehicle's steering system is an important part of the vehicle's driving system, and is closely related to the vehicle's handling stability, comfort and driving safety.
[0003] When driving a vehicle, the driver controls the steering wheel to make the vehicle move in a predetermined direction. However, when a tire of a vehicle blew, the vehicle would turn toward the side of the blew tire due to inertia. At this time, the driver might not react due to panic or unconsciously control the steering wheel for a short period of time, which would cause the vehicle to deviate seriously or even roll over, causing a driving safety accident. Summary of the invention
[0004] Based on this, the purpose of this application is to provide a technical solution that can improve the driving safety of a vehicle when a tire blows out, wherein, by applying a compensating torque to the steering wheel of the vehicle when a tire blows out, the vehicle can maintain its original driving direction or a safe driving direction as much as possible, thereby gaining precious time for the driver to safely take over the vehicle, thereby ensuring the safety of the vehicle's driving.
[0005] In order to achieve the above-mentioned objectives, the first aspect of the present application provides a steering control method for a vehicle, especially a dual-wheel track vehicle, the method comprising: entering a torque compensation mode when detecting a tire blowout on one side of the vehicle, especially a tire blowout on one side of the steering wheel, wherein in the torque compensation mode, the target position of the steering wheel of the vehicle is determined and the following steps are repeated at least once until the torque compensation mode is exited: obtaining the current actual position of the steering wheel; determining the current compensation torque based on the difference between the target position and the current actual position; and outputting a control instruction for applying the current compensation torque to the steering wheel so that the steering wheel rotates toward the target position.
[0006] In some embodiments, determining the target position of the steering wheel of the vehicle may include: obtaining the actual position of the steering wheel before the tire blowout at a moment before the actual occurrence of a single-sided wheel tire blowout; obtaining the offset of the steering wheel caused by the single-sided wheel tire blowout; and determining the target position of the steering wheel based on the actual position of the steering wheel before the tire blowout and the offset.
[0007] In some embodiments, a tire blowout sensor may be used to detect whether a single-sided tire blowout occurs on the vehicle; wherein, in the torque compensation mode, the moment before the single-sided tire blowout actually occurs may be determined based on the moment when the tire blowout sensor detects the single-sided tire blowout and its detection delay.
[0008] In some embodiments, obtaining the steering wheel offset caused by a single-sided tire blowout may include: obtaining the vehicle speed just before the single-sided tire blowout actually occurs; and obtaining the offset based on the vehicle speed and a preset calibration curve, wherein the preset calibration curve is a curve showing the relationship between the steering wheel offset and the vehicle speed when a single-sided tire blowout occurs and the steering wheel is not subjected to any intervention.
[0009] In some embodiments, determining the current compensation torque based on the difference between the target position and the current actual position may include: determining the current compensation torque as the product of the difference and a preset coefficient, wherein the preset coefficient is obtained by calibration.
[0010] In some embodiments, in the torque compensation mode, if the current actual position of the steering wheel exceeds the target position, the current compensation torque may be set to zero.
[0011] In some embodiments, the torque compensation mode may be exited if one of the following conditions is met in the torque compensation mode: the torque compensation mode lasts for a preset time, preferably the preset time is obtained by calibration; and a tire blowout is detected on the other side of the vehicle.
[0012] In some embodiments, when exiting the torque compensation mode, the current compensation torque determined at the exiting moment may be applied to the steering wheel in a manner of gradually or stepwise decreasing to zero, in particular, gradually decreasing to zero with a preset slope.
[0013] In some embodiments, the method may further include: after exiting the torque compensation mode, if a tire blowout of the vehicle is detected again, not entering the torque compensation mode.
[0014] In some embodiments, the torque compensation mode may be entered only once during the current power-on cycle of the vehicle.
[0015] In some embodiments, the torque compensation mode may be entered only when a single-side wheel blowout is detected for the first time in the current power-on cycle.
[0016] A second aspect of the present application provides a steering system for a vehicle, especially a dual-wheel vehicle, the steering system comprising a steering wheel, a motor for providing electric power assistance, and a control device, wherein the control device is configured to implement a method according to the first aspect of the present application and one of its embodiments, so as to control the motor to apply a current compensation torque to the steering wheel in a torque compensation mode.
[0017] The third aspect of the present application provides a steering control system for a vehicle, especially a dual-wheel track vehicle, comprising: one or more processors; and one or more computer-readable memories coupled to the one or more processors, the computer-readable memories being configured to store a series of computer-executable instructions, wherein the series of computer-executable instructions, when executed by the one or more processors, causes the one or more processors to execute the method according to the first aspect of the present application or one of its embodiments.
[0018] The fourth aspect of the present application provides a computer-readable storage medium having computer-readable instructions stored thereon, which, when executed by a processor, cause the processor to implement the various steps of the method according to the first aspect of the present application or one of its embodiments.
[0019] The fifth aspect of the present application provides a vehicle, in particular a dual-track vehicle, which includes a steering system according to the second aspect of the present application or a steering control system according to the third aspect of the present application or a computer-readable storage medium according to the fourth aspect of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] The present application will be more clearly described below in conjunction with the embodiments and drawings. The above advantages and other advantages will become clear to those skilled in the art through the detailed description of the embodiments of the present application. The drawings are only used to illustrate preferred embodiments and should not be considered as limiting the present application. In the drawings:
[0021] Figure 1 A schematic diagram of the structure of a vehicle according to some embodiments of the present application;
[0022] Figure 2 It is a structural schematic diagram of a steering system according to some embodiments of the present application;
[0023] Figure 3 is a curve showing the change of the steering wheel position over time before and after a tire burst according to some embodiments of the present application; and
[0024] Figure 4 It is a schematic flow chart of a steering control method according to some embodiments of the present application. DETAILED DESCRIPTION
[0025] The embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.
[0026] It should be noted that the terms "first\second\third" involved in the embodiments of the present application are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged in a specific order or sequence where permitted.
[0027] Those skilled in the art will understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art to which this application belongs.
[0028] The embodiment of the present application proposes to apply a compensating torque to the steering wheel of the vehicle when a tire of the vehicle blows out, so that the steering wheel can be kept in a safe target position as much as possible within a short period of time after the tire blows out, thereby ensuring safe driving of the vehicle even if the driver temporarily forgets to operate the steering wheel or operates the steering wheel improperly due to panic.
[0029] Reference Figure 1 , Figure 1 A schematic diagram of a vehicle 100 according to some embodiments of the present application is shown. The vehicle 100 is particularly configured as a double-track vehicle, preferably a commercial vehicle. A commercial vehicle can be understood as a vehicle used to transport people and goods, including but not limited to various types of trucks, buses with more than 9 seats, semi-trailer tractors, etc. In the current embodiment, the vehicle 100 is a commercial vehicle, but the embodiments of the present application are not limited thereto and can also be applied to any double-track vehicle.
[0030] like Figure 1 As shown, the vehicle 100 may include a steering wheel (also referred to as a driving wheel) 110, a driven wheel 120, and a steering system 130. The steering system 130 is used to drive the steering wheel 110 to steer, thereby driving the driven wheel 120 to steer.
[0031] The steering system 130 includes a steering wheel 131, a motor 132, and a control device 133. The steering wheel 131 is used for the driver to perform steering operations to input steering hand force or steering torque to the steering system 130; the motor 132 is used to provide electric power assistance; and the control device 133 is configured to control the motor 132 so as to provide auxiliary torque to the steering wheel 131. Here, the control device 133 is particularly configured to control the motor 132 according to the steering control method to be described below.
[0032] In some embodiments, the control device 133 can be hardware, such as a controller or a programmable logic hardware component of the vehicle or its steering system, or software integrated in a controller or a programmable logic hardware component of the vehicle or its steering system.
[0033] As some implementations, the control device 133 can be a steering control system for the vehicle 100, including: one or more processors; and one or more computer-readable memories coupled to the one or more processors, the computer-readable memories being configured to store a series of computer-executable instructions, wherein the series of computer-executable instructions, when executed by the one or more processors, causes the one or more processors to perform the steering control method to be described below.
[0034] In some examples, the processor in the embodiments of the present application may include but is not limited to a central processing unit (CPU), a micro controller unit (MCU), a field programmable gate array (FPGA), a digital signal processor (DSP), and other devices for interpreting computer instructions and processing data in computer software.
[0035] In some examples, the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, and may also include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a ferromagnetic random access memory, a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAMbus random access memory (DRRAM, Direct Rambus Random Access Memory).The memories described in the embodiments of the present application are intended to include, but are not limited to, these and any other suitable types of memories.
[0036] Furthermore, the control device 133 may also include a communication interface, which communicates with the processor and the computer-readable storage medium through a bus. The communication interface may be an interface of any currently known communication protocol. The communication interface may communicate with the outside world through a network, and the controller may transmit data with any device connected through the communication interface using a certain communication protocol through the communication interface.
[0037] In some embodiments, the steering system 130 may be configured as a hydraulic power steering system, an electric power steering system, an electro-hydraulic steering system, a steer-by-wire system, or the like.
[0038] like Figure 2 As shown, in one specific example, the steering system 130 is configured as an electro-hydraulic steering system.
[0039] like Figure 2 As shown, the electro-hydraulic steering system 130 may exemplarily include a steering wheel 131 , a steering torque transmitting device 134 , a universal joint 135 , a steering gear 136 , a hydraulic power assist device 137 , an electric power assist device 138 and a steering linkage 139 .
[0040] The steering wheel 131 is used for the driver to perform steering operations so as to input steering hand force or steering torque to the steering system 130 .
[0041] The steering torque transmitting device 134 includes a steering column and a steering intermediate shaft, and is used to transmit the steering torque of the steering operation.
[0042] The universal joint 135 is used to connect the steering intermediate shaft and the steering gear input shaft.
[0043] The steering gear 136 is a steering actuator for transmitting the steering torque to the steering linkage 139 and then to the steering wheel 110 .
[0044] The hydraulic power assist device 137 includes a steering oil pot 101 , an oil pipe 102 and a steering oil pump 103 , wherein the steering oil pot 101 can provide a hydraulic power transmission medium to the steering gear 136 via the steering oil pump 103 and the oil pipe 102 for hydraulic power assist.
[0045] The electric power assist device 138 includes a motor 132 for electric power assist, a control device 133 for controlling the motor 131, and a power source (not shown) for powering the motor 132. The electric power assist device 138 is configured to provide electric power assist to the steering wheel 131 through the motor 132 via the transmission mechanism 104, such as a worm gear mechanism.
[0046] The steering linkage 139 includes a steering drop arm and a steering pull rod, wherein the steering drop arm is used to transmit the torque output by the steering gear 136 to the steering pull rod, and the steering pull rod is used to transmit the steering torque to the steering wheel 110 of the vehicle 100 .
[0047] In some embodiments, the motor 132 may be a DC motor 6, such as a brushless DC motor. In this case, the power source for powering the motor 132 may be a battery in the vehicle 100 and a corresponding DC / DC converter. Alternatively, in other embodiments, the motor 132 may also be an AC motor. In this case, the power source for powering the motor 132 may be a battery in the vehicle 100 and a corresponding DC / AC converter. In a specific example, the motor 132 may be a permanent magnet synchronous motor.
[0048] It is understood that the configuration of the electronically controlled hydraulic steering system can have many variations and is not limited to the current embodiment. For example, the steering oil pump of the hydraulic booster device 137 can be driven by an electric motor instead of a traditional engine drive, thereby improving the spatial arrangement of the electronically controlled hydraulic steering system.
[0049] Next, a steering control method according to some embodiments of the present application is described, which is applied to a vehicle 100, especially a two-wheel-track vehicle, such as a commercial vehicle.
[0050] Figure 3 The figure shows the curve of the steering wheel position or the steering wheel angle position changing with time during driving, wherein the red curve is the curve of the steering wheel position changing with time when no compensation torque is provided when a tire bursts. Figure 3 As shown, at time T1, the left front steering wheel 110 of the vehicle 100 has a tire blowout. This is detected by, for example, a tire blowout sensor at time T2. At this time, if the steering wheel is not actively intervened, then as shown by the red curve, the position of the steering wheel will deviate seriously in a short time (for example, from T1 to T4), which may cause a serious accident.
[0051] Based on this, the embodiment of the present application proposes to enter the torque compensation mode immediately after detecting a single-sided tire blowout at time T2 (or at time T3, for example due to signal transmission delay), and actively and promptly provide compensation torque to the steering wheel 131, for example, by providing compensation torque to the steering wheel 131 through the power-assist motor 132, so as to maintain the original driving direction or safe driving direction of the vehicle as much as possible, thereby winning precious time for the driver to safely take over the vehicle, thereby ensuring the safety of vehicle driving.
[0052] The steering control method 200 according to the embodiment of the present application includes entering a torque compensation mode or activating a torque compensation function when a tire blowout on one side of the vehicle is detected.
[0053] like Figure 3 and Figure 4 As shown, in step S210, it is first detected whether a tire blowout occurs on one side of the vehicle 100.
[0054] In some embodiments, in step S210, a tire blowout sensor, especially a sensor installed in each tire, is used to detect whether a tire blowout occurs on one side of the vehicle 100. The tire blowout sensor may be, for example, a pressure sensor for measuring tire pressure, and detects whether a tire blowout occurs on one side of the vehicle 100 by measuring changes in tire pressure. In other embodiments, in step S210, it may also be determined whether a tire blowout occurs on one side of the vehicle 100 by comparing the wheel speeds of all wheels.
[0055] In some embodiments, in step S210, only one side of the steering wheel 110 of the vehicle 100 is detected to see if it has a tire blowout. In other words, at this time, only the steering wheel of the vehicle 100 is concerned to see if it has a tire blowout.
[0056] In step S220, the torque compensation mode is entered when a tire burst is detected on one side of the vehicle 100, especially a tire burst on one side of the steering wheel 110. Preferably, the torque compensation mode is entered only when a tire burst is detected on one side of the vehicle 100, especially a tire burst on one side of the steering wheel 110. That is, if a tire burst is detected on both sides of the vehicle 100, no torque compensation is performed.
[0057] Here, in the torque compensation mode, the target position Pt of the steering wheel 131 of the vehicle 100 is determined and the following steps are repeated at least once, for example, once every 5 milliseconds, every 10 milliseconds or every 15 milliseconds, until the torque compensation mode is exited: obtaining the current actual position Ps of the steering wheel 131, for example, the current actual position Ps of the steering wheel 131 can be detected with the aid of a steering wheel angle sensor not shown; determining the current compensation torque based on the difference between the target position Pt and the current actual position Ps; and outputting a control instruction for applying the current compensation torque to the steering wheel 131 so that the steering wheel 131 rotates toward the target position.
[0058] That is, after the current compensation torque is applied to the steering wheel, in step S230, it is determined whether to exit the torque compensation mode. If not, the following steps are performed again: obtaining the current actual position of the steering wheel 131; determining the current compensation torque based on the difference between the target position and the current actual position; and outputting a control instruction for applying the current compensation torque to the steering wheel so that the steering wheel rotates toward the target position. If it is determined that the torque compensation mode is to be exited, the process can be terminated.
[0059] By using the steering control method according to the embodiment of the present application, the steering wheel can be automatically kept in a safe target position as much as possible within a short period of time after a tire blowout occurs, regardless of whether the driver operates the steering wheel correctly at this time.
[0060] In some embodiments, the method 200 according to the embodiment of the present application can be implemented by the control device 133 of the above-mentioned steering system 130, that is, the control device 133 is configured to implement the method 200 provided according to the embodiment of the present application, so as to control the motor 132 to apply the current compensation torque to the steering wheel 131 based on the control instruction in the torque compensation mode.
[0061] In a specific example, the steering control method 200 according to the embodiment of the present application is applied to Figure 2 The electronically controlled hydraulic steering system 130 shown in FIG. 1 enters a torque compensation mode when a tire blowout is detected on the left front steering wheel 110 of the vehicle 100 by means of a tire blowout sensor, wherein the control device 133 controls the motor 132 to provide a compensation torque to the steering wheel 131 via the transmission mechanism 104 based on the steering control method 200 according to an embodiment of the present application, so that the steering wheel rotates toward the target position.
[0062] In some embodiments, the target position of the steering wheel 131 can be determined based on the actual position of the steering wheel before the physical tire blowout and the steering wheel offset caused by the tire blowout, so that the vehicle can travel in the original direction as much as possible after the tire blowout.
[0063] like Figure 3 As shown, determining the target position of the steering wheel 131 of the vehicle 100 may include: obtaining the actual position P0 of the steering wheel 131 before the tire blowout actually occurs (i.e., physically occurs) at a time T0 before the tire blowout of one side of the wheel actually occurs; obtaining the offset of the steering wheel 131 caused by the tire blowout of one side of the wheel; and determining the target position Pt of the steering wheel based on the actual position P0 and the offset of the steering wheel 131 before the tire blowout. For example, the target position Pt may be equal to the sum of the actual position P0 before the tire blowout and the offset.
[0064] It should be understood here that Figure 3 As shown, the time T0 before the actual occurrence of a single-side tire blowout is a time immediately before the time T1 at which the single-side tire blowout actually occurs.
[0065] It should be understood here that the offset refers to the passive position change of the steering wheel within a short period of time after a single-sided tire blowout occurs and without any intervention on the steering wheel.
[0066] In some embodiments, the actual position P0 of the steering wheel 131 before the tire blowout can be obtained with the help of a steering wheel angle sensor. For example, the steering wheel angle sensor detects and records the position of the steering wheel 131 during vehicle driving, and stores it in its memory or transmits it to the control device 133. After a tire blowout occurs on one side of the wheel and the torque compensation mode is entered, the actual position P0 of the steering wheel 131 before the actual tire blowout on one side of the wheel T0 is retrieved from the memory of the steering wheel angle sensor or from the control device 133.
[0067] In some embodiments, in the torque compensation mode, the time T0 before the actual occurrence of the single-side wheel tire blowout can be estimated based on the time T2 when the single-side wheel tire blowout is detected.
[0068] As some implementations, when a tire blowout sensor is used to detect whether a single-sided wheel blowout occurs on a vehicle, in a torque compensation mode, a time T0 before the actual single-sided wheel blowout occurs is determined based on a time T2 when the tire blowout sensor detects the single-sided wheel blowout and a detection delay (T2-T1).
[0069] In one example, the moment T0 before the actual occurrence of a unilateral tire blowout is equal to the moment T2 when the unilateral tire blowout is detected minus a preset threshold value, which is determined, for example, according to the sensing delay of the tire blowout sensor or obtained by calibration. For example, the preset threshold value may be the sum of the sensing delay of the tire blowout sensor and a set value. In one example, the sensing delay of the tire blowout sensor is, for example, 200 milliseconds, and the set value is, for example, any value between 0 and 40 milliseconds, for example, 20 milliseconds. At this time, the preset threshold value is any value between 200 and 240 milliseconds, for example, 220 milliseconds.
[0070] As another implementation manner, the time T0 before the actual occurrence of a unilateral tire blowout may also be obtained through calibration.
[0071] In some embodiments, the steering wheel offset is related to the vehicle speed. That is, obtaining the offset of the steering wheel 131 caused by a unilateral tire blowout may include: obtaining the vehicle speed at the moment T0 before the unilateral tire blowout occurs; and obtaining the offset based on the vehicle speed and a preset calibration curve, wherein the preset calibration curve is a curve showing the relationship between the steering wheel offset and the vehicle speed when a unilateral tire blowout occurs and the steering wheel is not subjected to any intervention.
[0072] In some alternative embodiments, the target position Pt of the steering wheel 131 may also be determined based on the external environment when the vehicle has a tire blowout.
[0073] As some implementations, the target position Pt of the steering wheel 131 can be determined based on the road conditions when the vehicle has a tire blowout. For example, the road conditions when the vehicle has a tire blowout can be detected by a camera on the vehicle to determine a safe driving direction, and then the steering wheel position required for the safe driving direction can be determined as the target position Pt. This is particularly advantageous when a tire blowout occurs, for example, in a turning situation.
[0074] After the target position Pt and the current actual position Ps are determined, the difference between the target position and the current actual position is converted into a compensation torque Tor.
[0075] In some embodiments, the difference between the target position and the current actual position can be converted into the compensation torque through a linear function, that is, Tor=k*(Pt-Ps)+b, where k and b are both constants. Here, the greater the deviation of the current actual position of the steering wheel from the target position, the greater the compensation torque, and conversely, the closer the current actual position of the steering wheel is to the target position, the smaller the compensation torque.
[0076] As some implementations, determining the current compensation torque based on the difference between the target position and the current actual position may include: determining the product of the difference (Pt-Ps) and a preset coefficient k as the current compensation torque, wherein the preset coefficient k is obtained by calibration.
[0077] In the torque compensation mode, the steering wheel position may be over-adjusted due to excessive compensation torque or other reasons (unconscious operation by the driver, etc.), resulting in reverse compensation torque. Therefore, in some embodiments, in the torque compensation mode, if the current actual position Ps of the steering wheel exceeds the target position Pt, the current compensation torque Tor is set to zero.
[0078] In some embodiments, the torque compensation mode may be exited if one of the following conditions is met in the torque compensation mode: the torque compensation mode continues for a preset time; and a tire blowout of the wheel on the other side of the vehicle is detected.
[0079] Here, torque compensation is a short-term protection strategy to help the driver in a short-term unconscious situation. Usually, when the driver finds that the vehicle has a single tire blowout, he will immediately try to take over the control of the vehicle. Therefore, it can be stipulated that once the torque compensation time reaches the set threshold, the torque compensation mode will be immediately exited so that the driver can smoothly take over the vehicle. Figure 3 As shown, the preset time is the time period between T3 and T4, that is, the torque compensation mode is entered at time T3 and the torque compensation mode is exited at time T4. The preset time is, for example, 1 second.
[0080] Preferably, the preset time T3 to T4 can be obtained by calibration.
[0081] In addition, during the torque compensation process, if a tire blowout is detected on the other side, the torque compensation mode can be exited to avoid providing improper compensation torque.
[0082] In some embodiments, when exiting the torque compensation mode, the current compensation torque determined at the exit time may be gradually or stepwise reduced to zero, especially gradually reduced to zero at a preset slope, and applied to the steering wheel. By gradually or stepwise reducing the compensation torque determined at the exit time to zero and applying it to the steering wheel, it is possible to avoid causing a bad feeling to the driver due to sudden stop of the output of the compensation torque.
[0083] In some embodiments, the preset slope for slowly decreasing the output compensation torque can be obtained by calibration.
[0084] In some embodiments, the method may further include: after exiting the torque compensation mode, if a tire blowout of the vehicle is detected again, not entering the torque compensation mode.
[0085] In some embodiments, the torque compensation mode may be entered only once in the current power-on cycle of the vehicle. Since a tire blowout has a great impact on the safe driving of the vehicle, once it occurs, the driver needs to take over in time and slowly control the vehicle to stop for inspection. Therefore, the torque compensation function is only performed once in the current power-on cycle.
[0086] It should be understood here that a power-on cycle starts with the vehicle's engine ignition and ends with the engine shut down.
[0087] In some embodiments, the torque compensation mode may be entered only when a tire blowout on one side of the vehicle is detected for the first time during the current power-on cycle. That is, if a tire blowout on the other side is detected after the torque compensation for the tire blowout on the one side is completed, no torque compensation response will be made to the tire blowout on the other side.
[0088] The embodiment of the present application further provides a computer-readable storage medium on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor, the processor causes the processor to implement the various steps of the steering control method 200 according to the embodiment of the present application.
[0089] So far, various embodiments of the present application have been described in detail. In order to avoid obscuring the concept of the present application, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed herein.
[0090] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable non-transient storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
[0091] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present application. It should be understood that the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the functions specified in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.
[0092] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.
[0093] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.
[0094] The features or feature combinations mentioned above in the specification, drawings and claims may be used in any combination or alone as long as they are meaningful within the scope of the present application and do not contradict each other.
[0095] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. All equivalent transformations made by using the contents of the present application specification and drawings under the inventive concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.
Claims
1. A steering control method for a vehicle, especially a double-track vehicle, characterized in that: The method comprises: entering a torque compensation mode when a tire blowout of a single wheel of the vehicle, especially a tire blowout of a single steering wheel, is detected, wherein in the torque compensation mode, a target position of a steering wheel of the vehicle is determined and the following steps are repeatedly implemented at least once until the torque compensation mode is exited: Obtaining the current actual position of the steering wheel; determining a current compensation torque based on a difference between the target position and the current actual position; and Output a control instruction for applying the current compensation torque to the steering wheel so that the steering wheel rotates toward the target position.
2. The method according to claim 1, characterized in that Determining a target position of a steering wheel of the vehicle includes: Acquiring the actual position of the steering wheel before the tire burst at a moment before the tire burst of the single-side wheel actually occurs; Obtaining the steering wheel offset caused by the unilateral wheel tire blowout; and The target position of the steering wheel is determined based on the actual position of the steering wheel before the tire burst and the offset.
3. The method according to claim 2, characterized in that Detecting whether a tire blowout occurs on one side of the vehicle by means of a tire blowout sensor; Wherein, in the torque compensation mode, the time before the actual occurrence of the single-side wheel tire blowout is determined based on the time when the tire blowout sensor detects the single-side wheel tire blowout and the detection delay thereof.
4. The method according to claim 2 or 3, characterized in that: Obtaining the offset of the steering wheel caused by the tire burst on the single side of the wheel, comprising: Obtaining the vehicle speed at the moment before the unilateral tire blowout actually occurs; and The offset is obtained based on the vehicle speed and a preset calibration curve, wherein the preset calibration curve is a curve showing the relationship between the steering wheel offset and the vehicle speed when a tire blowout occurs on one side of the wheel and the steering wheel is not subjected to any intervention.
5. The method according to any one of claims 1 to 4, characterized in that Determining a current compensation torque based on a difference between the target position and the current actual position includes: The product of the difference and a preset coefficient is determined as the current compensation torque, wherein the preset coefficient is obtained by calibration.
6. The method according to any one of claims 1 to 5, characterized in that In the torque compensation mode, if the current actual position of the steering wheel exceeds the target position, the current compensation torque is set to zero.
7. The method according to any one of claims 1 to 6, characterized in that If one of the following conditions is met in the torque compensation mode, the torque compensation mode is exited: The torque compensation mode lasts for a preset time, preferably the preset time is obtained by calibration; and A tire blowout is detected on the other side of the vehicle.
8. The method according to claim 7, characterized in that When exiting the torque compensation mode, the current compensation torque determined at the exiting moment is applied to the steering wheel in a manner of gradually or stepwise decreasing to zero, in particular, gradually decreasing to zero with a preset slope.
9. The method according to any one of claims 1 to 8, characterized in that The method further comprises: After exiting the torque compensation mode, if a tire blowout of the vehicle is detected again, the torque compensation mode is not entered.
10. The method according to any one of claims 1 to 9, characterized in that The torque compensation mode is entered only once during a current power-on cycle of the vehicle.
11. The method according to claim 10, characterized in that The torque compensation mode is entered only when a tire blowout on one side of the vehicle is detected for the first time in the current power-on cycle.
12. A steering system for a vehicle, in particular a dual-track vehicle, characterized in that: The steering system includes a steering wheel, a motor for providing electric power assistance, and a control device, wherein the control device is configured to implement the method according to any one of claims 1 to 11, so as to control the motor to apply the current compensation torque to the steering wheel based on the control instruction in the torque compensation mode.
13. A steering control system for a vehicle, in particular a dual-track vehicle, comprising: one or more processors; and One or more computer-readable memories coupled to the one or more processors, the computer-readable memories being configured to store a series of computer-executable instructions, wherein the series of computer-executable instructions, when executed by the one or more processors, cause the one or more processors to perform a method according to any one of claims 1 to 11.
14. A computer-readable storage medium having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by a processor, the processor is caused to implement the steps of the method according to any one of claims 1 to 11.
15. A vehicle, in particular a two-track vehicle, characterized in that: The vehicle comprises a steering system according to claim 12 or a steering control system according to claim 13 or a computer-readable storage medium according to claim 14.