Method and device for determining rigidity of vehicle steering system, electronic equipment and vehicle

Abstract

The invention provides a method and device for determining the rigidity of a vehicle steering system, electronic equipment and a vehicle. In the process of determining the rigidity of the steering system, the rigidity of the steering system is determined by fixing a vehicle steering wheel, controlling two wheels to rotate and measuring the steering torque and the rotating angle of the two wheels and the counter torque of the vehicle steering wheel in real time in the rotating process; in the whole measurement process, the turning angle of the vehicle steering wheel does not need to be directly measured, the steering torque of the wheels, the turning angle and the counter torque of the steering wheel can be directly measured under the whole vehicle working condition, and therefore the steering system does not need to be independently disassembled, and the test can be completed only by using an existing whole vehicle test bed. A special tool for measuring the rigidity of the steering system does not need to be manufactured, the testing cost is greatly saved, the complexity of the whole rigidity determination process is simplified, and the testing efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device, electronic equipment and vehicle for determining the stiffness of a vehicle steering system. Background Art

[0002] The function of the car steering system is to ensure that the car can steer according to the driver's will. For the steering system, the stiffness of the steering system is a key system parameter for the development of vehicle handling performance, so the test of the stiffness of the vehicle steering system is a very important link.

[0003] Existing steering system stiffness testing methods all require the steering system to be disassembled separately and then a special tooling is made before the steering system can be installed on a steering test bench for stiffness testing. This results in low test efficiency, long test cycle and high test cost. Summary of the invention

[0004] In view of this, the purpose of the present application is to propose a method, device, electronic device and vehicle for determining the stiffness of a vehicle steering system, so as to solve or partially solve the problems raised by the background technology.

[0005] Based on the above purpose, the first aspect of the present application provides a method for determining the stiffness of a vehicle steering system, wherein the steering system comprises a steering assembly and a connecting assembly, wherein both ends of the steering assembly are respectively connected to a wheel, one end of the connecting assembly is connected to the steering assembly, and the other end is connected to a vehicle steering wheel;

[0006] The method comprises:

[0007] Control vehicle steering wheel fixation;

[0008] Control the two wheels to rotate in the same direction, and measure the steering torque, steering angle and anti-torque of the vehicle steering wheel of the two wheels in real time during the rotation process;

[0009] Based on the steering torque, steering angle and counter torque, the stiffness of the steering system is determined.

[0010] Optionally, controlling the two wheels to rotate in the same direction includes:

[0011] Control the two wheels to rotate from an initial position to a first preset position in a first direction at the same time, and then control the two wheels to rotate from the first preset position to the initial position;

[0012] The two wheels are controlled to rotate from the initial position to the second direction to the second preset position at the same time, and then the two wheels are controlled to rotate from the second preset position to the initial position, wherein the second direction is opposite to the first direction.

[0013] Optionally, controlling the two wheels to rotate in the same direction includes:

[0014] Applying gradually increasing torque to the two wheels to control the two wheels to rotate simultaneously from an initial position to a first direction until the applied torque reaches a preset torque, and gradually reducing the torque applied to the two wheels until both wheels return to their initial positions;

[0015] Applying gradually increasing torque to the two wheels to control the two wheels to rotate from the initial position to the second direction at the same time until the applied torque reaches the preset torque, and gradually reducing the torque applied to the two wheels until both wheels return to the initial position;

[0016] The second direction is opposite to the first direction.

[0017] Optionally, determining the stiffness of the steering system based on the steering torque, the steering angle and the reaction torque includes:

[0018] determining an equivalent lever ratio based on the steering torque and the reaction torque;

[0019] Based on the equivalent lever ratio and the steering angle, a stiffness of a steering system is determined.

[0020] Optionally, determining the equivalent leverage ratio based on the steering torque and the reaction torque comprises:

[0021] The sum of the steering moments of the two wheels is determined as the total wheel moment;

[0022] The ratio of the total wheel torque to the reaction torque is determined as the equivalent lever ratio.

[0023] Optionally, determining the stiffness of the steering system based on the equivalent lever ratio and the steering angle comprises:

[0024] determining a steering wheel angle based on the equivalent lever ratio and the steering angle;

[0025] generating a stiffness curve based on the steering wheel angle and the reaction torque;

[0026] Based on the stiffness curve, the stiffness of the steering system is determined.

[0027] Optionally, determining the steering wheel angle based on the equivalent lever ratio and the steering angle comprises:

[0028] Based on the turning angles of the two wheels, determining a turning angle average;

[0029] The ratio of the steering angle average value to the equivalent lever ratio is determined as the steering wheel angle.

[0030] A second aspect of the present application provides a device for determining the stiffness of a steering system, wherein the steering system comprises a steering assembly and a connecting assembly, wherein both ends of the steering assembly are respectively connected to a wheel, one end of the connecting assembly is connected to the steering assembly, and the other end is connected to a vehicle steering wheel;

[0031] The device comprises:

[0032] A steering wheel control module is configured to control the fixing of a vehicle steering wheel;

[0033] The wheel control module is configured to control the two wheels to rotate in the same direction and measure the steering torque, steering angle and reaction torque of the vehicle steering wheel of the two wheels in real time during the rotation process;

[0034] The determination module is configured to determine the stiffness of the steering system based on the steering torque, the steering angle and the reaction torque.

[0035] A third aspect of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein when the processor executes the program, the method described in any one of the first aspects above is implemented.

[0036] A fourth aspect of the present application provides a vehicle, comprising the determination device described in the second aspect or the electronic device described in the third aspect.

[0037] From the above, it can be seen that the method, device, electronic device and vehicle for determining the stiffness of the vehicle steering system provided by the present application, during the process of determining the stiffness of the steering system, control the rotation of the two wheels by fixing the vehicle steering wheel, and measure the steering torque, steering angle and vehicle steering wheel reaction torque of the two wheels during the rotation in real time, and then determine the stiffness of the steering system based on the steering torque, steering angle and reaction torque. During the entire measurement process, there is no need to directly measure the steering wheel angle of the vehicle. The steering torque, steering angle and steering wheel reaction torque of the wheel to be measured can be directly measured under the whole vehicle working condition. Therefore, there is no need to disassemble the steering system separately. The test can be completed by using the existing whole vehicle test bench. There is no need to make special tooling for measuring the stiffness of the steering system, which greatly saves the test cost, simplifies the complexity of the entire stiffness determination process, and improves the test efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1It is a schematic diagram of the principle of the existing vehicle steering system stiffness test;

[0040] Figure 2 A schematic flow chart of a method for determining the stiffness of a vehicle steering system according to an embodiment of the present application;

[0041] Figure 3 A schematic diagram of the principle of a method for determining the stiffness of a vehicle steering system according to an embodiment of the present application;

[0042] Figure 4 is a schematic diagram of a stiffness curve obtained in the determination method of an embodiment of the present application;

[0043] Figure 5 A linear regression diagram of the pre-limit stiffness obtained by the determination method of the embodiment of the present application and the pre-limit stiffness obtained by the existing test method;

[0044] Figure 6 A linear regression diagram of the post-limiting stiffness obtained by the determination method of the embodiment of the present application and the post-limiting stiffness obtained by the existing test method;

[0045] Figure 7 A linear regression diagram of the small torsion bar stiffness obtained by the determination method of the embodiment of the present application and the small torsion bar stiffness obtained by the existing test method;

[0046] Figure 8 A schematic diagram of a device for determining the stiffness of a vehicle steering system according to an embodiment of the present application;

[0047] Fig. 9 A schematic diagram of an electronic device according to an embodiment of the present application.

[0048] In the figure, 1, wheel; 2, steering wheel; 3, steering assembly; 31, connecting rod; 32, steering gear; 4, connecting assembly; 41, small torsion bar; 42, intermediate shaft; 43, column. DETAILED DESCRIPTION

[0049] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0050] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0051] When a car is driving, it needs to frequently change its driving direction according to the driver's will, which is called car steering. For wheeled cars, the method of achieving car steering is that the driver uses a set of special mechanisms to make the wheels (steering wheels) on the car's steering axle (usually the front axle) deflect a certain angle relative to the longitudinal axis of the car. When the car is driving in a straight line, the steering wheel is often affected by the lateral interference force of the road surface, and automatically deflects to change the driving direction. At this time, the driver can also use this set of mechanisms to deflect the steering wheel in the opposite direction, so that the car can return to its original driving direction. This set of special mechanisms used to change or restore the driving direction of the car is called the car steering system (commonly known as the car steering system). Therefore, the function of the car steering system is to ensure that the car can turn and drive according to the driver's will.

[0052] For the steering system, the steering system stiffness is a key system parameter for the development of vehicle handling performance, so the test of the vehicle steering system stiffness is a very important link.

[0053] See also Figure 1 As shown, when testing the stiffness of the vehicle steering system, it is necessary to fix the two connecting rods 31 of the steering system to the two wheels 1 respectively, and then apply torque to the vehicle steering wheel 2 to control the rotation of the vehicle steering wheel 2, and measure the steering wheel 2 angle and steering wheel 2 torque in real time during the rotation of the vehicle steering wheel 2. Then, a forward stiffness curve is generated based on the steering wheel 2 angle and steering wheel 2 torque, and the stiffness of the steering system can be determined based on the forward stiffness curve.

[0054] However, when using this test method for stiffness testing, due to the limitations of the existing steering system test bench, it is impossible to measure the steering wheel angle of the vehicle in real time during the steering wheel rotation process on the whole vehicle. Therefore, when performing stiffness testing, the steering system must be disassembled from the vehicle, or a steering system must be purchased separately and then installed on the steering system test bench for testing. This test method has the following main disadvantages:

[0055] ① Data acquisition during the stiffness test of the steering system of the benchmark vehicle / competitive vehicle: The benchmark vehicle needs to be disassembled or a steering system needs to be purchased separately for testing. In addition, special tooling needs to be made according to the layout and structure of the steering system of the specific vehicle model before the steering system can be installed on the steering test bench for stiffness testing. This process is costly, cumbersome and inefficient.

[0056] ② Data acquisition during the steering system stiffness test of the test vehicle of the design model: The steering system needs to be tested before the test vehicle is installed, which affects the test vehicle installation cycle, which also affects the vehicle development cycle, and also requires the production of special tooling, which is costly.

[0057] Existing steering system stiffness testing methods all require the steering system to be disassembled separately and then a special tooling is made before the steering system can be installed on a steering test bench for stiffness testing. This results in low test efficiency, long test cycle and high test cost.

[0058] Therefore, there is an urgent need to provide a method for quickly testing the stiffness of a steering system without disassembling the steering system or making special tooling.

[0059] Based on this, see Figure 2 and Figure 3 The present application provides a method for determining the stiffness of a vehicle steering system, the method comprising the following steps:

[0060] Step S100, controlling the vehicle steering wheel 2 to be fixed;

[0061] Step S200, controlling the two wheels 1 to rotate in the same direction, and measuring the steering torque, the turning angle of the two wheels 1 and the reaction torque of the vehicle steering wheel 2 in real time during the rotation process;

[0062] Step S300: Determine the stiffness of the steering system based on the steering torque, steering angle and reaction torque.

[0063] Specifically, the steering system includes a steering assembly 3 and a connecting assembly 4, wherein both ends of the steering assembly 3 are respectively connected to a wheel 1, and one end of the connecting assembly 4 is connected to the steering assembly 3, and the other end is connected to the vehicle steering wheel 2.

[0064] The steering assembly 3 includes a steering gear 32 , both ends of which are connected to a connecting rod 31 , and each connecting rod 31 is connected to a wheel 1 .

[0065] The connecting assembly 4 includes a small torsion bar 41 , an intermediate shaft 42 and a pipe column 43 which are connected in sequence. The small torsion bar 41 is connected to the steering gear 32 , and the pipe column 43 is connected to the vehicle steering wheel 2 .

[0066] When the vehicle is actually in use, if the vehicle steering wheel 2 is turned to the right, the vehicle steering wheel 2 will drive the connecting component 4 to move to the right, and the connecting component 4 will drive the steering gear 32 to move to the right. The movement of the steering gear 32 to the right will simultaneously drive both connecting rods 31 to move to the right. The connecting rod 31 moving to the right will apply a rightward driving force to the wheel 1 connected thereto, thereby causing the wheel 1 to rotate to the right.

[0067] In the present application, when determining the stiffness of the steering system, the vehicle steering wheel 2 is first controlled to be fixed, so that the vehicle steering wheel 2 does not rotate, and there is no need to measure the angle of the steering wheel 2. Then, the two wheels 1 are controlled to rotate in the same direction, and the steering torque, angle of the two wheels 1 and the reaction torque of the vehicle steering wheel 2 are measured in real time during the rotation process.

[0068] Specifically, when controlling the two wheels 1 to rotate in the same direction, the two wheels 1 can be controlled to rotate in the same direction and at the same speed to a specific position, or the two wheels 1 can be controlled to rotate in the same direction under the action of a certain torque. Regardless of the control method, it is always necessary to ensure that the rotation direction and rotation angle of the two wheels 1 are consistent, so as to facilitate the subsequent determination of the accurate steering system stiffness.

[0069] In specific implementation, the whole vehicle can be placed on the whole vehicle KC characteristic test bench. The KC characteristic test bench is a high-end equipment specially used to test and evaluate the kinematic and compliance performance of the automobile chassis suspension system and steering system. It mainly studies two aspects of characteristics: K characteristic (Kinematic, i.e. kinematic characteristic) and C characteristic (Compliance, i.e. compliance characteristic). The K characteristic focuses on the changes caused by the suspension geometry configuration when the wheel 1 is vertically displaced, while the C characteristic focuses on the changes caused by the bushing deflection deformation when the wheel 1 is subjected to force. These two characteristics jointly determine the handling stability and driving experience of the vehicle. Therefore, testing and optimization through the KC characteristic test bench are crucial to improving the performance of the whole vehicle.

[0070] A self-aligning torque condition test is carried out on the vehicle KC characteristic test bench, that is, the vehicle steering wheel 2 is fixed, and the two wheels 1 are controlled to rotate in the same direction. During the rotation process, the steering torque and steering angle of the two wheels 1 and the reaction torque of the vehicle steering wheel 2 are measured in real time.

[0071] Then, based on the steering torque, angle and reaction torque measured, the stiffness of the steering system is determined. Specifically, based on the steering torque and angle measured, the equivalent angle of the vehicle steering wheel 2 is determined, and then based on the equivalent angle of the vehicle steering wheel 2 and the reaction torque of the vehicle steering wheel 2, the stiffness of the steering system is finally determined.

[0072] In the present application, in the process of determining the stiffness of the steering system, the vehicle steering wheel 2 is fixed, the two wheels 1 are controlled to rotate, and the steering torque, steering angle and reaction torque of the two wheels 1 during the rotation are measured in real time, and then the stiffness of the steering system is determined based on the measured steering torque, steering angle and reaction torque. During the entire measurement process, there is no need to directly measure the steering angle of the vehicle steering wheel 2. The steering torque, steering angle and reaction torque of the wheel 1 that need to be measured can be directly measured under the whole vehicle working condition. Therefore, there is no need to disassemble the steering system separately. The test can be completed using the existing whole vehicle test bench. There is no need to make special tooling for measuring the stiffness of the steering system, which greatly saves the test cost, simplifies the complexity of the entire stiffness determination process, and improves the test efficiency.

[0073] In the process of controlling the two wheels 1 to rotate in the same direction in step S200, how to control the two wheels 1 to rotate in the same direction and in which direction the two wheels 1 are controlled to rotate in the same direction are also closely related to the stiffness of the steering system finally obtained. Therefore, the present application also provides two methods of controlling the two wheels 1 to rotate in the same direction.

[0074] In some embodiments, the step S200 of controlling the two wheels 1 to rotate in the same direction includes:

[0075] Control the two wheels 1 to rotate from the initial position to the first preset position in the first direction at the same time, and then control the two wheels 1 to rotate from the first preset position to the initial position;

[0076] The two wheels 1 are controlled to rotate from the initial position to the second direction to the second preset position at the same time, and then the two wheels 1 are controlled to rotate from the second preset position to the initial position, wherein the second direction is opposite to the first direction.

[0077] Specifically, first, the two wheels 1 are controlled to rotate simultaneously from an initial position to a first preset position in a first direction. The initial position may be an original position when the wheel 1 has no rotation angle, that is, an original position when the rotation angle of the wheel 1 is zero.

[0078] The two wheels 1 are controlled to rotate from an initial position to a first preset position in a first direction at the same time. The first direction can be left or right. That is, the two wheels 1 can be controlled to rotate right or left from the initial position at the same time.

[0079] The first preset position is a preset end position of the wheel 1 rotating in the first direction, and the first preset position can be determined according to actual test requirements.

[0080] After the two wheels 1 rotate from the initial position to the first direction to the first preset position at the same time, the two wheels 1 are controlled to rotate from the first preset position to the initial position, that is, the two wheels 1 are controlled to return to the original position.

[0081] Then, the two wheels 1 are controlled to rotate from the initial position to the second direction to the second preset position at the same time, and the second direction is opposite to the first direction. The second preset position is the preset end position of the rotation of the wheel 1 to the second direction, and the second preset position can be determined according to actual test requirements.

[0082] After the two wheels 1 rotate from the initial position to the second direction to the second preset position at the same time, the two wheels 1 are controlled to rotate from the second preset position to the initial position, that is, the two wheels 1 are controlled to return to the original position.

[0083] In specific implementation, assuming that the first direction is right and the second direction is left, then the two wheels 1 are controlled to rotate rightward to the first preset position and then return to the original position, and then the two wheels 1 are controlled to rotate leftward to the second preset position and then return to the original position.

[0084] In this way, the two wheels 1 complete a steering cycle of turning right-reset-turn left-reset, and the two wheels 1 are controlled to complete a steering cycle at the same time, so that the steering angle and steering torque of the two wheels 1 at various positions in a steering cycle can be measured in real time; at the same time, in the process of the wheel 1 completing a steering cycle, the vehicle steering wheel 2 theoretically also completes a steering cycle, but because the vehicle steering wheel 2 is fixed, the steering angle of the vehicle steering wheel 2 does not change, but the reaction torque exerted on the vehicle steering wheel 2 will show periodic changes. Therefore, the stiffness of the steering system can be accurately determined based on the measured periodically changing steering angle, steering torque and reaction torque, thereby improving the accuracy of the determined steering system stiffness.

[0085] In some embodiments, the step S200 of controlling the two wheels 1 to rotate in the same direction includes:

[0086] Applying a gradually increasing torque to the two wheels 1 to control the two wheels 1 to rotate simultaneously from an initial position to a first direction until the applied torque reaches a preset torque, and gradually reducing the torque applied to the two wheels 1 until both wheels 1 return to their initial positions;

[0087] Applying a gradually increasing torque to the two wheels 1 to control the two wheels 1 to rotate from the initial position to the second direction at the same time until the applied torque reaches the preset torque, and gradually reducing the torque applied to the two wheels 1 until the two wheels 1 return to the initial position;

[0088] The second direction is opposite to the first direction.

[0089] Specifically, when the two wheels 1 are controlled to rotate in the same direction, a gradually increasing torque is applied to the two wheels 1, and the torque gradually increases from zero, and the two wheels 1 are driven to rotate from the initial position to the first direction at the same time under the action of the torque until the applied torque reaches a preset torque. The preset torque is a maximum torque preset based on actual test experience.

[0090] After the torque applied to the wheel 1 reaches the preset torque, the torque applied to the two wheels 1 is gradually reduced until the two wheels 1 return to their initial positions.

[0091] Then, continue to apply gradually increasing torque to the two wheels 1 to control the two wheels 1 to rotate simultaneously from the initial position to the second direction until the applied torque reaches the preset torque, and then gradually reduce the torque applied to the two wheels 1 until both wheels 1 return to the initial position.

[0092] In specific implementation, assuming that the first direction is right and the second direction is left, a gradually increasing torque is first applied to the two wheels 1 so that the two wheels 1 rotate to the right at the same time until the applied torque reaches a preset torque, and then the torque is gradually reduced to return the wheels 1 to their original positions.

[0093] Then, a gradually increasing torque is applied to the two wheels 1 so that the two wheels 1 rotate to the left simultaneously until the applied torque reaches a preset torque, and then the torque is gradually reduced to return the wheels 1 to their original positions.

[0094] In this way, the two wheels 1 complete a steering cycle of turning right-reset-turn left-reset, and the two wheels 1 are controlled to complete a steering cycle at the same time, so that the steering angle and steering torque of the two wheels 1 at various positions in a steering cycle can be measured in real time; at the same time, in the process of the wheel 1 completing a steering cycle, the vehicle steering wheel 2 theoretically also completes a steering cycle, but because the vehicle steering wheel 2 is fixed, the steering angle of the vehicle steering wheel 2 does not change, but the reaction torque exerted on the vehicle steering wheel 2 will show periodic changes. Therefore, the stiffness of the steering system can be accurately determined based on the measured periodically changing steering angle, steering torque and reaction torque, thereby improving the accuracy of the determined steering system stiffness.

[0095] In some embodiments, the step S300 determines the stiffness of the steering system based on the steering torque, the steering angle and the reaction torque, including:

[0096] Step S310: determining an equivalent lever ratio based on the steering torque and the reaction torque;

[0097] Step S320: Determine the stiffness of the steering system based on the equivalent lever ratio and the steering angle.

[0098] Specifically, when determining the stiffness of the steering system, the equivalent lever ratio is first determined based on the steering torque and the counter torque. Specifically, the sum of the steering torques of the two wheels 1 is determined as the total torque of the wheel 1, and the ratio of the total torque of the wheel 1 to the counter torque is determined as the equivalent lever ratio. Therefore, the equivalent lever ratio is the ratio of the torque of the wheel 1 to the counter torque of the vehicle steering wheel 2. Since the torque of the vehicle steering wheel 2 is proportional to the turning angle of the vehicle steering wheel 2, the torque of the wheel 1 is also proportional to the turning angle of the wheel 1. Therefore, the ratio of the torque of the wheel 1 to the torque of the steering wheel 2 is equal to the ratio of the turning angle of the wheel 1 to the turning angle of the steering wheel 2.

[0099] Therefore, on the premise of determining the ratio of the torque of the wheel 1 to the torque of the steering wheel 2 (ie, the equivalent lever ratio), the steering angle of the steering wheel 2 can be determined based on the equivalent lever ratio and the steering angle of the wheel 1 .

[0100] Specifically, firstly, based on the turning angles of the two wheels 1 , an average turning angle value is determined, and the ratio of the average turning angle value to the equivalent lever ratio is the turning angle of the steering wheel 2 .

[0101] Therefore, in the present application, the steering wheel 2 angle can be calculated only based on the acquired wheel 1 angle, wheel 1 torque and vehicle steering wheel 2 reaction torque through equivalent calculation, that is, in the entire determination process, there is no need to directly measure the steering wheel 2 angle, and the steering wheel 2 angle can be determined only through calculation. In this way, the steering system does not need to be disassembled separately during the entire determination process, and the test can be completed using the existing vehicle test bench. There is no need to make special tooling for measuring the stiffness of the steering system, which greatly saves the test cost, simplifies the complexity of the entire stiffness determination process, and improves the test efficiency.

[0102] After the steering wheel 2 angle is determined, a stiffness curve, namely a steering wheel angle-steering wheel torque curve, is generated based on the steering wheel 2 angle and the reaction torque of the vehicle steering wheel 2. For example, Figure 4 An exemplary schematic diagram of the generated stiffness curve is shown.

[0103] Finally, the stiffness of the steering system is determined based on the generated stiffness curve. When determining the stiffness of the steering system based on the generated stiffness curve, the method may be performed according to the existing stiffness extraction method. For example, when the stiffness curve is Figure 4 When Figure 4The linear slope in the B section is determined as the rear stiffness K1 of the steering system. Figure 4 The slope of the middle and rear section, that is, the slope of section A, is determined as the front stiffness of the steering system before limiting, and then the stiffness K3 of the small torsion bar 41 is determined based on K3=1 / (1 / K1-1 / K2).

[0104] In this way, the equivalent turning angle of the vehicle steering wheel 2 can be determined based only on the steering torque and the turning angle, and then the final stiffness of the steering system can be determined based on the equivalent turning angle and the reaction torque, including the stiffness before and after the limiting of the steering system and the stiffness of the small torsion bar 41.

[0105] During specific implementation, in order to verify the accuracy of the steering system stiffness determined by this determination method, this determination method (i.e., the method of fixing the steering wheel 2 and rotating the wheel 1) is used to determine the front-limit stiffness, rear-limit stiffness and stiffness of the small torsion bar 41 of the steering system, and then the existing test method (i.e., the method of fixing the connecting rod 31 and the wheel 1 and rotating the steering wheel 2) is used to test the front-limit stiffness, rear-limit stiffness and stiffness of the small torsion bar 41 of the same steering system.

[0106] The linear regression graph is obtained by performing difference analysis on the final stiffness before limit, stiffness after limit and stiffness of small torsion bar 41, as shown in Figure 5 , Figure 6 and Figure 7 shown.

[0107] Depend on Figure 5 , Figure 6 and Figure 7 It can be seen that, after comparison, in the linear regression scatter plot, the steering system stiffness determined by the determination method of the present application and the steering system stiffness obtained by the existing test method, the scattered point data are densely distributed on both sides of a straight line, and there are no obvious outliers or outliers, which shows that the consistency of the scattered point data is high, which means that the steering system stiffness determined by the determination method of the application and the steering system stiffness obtained by the existing test method have good consistency, which means that the determination method described in the present application has high accuracy, can be used to determine the steering system stiffness, and realize low-cost and high-efficiency testing of the steering system stiffness.

[0108] In some embodiments, the test method of the steering system stiffness of the present application can use the vehicle KC characteristic test bench to carry out the self-aligning torque condition test, that is, fix the steering wheel 2, apply the steering torque at the left and right wheels 1, and measure the turning angle of the wheel 1. Then, use the equivalent rod ratio to reverse the steering system stiffness. Specifically include:

[0109] ①Measure the turning angle and torque of the left and right wheels, as well as the reaction torque of the steering wheel 2;

[0110] ② Calculate the equivalent lever ratio: the ratio of the sum of the torques of the left and right wheels 1 to the counter torque of the steering wheel 2;

[0111] ③ Calculate the equivalent steering wheel 2 angle: the average of the left and right wheel 1 angles / equivalent leverage ratio;

[0112] ④ Obtain the positive stiffness curve: that is, the relationship curve between the steering wheel 2 angle and the steering wheel 2 torque;

[0113] ⑤ Extracting various steering stiffnesses: Extracting various steering stiffnesses based on the relationship curve between steering wheel 2 angle and steering wheel 2 torque, the method is the same as the traditional test method.

[0114] All data used in the determination method described in this application are obtained through the whole vehicle KC characteristic test. The whole vehicle KC characteristic test is a whole vehicle test, so there is no need to disassemble the steering system to obtain the steering system stiffness, saving the cost of purchasing the steering system separately and making tooling.

[0115] The vehicle KC characteristic test used in the determination method described in the present application is a routine test item for the whole vehicle, and the working conditions used are also routine test conditions. The required steering system stiffness data can be obtained by utilizing the existing routine test data, without conducting new tests separately or adding new test conditions, which is highly efficient.

[0116] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0117] It should be noted that some embodiments of the present application are described above. In some cases, the actions or steps recorded in the above embodiments can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the process depicted in the accompanying drawings does not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0118] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a device for determining the stiffness of a steering system. The steering system includes a steering assembly and a connecting assembly, wherein both ends of the steering assembly are respectively connected to a wheel, one end of the connecting assembly is connected to the steering assembly, and the other end is connected to the vehicle steering wheel;

[0119] refer to Figure 8 , the device for determining the stiffness of the steering system comprises:

[0120] The steering wheel control module 100 is configured to control the vehicle steering wheel to be fixed;

[0121] The wheel control module 200 is configured to control the two wheels to rotate in the same direction and measure the steering torque, steering angle and reaction torque of the vehicle steering wheel of the two wheels in real time during the rotation process;

[0122] The determination module 300 is configured to determine the stiffness of the steering system based on the steering torque, the steering angle and the reaction torque.

[0123] In some embodiments, the wheel control module 200 is further configured to:

[0124] Control the two wheels to rotate from an initial position to a first preset position in a first direction at the same time, and then control the two wheels to rotate from the first preset position to the initial position;

[0125] The two wheels are controlled to rotate from the initial position to the second direction to the second preset position at the same time, and then the two wheels are controlled to rotate from the second preset position to the initial position, wherein the second direction is opposite to the first direction.

[0126] In some embodiments, the wheel control module 200 is further configured to:

[0127] Applying gradually increasing torque to the two wheels to control the two wheels to rotate simultaneously from an initial position to a first direction until the applied torque reaches a preset torque, and gradually reducing the torque applied to the two wheels until both wheels return to their initial positions;

[0128] Applying gradually increasing torque to the two wheels to control the two wheels to rotate from the initial position to the second direction at the same time until the applied torque reaches the preset torque, and gradually reducing the torque applied to the two wheels until both wheels return to the initial position;

[0129] The second direction is opposite to the first direction.

[0130] In some embodiments, the determination module 300 is further configured to:

[0131] determining an equivalent lever ratio based on the steering torque and the reaction torque;

[0132] Based on the equivalent lever ratio and the steering angle, a stiffness of a steering system is determined.

[0133] In some embodiments, the determination module 300 is further configured to:

[0134] The sum of the steering moments of the two wheels is determined as the total wheel moment;

[0135] The ratio of the total wheel torque to the reaction torque is determined as the equivalent lever ratio.

[0136] In some embodiments, the determination module 300 is further configured to:

[0137] determining a steering wheel angle based on the equivalent lever ratio and the steering angle;

[0138] generating a stiffness curve based on the steering wheel angle and the reaction torque;

[0139] Based on the stiffness curve, the stiffness of the steering system is determined.

[0140] In some embodiments, the determination module 300 is further configured to:

[0141] Based on the turning angles of the two wheels, determining a turning angle average;

[0142] The ratio of the steering angle average value to the equivalent lever ratio is determined as the steering wheel angle.

[0143] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0144] The device of the above embodiment is used to implement the corresponding method for determining the stiffness of the vehicle steering system in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0145] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for determining the stiffness of the vehicle steering system described in any of the above embodiments is implemented.

[0146] Fig. 9 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0147] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0148] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0149] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0150] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0151] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0152] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0153] The electronic device of the above embodiment is used to implement the corresponding method for determining the stiffness of the vehicle steering system in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0154] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method for determining the stiffness of the vehicle steering system as described in any of the above embodiments.

[0155] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0156] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the method for determining the stiffness of the vehicle steering system as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0157] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a computer program product, including computer program instructions. When the computer program instructions are run on a computer, the computer executes the method for determining the stiffness of the vehicle steering system as described in any of the above embodiments, which has the beneficial effects of the corresponding method embodiments and will not be repeated here.

[0158] Based on the same inventive concept, corresponding to any of the above embodiments and methods, the present application further provides a vehicle, the vehicle comprising the device, electronic device, storage medium or computer program product described in any of the above embodiments. The vehicle has the beneficial effects of any of the above embodiments, which will not be described in detail here.

[0159] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0160] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0161] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0162] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0163] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0164] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power supply / ground connection with the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0165] Although the present application has been described in conjunction with specific embodiments of the present application, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0166] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A method for determining the stiffness of a vehicle steering system, characterized in that: The steering system comprises a steering assembly and a connecting assembly, wherein both ends of the steering assembly are respectively connected to a wheel, one end of the connecting assembly is connected to the steering assembly, and the other end is connected to the vehicle steering wheel; The method comprises: Control vehicle steering wheel fixation; Control the two wheels to rotate in the same direction, and measure the steering torque, steering angle and anti-torque of the vehicle steering wheel of the two wheels in real time during the rotation process; Based on the steering torque, steering angle and counter torque, the stiffness of the steering system is determined.

2. The method according to claim 1, characterized in that The controlling of the two wheels to rotate in the same direction comprises: Control the two wheels to rotate from an initial position to a first preset position in a first direction at the same time, and then control the two wheels to rotate from the first preset position to the initial position; The two wheels are controlled to rotate from the initial position to the second direction to the second preset position at the same time, and then the two wheels are controlled to rotate from the second preset position to the initial position, wherein the second direction is opposite to the first direction.

3. The method according to claim 1, characterized in that The controlling of the two wheels to rotate in the same direction comprises: Applying gradually increasing torque to the two wheels to control the two wheels to rotate simultaneously from an initial position to a first direction until the applied torque reaches a preset torque, and gradually reducing the torque applied to the two wheels until both wheels return to their initial positions; Applying gradually increasing torque to the two wheels to control the two wheels to rotate from the initial position to the second direction at the same time until the applied torque reaches the preset torque, and gradually reducing the torque applied to the two wheels until both wheels return to the initial position; The second direction is opposite to the first direction.

4. The method according to claim 1, characterized in that Determining the stiffness of the steering system based on the steering torque, the steering angle and the reaction torque includes: determining an equivalent lever ratio based on the steering torque and the reaction torque; Based on the equivalent lever ratio and the steering angle, a stiffness of a steering system is determined.

5. The method according to claim 4, characterized in that The determining of the equivalent leverage ratio based on the steering torque and the reaction torque comprises: The sum of the steering moments of the two wheels is determined as the total wheel moment; The ratio of the total wheel torque to the reaction torque of the vehicle steering wheel is determined as the equivalent lever ratio.

6. The method according to claim 4, characterized in that The step of determining the stiffness of the steering system based on the equivalent lever ratio and the steering angle comprises: determining a steering wheel angle based on the equivalent lever ratio and the steering angle; generating a stiffness curve based on the steering wheel angle and the reaction torque; Based on the stiffness curve, the stiffness of the steering system is determined.

7. The method according to claim 6, characterized in that The determining of the steering wheel angle based on the equivalent lever ratio and the steering angle comprises: Based on the turning angles of the two wheels, determining an average turning angle; The ratio of the steering angle average value to the equivalent lever ratio is determined as the steering wheel angle.

8. A device for determining the stiffness of a steering system, characterized in that: The steering system comprises a steering assembly and a connecting assembly, wherein both ends of the steering assembly are respectively connected to a wheel, one end of the connecting assembly is connected to the steering assembly, and the other end is connected to the vehicle steering wheel; The device comprises: A steering wheel control module is configured to control the fixing of a vehicle steering wheel; The wheel control module is configured to control the two wheels to rotate in the same direction and measure the steering torque, steering angle and reaction torque of the vehicle steering wheel of the two wheels in real time during the rotation process; The determination module is configured to determine the stiffness of the steering system based on the steering torque, the steering angle and the reaction torque.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: Includes the determination device according to claim 8 or the electronic device according to claim 9.

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