Method and device for controlling power-assisted steering of vehicle, vehicle and product

Abstract

The invention provides a method and device for controlling power-assisted steering of a vehicle, the vehicle and a product. The method comprises the steps that S101, a timer is arranged, and the timer executes a set timing period; s201, executing preset vehicle power-assisted steering control logic: according to the received current vehicle speed, hydraulic operation information and hydraulic fault information, setting the rotating speed of a pump motor in a manner at least comprising: when the current vehicle speed is greater than or equal to a preset speed, no hydraulic operation exists and no hydraulic fault exists, starting the pump motor; fitting a current steering speed corresponding to the current vehicle speed in an interpolation mode according to the current vehicle speed, at least two preset vehicle speeds of the vehicle and the steering speeds corresponding to the two preset vehicle speeds respectively; the rotating speed of the pump motor is set as the current steering speed. By means of the technical scheme, appropriate power-assisted steering can be provided at different vehicle speeds.

Description

Technical Field

[0001] This invention relates to the field of industrial vehicle steering control, and in particular to a method, apparatus, vehicle, and product for controlling vehicle steering assistance. Background Technology

[0002] With the rapid development of industrial vehicles, driving comfort and safety have become key considerations in the design and manufacturing process. The steering system, as a crucial component, directly impacts driving experience and safety. Traditional steering systems primarily include mechanical steering, hydraulic power steering (HPS), and electric power steering (EPS). Among these, hydraulic power steering remains widely used in many commercial and special-purpose vehicles due to its powerful assist capability and reliability under complex conditions. However, in traditional hydraulic power steering systems, the pump motor speed is typically fixed or segmented based on steering column sensors, failing to adjust steering assist according to vehicle speed. This results in insufficient steering assistance at low speeds, requiring greater effort from the driver to operate the steering wheel; while at high speeds, excessive steering assistance can lead to instability due to rapid steering, increasing the risk of rollover. Summary of the Invention

[0003] Embodiments of the present invention provide a method, apparatus, vehicle, and product for controlling vehicle steering assistance to provide appropriate steering assistance at different vehicle speeds, thereby improving steering convenience at low speeds and stability at high speeds, and significantly enhancing driving safety and comfort.

[0004] To achieve the above objectives, on the one hand, a method for controlling vehicle steering assistance is provided, wherein the steering assistance is provided by a pump motor installed on the vehicle, and the speed of the pump motor is related to the magnitude of the steering assistance, the method comprising:

[0005] S101, Set a timer, the timer executes the set timing period;

[0006] S201, execute the predetermined vehicle steering assist control logic: set the speed of the pump motor according to the received current vehicle speed, hydraulic operation information and hydraulic fault information. The setting method includes at least: when the current vehicle speed is greater than or equal to the predetermined speed, there is no hydraulic operation and no hydraulic fault, fit the current steering speed corresponding to the current vehicle speed by interpolation according to the current vehicle speed, at least two predetermined vehicle speeds and steering speeds corresponding to the two predetermined vehicle speeds respectively.

[0007] The rotational speed of the pump motor is set to the current steering speed.

[0008] Preferably, in the method for controlling vehicle steering assist, the information received in step S201 further includes: steering angle information; the setting method further includes:

[0009] When the current vehicle speed is less than the predetermined speed, there is no hydraulic operation and no hydraulic failure, the absolute value of the difference between the current angle of the steering wheel and the previously saved angle is calculated based on the steering angle information to obtain the steering angle difference of the steering wheel.

[0010] When the steering angle difference is greater than or equal to a predetermined angle difference threshold, the current steering speed is equal to a first predetermined steering speed; otherwise, a predetermined timer is started. If the steering angle difference remains less than the predetermined angle difference threshold for the predetermined timer, the current steering speed is made equal to a second predetermined steering speed after the timer is completed, and before the timer is completed, the current steering speed is made equal to the first predetermined steering speed; wherein, the first predetermined steering speed is greater than the second predetermined steering speed.

[0011] Preferably, in the method for controlling vehicle steering assist, the setting further includes: when the vehicle has a hydraulic failure, the speed of the pump motor is set to 0.

[0012] Preferably, in the method for controlling vehicle steering assist, step S201 further includes setting the method by: calculating the current hydraulic action speed when the current vehicle speed is greater than or equal to the predetermined speed, there is hydraulic operation and no hydraulic failure;

[0013] The rotational speed of the pump motor is made equal to the sum of the steering speed and the current hydraulic action speed.

[0014] Preferably, the method for controlling vehicle steering assist further includes: when there is no hydraulic operation, the hydraulic action speed is 0.

[0015] Preferably, in the method for controlling vehicle steering assist, step S201, fitting the current steering speed corresponding to the current vehicle speed by interpolation based on the current vehicle speed, at least two predetermined vehicle speeds, and steering speeds corresponding to the two predetermined vehicle speeds, includes:

[0016] The fitted steering speed Y corresponding to the current vehicle speed is determined using the formula Y=Y1+(Y2-Y1)·(X-X1) / (X2-X1), where X represents the current vehicle speed, X1 and X2 represent the predetermined vehicle speeds, and Y1 and Y2 represent the steering speeds corresponding to X1 and X2, respectively.

[0017] The current steering speed is determined using the formula A = K·Y, where A represents the current steering speed and K represents a predetermined proportional coefficient, with a value ranging from 0.1 to 1.

[0018] Preferably, the method for controlling vehicle steering assist further includes one or more of the following:

[0019] The predetermined angle difference threshold ranges from 0.5 to 1 degree;

[0020] The predetermined duration is 2 to 5 seconds;

[0021] The second predetermined turning speed is 0;

[0022] The first predetermined steering speed ranges from 600 to 700 rpm.

[0023] On the other hand, an apparatus for controlling vehicle steering assist includes a memory and a processor, the memory storing at least one program, the at least one program being executed by the processor to implement the method for controlling vehicle steering assist as described above.

[0024] On the other hand, there is a vehicle, which includes the means for controlling vehicle steering assistance as described above.

[0025] In another aspect, a computer program product includes a computer program, wherein when the computer program is executed by a processor, it implements the method for controlling vehicle steering assistance as described above.

[0026] The above technical solution has the following technical effects:

[0027] 1. The steering assist is dynamically adjusted according to different vehicle speeds. When the vehicle speed is high, the current steering speed corresponding to the current vehicle speed is calculated by interpolation fitting to ensure that appropriate steering assist is provided when driving at high speeds, which helps to reduce oversteering at high speeds and improve driving stability. When the vehicle speed is low, the current steering speed is determined according to the steering angle difference of the steering wheel, that is, according to the driver's steering intention.

[0028] 2. The current steering speed is interpolated and fitted based on the current vehicle speed, at least two predetermined vehicle speeds, and the steering speeds corresponding to the two predetermined vehicle speeds. This achieves the effect of dynamically adjusting steering assist according to vehicle speed, ensuring easy steering at low speeds and stable steering at high speeds, thereby improving driving safety and comfort.

[0029] 3. If the steering angle difference is greater than or equal to the angle difference threshold, such as 1 degree, it means that the driver is turning. At this time, the current steering speed is immediately set to the first predetermined steering speed to provide greater steering assistance and ensure flexible handling at low speeds. If the steering angle difference is less than the angle difference threshold, a timer for a predetermined duration is started. When the steering angle difference remains less than the angle difference threshold for a predetermined duration, the current steering speed is set to the second predetermined steering speed, such as 0, after the timer is completed to avoid unnecessary over-assistance. However, before the timer is completed, the current steering speed is still set to the first predetermined steering speed to provide necessary assistance.

[0030] 4. By determining whether there is hydraulic operation and whether there is a hydraulic fault, a more accurate hydraulic status of the vehicle can be obtained, as well as a more accurate pump motor speed. This allows for more appropriate steering assistance to be provided for the vehicle's steering, ensuring the accuracy and reliability of the operation.

[0031] Through the above comprehensive control strategy, appropriate steering assistance can be provided at different vehicle speeds and steering angles. This not only improves the vehicle's handling performance but also enhances driving safety and comfort, reduces the difficulty of operation, and improves the driving experience. Attached Figure Description

[0032] Figure 1 This is a flowchart of a method for controlling vehicle steering assist according to an embodiment of the present invention;

[0033] Figure 2 This is a logic diagram of a method for controlling vehicle steering assistance according to an embodiment of the present invention;

[0034] Figure 3 This is a flowchart illustrating a method for controlling vehicle steering assistance according to an embodiment of the present invention.

[0035] Figure 4 A schematic diagram of a curve showing the current steering speed calculated by interpolation fitting in a method for controlling vehicle steering assistance according to an embodiment of the present invention.

[0036] Figure 5 This is a schematic diagram of a device for controlling vehicle steering assistance according to an embodiment of the present invention. Detailed Implementation

[0037] To further illustrate the various embodiments, the present invention provides accompanying drawings. These drawings are part of the disclosure of the present invention, primarily used to illustrate the embodiments and to explain the operating principles of the embodiments in conjunction with the relevant descriptions in the specification. With reference to these drawings, those skilled in the art should be able to understand other possible implementations and the advantages of the present invention. Components in the drawings are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0038] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0039] The inventors of this application discovered during their research on vehicle steering that in traditional power steering systems, steering speed is usually fixed or adjusted in segments based on steering column sensors, without differentiation according to vehicle speed. This results in insufficient steering assistance at low vehicle speeds, requiring the pump motor to provide higher rotational speeds to operate the steering wheel, increasing the driver's workload; conversely, at higher vehicle speeds, sufficient steering assistance requires the pump motor to provide lower rotational speeds to operate the steering wheel, increasing the risk of rollover due to rapid steering. Therefore, to effectively address the problem of existing technologies failing to dynamically adjust steering assistance based on vehicle speed, the technical solution for controlling vehicle steering assistance provided in this invention provides appropriate steering assistance based on vehicle speed, avoiding the aforementioned problems, improving steering convenience at low speeds and stability at high speeds, and further enhancing driving safety and comfort.

[0040] Example 1:

[0041] Figure 1 This is a flowchart illustrating a method for controlling vehicle steering assist according to an embodiment of the present invention. Figure 1 As shown, the power steering is provided by a pump motor installed on the vehicle, and the speed of the pump motor is related to the amount of power steering assistance; generally speaking, the higher the pump motor speed, the greater the power steering assistance provided; the lower the pump motor speed, the smaller the power steering assistance provided; the method includes:

[0042] S101, Set a timer, the timer executes the set timing period;

[0043] S201, execute the predetermined vehicle steering assist control logic: set the speed of the pump motor according to the received current vehicle speed, hydraulic operation information and hydraulic fault information. The setting method includes at least the following: when the current vehicle speed is greater than or equal to the predetermined speed, there is no hydraulic operation and no hydraulic fault, the current steering speed corresponding to the current vehicle speed is fitted by interpolation according to the current vehicle speed, at least two predetermined vehicle speeds and the steering speeds corresponding to the two predetermined vehicle speeds respectively.

[0044] The pump motor speed is set to the current steering speed.

[0045] Example 2:

[0046] Figure 2 This is a logic diagram of the method for controlling vehicle steering assistance according to this embodiment of the present invention. Figure 2 As shown, the power steering is provided by a pump motor installed on the vehicle, and the speed of the pump motor is related to the amount of power steering assistance. The method includes:

[0047] S1. Determine whether the current vehicle speed is greater than or equal to the predetermined speed; if yes, proceed to step S2; otherwise, proceed to step S3.

[0048] S2, based on at least two predetermined vehicle speeds and the steering speeds corresponding to the two predetermined vehicle speeds respectively, fit the current steering speed corresponding to the current vehicle speed by interpolation, and proceed to step S5;

[0049] In one specific embodiment, the interpolation fitting method is linear interpolation fitting, and the fitted steering speed Y corresponding to the current vehicle speed is determined using the formula Y=Y1+(Y2-Y1)·(X-X1) / (X2-X1), where X1 and X2 represent two predetermined vehicle speeds, X represents the current vehicle speed, and Y1 and Y2 represent the steering speeds corresponding to X1 and X2, respectively.

[0050] The current steering speed is determined using the formula A = K·Y, where A represents the current steering speed and K represents a predetermined proportional coefficient; preferably, the value of K ranges from 0.1 to 1.

[0051] S3, calculate the absolute value of the difference between the current angle of the steering wheel and the previously saved angle, and obtain the steering angle difference of the steering wheel;

[0052] S4, determine whether the steering angle difference is greater than or equal to a predetermined angle difference threshold; if yes, proceed to step S41; otherwise, proceed to step S42; preferably, the predetermined angle difference threshold ranges from 0.5 to 1 degree; preferably, the angle difference threshold is 1 degree.

[0053] S41, make the current steering speed corresponding to the current vehicle speed equal to the first predetermined steering speed, and proceed to step S5; preferably, the value range of the first predetermined steering speed is 600~700rpm; preferably, the first predetermined steering speed is 700rpm;

[0054] S42, start a timer for a predetermined duration. If the steering angle difference remains less than the angle difference threshold for a predetermined duration, then after the timer completes, make the current steering speed equal to the second predetermined steering speed, and before the timer completes, make the current steering speed equal to the first predetermined steering speed; wherein, the first predetermined steering speed is greater than the second predetermined steering speed; preferably, the predetermined duration is 2 to 5 seconds; preferably, the predetermined duration is 2 seconds; preferably, the second predetermined steering speed is 0 rpm;

[0055] S5 makes the pump motor speed equal to the sum of the current steering speed and the current hydraulic action speed.

[0056] In one specific embodiment, step S5 further includes:

[0057] Determine if the vehicle is currently performing any hydraulic actions; if so, calculate the current hydraulic action speed; if not, set the hydraulic action speed to 0 rpm.

[0058] The steps to determine if a vehicle has a hydraulic fault are as follows: if so, set the pump motor speed to 0 rpm; otherwise, set the pump motor speed to the sum of the steering speed and the hydraulic action speed.

[0059] Example 3:

[0060] Figure 3 This is a flowchart illustrating the method for controlling vehicle steering assistance according to an embodiment of the present invention. Figure 3 As shown, the method includes:

[0061] After the vehicle starts, it periodically checks whether the current speed is greater than or equal to a predetermined speed at predetermined time intervals. This is called a timer. The current speed is V, and the predetermined speed is Vmin.

[0062] In one specific implementation, the vehicle is a forklift; preferably, the current vehicle speed is collected by a speed sensor; preferably, the predetermined speed is 0.18 km / h;

[0063] 1. If the current vehicle speed is greater than or equal to the predetermined speed:

[0064] 1.1 Based on at least two predetermined vehicle speeds and the corresponding steering speeds for each of the two predetermined vehicle speeds, the current steering speed corresponding to the current vehicle speed is fitted using interpolation; in one specific embodiment, Figure 4 In a method for controlling vehicle steering assist according to an embodiment of the present invention, a schematic diagram of the curve of the current steering speed is calculated by interpolation fitting. For example... Figure 4 As shown, the fitted steering speed Y corresponding to the current vehicle speed is determined using the formula Y=Y1+(Y2-Y1)·(X-X1) / (X2-X1), where X represents the current vehicle speed, X1 and X2 represent two predetermined vehicle speeds, and Y1 and Y2 represent the steering speeds corresponding to X1 and X2, respectively.

[0065] The current steering speed is determined using the formula S = K·Interpolation(V), where S represents the current steering speed, K represents a predetermined proportional coefficient, and Interpolation(V) represents the result of the above interpolation fitting; preferably, the value of K ranges from 0.1 to 1.

[0066] 2. If the current vehicle speed is less than the predetermined speed:

[0067] 2.1 Calculate the absolute value of the difference between the current angle of the steering wheel and the previously saved angle to obtain the steering angle difference of the steering wheel, which is denoted as SA;

[0068] 2.2 Determine whether the steering angle difference is greater than or equal to the predetermined angle difference threshold SA. set ;

[0069] Preferably, the predetermined angle difference threshold is 1 degree;

[0070] 2.2.1 If the steering angle difference is greater than or equal to the predetermined angle difference threshold, the current steering speed S is S = 700 rpm, and proceed to step 3 below;

[0071] 2.2.2 If the steering angle difference is less than the predetermined angle difference threshold, that is, if there is no steering operation, start a timer for a predetermined duration of 2 seconds.

[0072] 2.2.2.1 If the steering angle difference remains less than the angle difference threshold for 2 seconds, then after the timer expires, the current steering speed S is set to 0 rpm;

[0073] 2.2.2.2 Before the 2-second timer expires, set the current steering speed S = 700 rpm;

[0074] 3. Determine if the vehicle is currently performing any hydraulic operations; i.e., hydraulic operation.

[0075] 3.1 If there is a hydraulic action, calculate the current hydraulic action speed;

[0076] 3.2 If no hydraulic action is performed, set the hydraulic action speed to 0 rpm.

[0077] 4. Determine if the vehicle has a hydraulic fault.

[0078] 4.1 If there is no hydraulic fault, the pump motor speed (P) should be equal to the sum of the steering speed (S) and the hydraulic action speed (HS); that is, P = S + HS;

[0079] 4.2 If there is a hydraulic failure, set the pump motor speed to 0, i.e., P = 0 rpm.

[0080] The above values ​​for current vehicle speed, proportional coefficient, steering angle difference, steering speed, pump motor speed, etc. are for illustrative purposes only, and specific data can be adjusted according to actual needs.

[0081] Through the above comprehensive control strategy, appropriate steering assistance can be provided at different vehicle speeds and steering angles. This not only improves the vehicle's handling performance but also enhances driving safety and comfort, reduces the difficulty of operation, and improves the driving experience.

[0082] Example 4:

[0083] The present invention also provides a device for controlling vehicle steering assistance, such as... Figure 5As shown, the device includes a processor 501, a memory 502, a bus 503, and a computer program stored in the memory 502 and executable on the processor 501. The processor 501 includes one or more processing cores. The memory 502 is connected to the processor 501 via the bus 503. The memory 502 is used to store program instructions. When the processor 501 executes the computer program, it implements the steps in the above-described method embodiment of Embodiment 1 of the present invention.

[0084] Furthermore, as an executable solution, the device for controlling the vehicle's steering assist can be a computer unit, which can be a desktop computer, laptop, handheld computer, or cloud server, among other computing devices. The computer unit may include, but is not limited to, a processor and memory. Those skilled in the art will understand that the above-described structure of the computer unit is merely an example and does not constitute a limitation on the computer unit. It may include more or fewer components, or combine certain components, or use different components. For example, the computer unit may also include input / output devices, network access devices, buses, etc., and this embodiment of the invention does not limit this.

[0085] Furthermore, as an executable solution, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The processor is the control center of the computer unit, connecting various parts of the entire computer unit via various interfaces and lines.

[0086] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the computer unit by running or executing the computer programs and / or modules stored in the memory and by calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory and may also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0087] Example 5:

[0088] The present invention also provides a vehicle including the means for controlling vehicle steering assistance as described above.

[0089] Example 6:

[0090] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the steps described above.

[0091] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. A method for controlling vehicle steering assistance, wherein the steering assistance is provided by a pump motor installed on the vehicle, the speed of the pump motor being related to the magnitude of the steering assistance, characterized in that, include: S101, Set a timer, the timer executes the set timing period; S201, execute the predetermined vehicle steering assist control logic: set the speed of the pump motor according to the received current vehicle speed, hydraulic operation information and hydraulic fault information. The setting method includes at least: when the current vehicle speed is greater than or equal to the predetermined speed, there is no hydraulic operation and no hydraulic fault, fit the current steering speed corresponding to the current vehicle speed by interpolation according to the current vehicle speed, at least two predetermined vehicle speeds and steering speeds corresponding to the two predetermined vehicle speeds respectively. The rotational speed of the pump motor is set to the current steering speed.

2. The method for controlling vehicle steering assist according to claim 1, characterized in that, In step S201, the received information further includes: steering angle information; the setting method further includes: When the current vehicle speed is less than the predetermined speed, there is no hydraulic operation and no hydraulic failure, the absolute value of the difference between the current angle of the steering wheel and the previously saved angle is calculated based on the steering angle information to obtain the steering angle difference of the steering wheel. When the steering angle difference is greater than or equal to a predetermined angle difference threshold, the current steering speed is equal to a first predetermined steering speed; otherwise, a predetermined timer is started. If the steering angle difference remains less than the predetermined angle difference threshold for the predetermined timer, the current steering speed is made equal to a second predetermined steering speed after the timer is completed, and before the timer is completed, the current steering speed is made equal to the first predetermined steering speed; wherein, the first predetermined steering speed is greater than the second predetermined steering speed.

3. The method for controlling vehicle steering assist according to claim 1, characterized in that, The configuration also includes setting the pump motor speed to 0 when the vehicle has a hydraulic failure.

4. The method for controlling vehicle steering assist according to claim 1, characterized in that, In step S201, the setting method further includes: when the current vehicle speed is greater than or equal to the predetermined speed, there is hydraulic operation and no hydraulic failure, calculating the current hydraulic action speed; The rotational speed of the pump motor is made equal to the sum of the steering speed and the current hydraulic action speed.

5. The method for controlling vehicle steering assist according to claim 4, characterized in that, Also includes: When there is no hydraulic operation, the hydraulic action speed is 0.

6. The method for controlling vehicle steering assist according to claim 1, characterized in that, In step S201, the current steering speed corresponding to the current vehicle speed is fitted by interpolation based on the current vehicle speed, at least two predetermined vehicle speeds, and the steering speeds corresponding to the two predetermined vehicle speeds, including: The fitted steering speed Y corresponding to the current vehicle speed is determined using the formula Y=Y1+(Y2-Y1)·(X-X1) / (X2-X1), where X represents the current vehicle speed, X1 and X2 represent the predetermined vehicle speeds, and Y1 and Y2 represent the steering speeds corresponding to X1 and X2, respectively. The current steering speed is determined using the formula A = K·Y, where A represents the current steering speed and K represents a predetermined proportional coefficient, with a value ranging from 0.1 to 1.

7. The method for controlling vehicle steering assist according to claim 2, characterized in that, It also includes one or more of the following: The predetermined angle difference threshold ranges from 0.5 to 1 degree; The predetermined duration is 2 to 5 seconds; The second predetermined turning speed is 0; The first predetermined steering speed ranges from 600 to 700 rpm.

8. A device for controlling vehicle steering assist, characterized in that, The system includes a memory and a processor, the memory storing at least one program that is executed by the processor to implement the method for controlling vehicle steering assistance as described in any one of claims 1 to 7.

9. A vehicle, characterized in that, Includes the device for controlling vehicle steering assistance as described in claim 8.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for controlling vehicle steering assistance as described in any one of claims 1 to 7.

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