Steering control method and system, computer-readable storage medium and vehicle
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- KB INTELLECTUAL PROPERTY GMBH & CO KG
- Filing Date
- 2025-12-25
- Publication Date
- 2026-07-02
Smart Images
Figure CN2025145439_02072026_PF_FP_ABST
Abstract
Description
STEERING CONTROL METHOD AND SYSTEM, COMPUTER-READABLE STORAGE MEDIUM AND VEHICLETECHNICAL FIELD
[0001] The present application relates to the technical field of vehicle steering, 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
[0002] A steering system of a vehicle is an important constituent part of a vehicle driving system, which is closely related to vehicle handling stability, ride comfort and traveling safety.
[0003] When driving a vehicle, the driver operates the steering wheel so that the vehicle travels along a predetermined direction. However, when the vehicle wheel has a tire burst, the vehicle may turn to the side with the tire burst due to inertia. At this time, the driver might not be ready to react because of panic or unconsciously operate the steering wheel instantaneously, which results in serious deviation and even rollover of the vehicle and thus leads to driving safety accidents.SUMMARY
[0004] On such basis, it is an object of the present application to provide a technical solution of improving the traveling safety when the vehicle wheel has a tire burst, wherein a compensation torque is applied to the steering wheel of the vehicle when the vehicle wheel has a tire burst, so that the vehicle can remain in an initial traveling direction or a safe traveling direction as much as possible, so as to buy the driver valuable time to take over the vehicle safely, and further ensure the traveling safety of the vehicle.
[0005] In order to achieve the above-described object, a first aspect of the present application provides a steering control method for a vehicle, especially a two-track vehicle, wherein the method includes entering a torque compensation mode when it is detected that the vehicle has a tire burst in a unilateral wheel, especially a tire burst in a unilateral steered wheel, wherein a target position of a steering wheel of the vehicle is determined in the torque compensation mode and the following steps are repeatedly implemented at least once until exiting the torque compensation mode: obtaining a 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 outputting a control instruction for applying the current compensation torque to the steering wheel so that the steering wheel rotates towards the target position.
[0006] In some embodiments, determining a target position of a steering wheel of the vehicle may include: obtaining an actual position before tire burst of the steering wheel at a previous moment of the actual occurrence of the tire burst in the unilateral wheel; obtaining an offset of the steering wheel due to the tire burst in the unilateral wheel; and determining the target position of the steering wheel based on the actual position before tire burst and the offset of the steering wheel.
[0007] In some embodiments, whether the vehicle has a tire burst in a unilateral wheel may be detected by means of a tire burst sensor; wherein in the torque compensation mode, the previous moment of the actual occurrence of the tire burst in the unilateral wheel may be determined based on a moment when the tire burst sensor detects the tire burst in the unilateral wheel and its detection delay.
[0008] In some embodiments, obtaining an offset of the steering wheel due to the tire burst in the unilateral wheel may include: obtaining a vehicle speed of the vehicle at the previous moment of the actual occurrence of the tire burst in the unilateral wheel; and obtaining the offset based on the vehicle speed and a preset calibration curve, wherein the preset calibration curve is a relation curve indicates that the offset of the steering wheel changes with the vehicle speed upon occurrence of the tire burst in the unilateral wheel in the case where the steering wheel is not intervened.
[0009] In some embodiments, determining a current compensation torque based on a difference between the target position and the current actual position may include: determining a product of the difference and a preset coefficient as the current compensation torque, 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 satisfied in the torque compensation mode: the torque compensation mode lasts for a preset time, and preferably the preset time is obtained by calibration; and a tire burst in a wheel on the other side of the vehicle is detected.
[0012] In some embodiments, upon exiting the torque compensation mode, the current compensation torque determined at the exit moment may be applied to the steering wheel in such a manner as to gradually or stepwise decrease to zero, especially gradually decrease to zero with a preset slope.
[0013] In some embodiments, the method may further include: after exiting the torque compensation mode, not entering the torque compensation mode if a tire burst in a wheel of the vehicle is detected again.
[0014] In some embodiments, the torque compensation mode may be entered only once in a current power-on cycle of the vehicle.
[0015] In some embodiments, the torque compensation mode may be entered only when it is detected, for the first time in the current power-on cycle, that the vehicle has a tire burst in a unilateral wheel.
[0016] A second aspect of the present application provides a steering system for a vehicle, especially a two-track vehicle, including a steering wheel, an electric motor for providing electric power, and a control device, wherein the control device is configured to implement the method according to the first aspect of the present application or one of its embodiments, so as to control the electric motor to apply the current compensation torque to the steering wheel in the torque compensation mode.
[0017] A third aspect of the present application provides a steering control system for a vehicle, especially a two-track vehicle, including: one or more processors; and one or more computer-readable memories coupled with the one or more processors and configured to store a series of computer-executable instructions that, when executed by the one or more processors, cause the one or more processors to perform the method according to the first aspect of the present application or one of its embodiments.
[0018] A fourth aspect of the present application provides a computer-readable storage medium having computer-readable instructions stored thereon, wherein the computer-readable instructions, when executed by a processor, cause the processor to perform various steps of the method according to the first aspect of the present application or one of its embodiments.
[0019] A fifth aspect of the present application provides a vehicle, especially a two-track vehicle, including 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 elaborated more explicitly below in conjunction with the embodiments and the accompanying drawings. The above-described advantages and other advantages will become clear to those skilled in the art by way of detailed description of the embodiments of the present application. The accompanying drawings are only used to show the preferred embodiments and should not be considered as limiting the present application. In the accompanying drawings:
[0021] Fig. 1 is a schematic structural view of a vehicle according to some embodiments of the present application;
[0022] Fig. 2 is a schematic structural view of a steering system according to some embodiments of the present application;
[0023] Fig. 3 is a curve showing that the position of the steering wheel changes with time before and after a tire burst according to some embodiments of the present application; and
[0024] Fig. 4 is a schematic flowchart of a steering control method according to some embodiments of the present application.DETAILED DESCRIPTION
[0025] The embodiments of the present application will be explicitly and completely described below in conjunction with the accompanying drawings. Apparently, the embodiments described are merely some of the embodiments of the present application, rather than all of the embodiments. On the basis of the embodiments of the present application, all the other embodiments obtained by those skilled in the art on the premise that no inventive effort is involved shall fall into the protection scope of the present application.
[0026] It is to be noted that, the term “first\second\third” involved in the embodiments of the present application only distinguishes similar objects, but does not represent specific sequencing directed to the objects. It may be understood that, “first\second\third” may be interchanged with a specific order or sequence if permitted.
[0027] It may be understood by those skilled in the art that, unless otherwise defined, all the terms (including technical terms and scientific terms) used here have the same meaning as commonly understood by those skilled in the art to which the present application belongs.
[0028] The embodiment of the present application proposes to apply a compensation torque to a steering wheel of a vehicle when a tire burst in a vehicle wheel occurs, so that the steering wheel remains in a safe target position as much as possible in a short time after occurrence of the tire burst, thereby ensuring safe driving of the vehicle even if the driver forgets to operate the steering wheel or improperly operates the steering wheel in a short time due to panic.
[0029] Referring to Fig. 1, which shows a schematic structural view of a vehicle 100 according to some embodiments of the present application. The vehicle 100 is especially constructed as a two-track vehicle, preferably a commercial vehicle. The commercial vehicle may be understood as a vehicle for conveying personnel and goods, including but not limited to various types of trucks, passenger vehicles with more than 9 seats and semi-trailer tractors. In the current embodiment, the vehicle 100 is a commercial vehicle, but the embodiment of the present application is not limited thereto, and may also be applied to any two-track vehicle.
[0030] As shown in Fig. 1, the vehicle 100 may include steered wheels 110, driven wheels 120 and a steering system 130. The steering system 130 is configured to drive the steered wheels 110 to steer, so as to drive the driven wheel 120 to steer.
[0031] The steering system 130 includes a steering wheel 131, an electric motor 132 and a control device 133. The steering wheel 131 is configured to perform a steering operation by a driver to input a steering hand force or a steering torque to the steering system 130; the electric motor 132 is configured to provide electric power; the control device 133 is configured to control the electric motor 132 to provide auxiliary torque to the steering wheel 131. Here, the control device 133 is especially configured to control the electric motor 132 according to a steering control method to be described later.
[0032] In some embodiments, the control device 133 may be hardware, for example, a controller or a programmable logic hardware component of the vehicle or its steering system, or may be software, which is integrated in the controller or the programmable logic hardware component of the vehicle or its steering system.
[0033] As some implementations, the control device 133 may be a steering control system for the vehicle 100, comprising: one or more processors; and one or more computer-readable memories coupled with the one or more processors and configured to store a series of computer-executable instructions that, when executed by the one or more processors, cause the one or more processors to perform a steering control method to be described later.
[0034] In some examples, the processor in the embodiments of the present application may include, but is not limited to, a device for interpreting computer instructions and processing data in a computer software such as Central Processing Unit (CPU) , Micro Controller Unit (MCU) , Field-Programmable Gate Array (FPGA) and Digital Signal Processor (DSP) .
[0035] In some examples, the memory in the embodiments of the present application may be a volatile memory or a nonvolatile memory, and may also include both volatile and nonvolatile memories. The nonvolatile memory may be Read Only Memory (ROM) , Programmable Read Only Memory (PROM) , Erasable Programmable Read Only Memory (EPROM) , Electrically Erasable Programmable Read-only Memory (EEPROM) , Ferromagnetic Random Access Memory (FRAM) , Flash Memory, magnetic surface memory, optical disk, or Compact Disc Read-Only Memory (CD-ROM) . The magnetic surface memory may be a magnetic dis k memory or a magnetic tape memory. The volatile memory may be a Random Access Memory (RAM) , which serves as an external cache. By way of exemplary but not limiting explanations, many forms of RAM are available, for example, 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) , SyncLink Dynamic Random Access Memory (SLDRAM) , and Direct Rambus Random Access Memory (DRRAM) . The memories described in embodiments of the present application are intended to include, but are not limited to, these and any other suitable types of memories.
[0036] Further, the control device 133 may also include a communication interface, which communicates with the processor and the computer-readable storage medium via a bus. The communication interface may be any communication protocol interface that is currently known. The communication interface may communicate with the outside through the network, and the controller may transmit data through the communication interface to any device connected through the communication interface according to a certain communication protocol.
[0037] In some embodiments, the steering system 130 may be constructed 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] As shown in Fig. 2, in one specific example, the steering system 130 is constructed as an electro-hydraulic steering system.
[0039] As shown in Fig. 2, the electro-hydraulic steering system 130 may exemplarily include a steering wheel 131, a steering torque transmission device 134, a universal j oint 135, a steering gear 136, a hydraulic power device 137, an electric power device 138 and a steering linkage 139.
[0040] The steering wheel 131 is configured to perform a steering operation by a driver to input a steering hand force or a steering torque to the steering system 130.
[0041] The steering torque transmission device 134 includes a steering column and a steering countershaft for transmitting the steering torque of the steering operation.
[0042] The universal j oint 135 is configured to connect the steering countershaft and the input shaft of the steering gear.
[0043] The steering gear 136 is a steering actuator for transmitting the steering torque to the steering linkage 139 and then to the steered wheels 110.
[0044] The hydraulic power device 137 includes a steering fluid reservoir 101, a fluid pipe 102 and a steering fluid pump 103, wherein the steering fluid reservoir 101 may provide a hydraulic power transmission medium to the steering gear 136 by means of the steering fluid pump 103 and via the fluid pipe 102 for hydraulic power.
[0045] The electric power device 138 includes an electric motor 132 for electric power, a control device 133 for operating the electric motor 131, and a power supply (not shown) for supplying power to the electric motor 132. The electric power device 138 is configured to provide electric power to the steering wheel 131 through the electric motor 132 via the transmission mechanism 104, for example, a worm gear mechanism.
[0046] The steering linkage 139 includes a steering pitman arm and a steering drag link, wherein the steering pitman arm is configured to transmit a torque outputted by the steering gear 136 to the steering drag link, and the steering drag link is configured to transmit a steering torque to the steered wheels 110 of the vehicle 100.
[0047] In some embodiments, the electric motor 132 may be a DC electric motor 6, for example, a DC brushless electric motor. At this time, the power supply for supplying power to the electric motor 132 may be constructed as a storage battery in the vehicle 100 and a corresponding DC / DC converter. Alternatively, in other embodiments, the electric motor 132 may also be an AC electric motor. At this time, the power supply for supplying power to the electric motor 132 may be constructed as a storage battery in the vehicle 100 and a corresponding DC / AC converter. In one specific example, the electric motor 132 may be a permanent magnet synchronous electric motor.
[0048] It may be understood here that, the construction of the electro-hydraulic steering system may have multiple modifications, and is not limited to the current embodiment. For example, the steering fluid pump of the hydraulic power device 137 may be driven by an electric motor instead of a traditional engine, thereby improving the spatial arrangement of the electro-hydraulic steering system.
[0049] Next, a steering control method according to some embodiments of the present application will be described, wherein the method is applied to a vehicle 100, especially a two-track vehicle, for example, a commercial vehicle.
[0050] Fig. 3 shows a curve indicates that the position of the steering wheel or the angle of the steering wheel changes with time during the traveling process, wherein the red curve is a curve indicates that the position of the steering wheel changes with time in the case where no compensation torque is provided when a tire burst occurs. As shown in Fig. 3, at time T1, a tire burst occurs in the left front steered wheel 110 of the vehicle 100. This is detected, for example, by a tire burst sensor at time T2. At this time, if the steering wheel is not positively intervened, as shown by the red curve, the position of the steering wheel will be severely deviated in a short time (for example, from T1 to T4) , which might lead to serious accidents.
[0051] On such basis, an embodiment of the present application proposes to enter a torque compensation mode immediately after a tire burst in a unilateral wheel is detected at time T2 (or at time T3 due to signal transmission delay, for example) , and positively and timely provide a compensation torque for the steering wheel 131, for example, by providing a compensation torque for the steering wheel 131 by the power electric motor 132, so as to make the vehicle remain in an initial traveling direction or a safe traveling direction as much as possible, buy the driver valuable time to take over the vehicle safely, and further ensure the traveling safety of the vehicle.
[0052] The steering control method 200 according to the embodiment of the present application includes entering the torque compensation mode or activating the torque compensation function when it is detected that the vehicle has a tire burst in a unilateral wheel.
[0053] As shown in Figs. 3 and 4, in step S210, first of all, it is detected whether the vehicle 100 has a tire burst in a unilateral wheel.
[0054] In some embodiments, in step S210, whether the vehicle 100 has a tire burst in a unilateral wheel is detected by way of a tire burst sensor, especially a sensor installed in each tire. The tire burst sensor may be, for example, a pressure sensor that measures a tire pressure, so that whether the vehicle 100 has a tire burst in a unilateral wheel is detected by a measured tire pressure change. In other embodiments, in step S210, it is also possible to determine whether the vehicle 100 has a tire burst in a unilateral wheel by comparing wheel speeds of all the wheels.
[0055] In some embodiments, in step S210, it is only detected whether the vehicle 100 has a tire burst in a unilateral steered wheel. In other words, at this time, attention is only paid to whether the steered wheel of the vehicle 100 has a tire burst.
[0056] In step S220, when it is detected that the vehicle 100 has a tire burst in a unilateral wheel, especially in a unilateral steered wheel 110, the torque compensation mode is entered. Preferably, the torque compensation mode is entered only when it is detected that the vehicle 100 has a tire burst in a unilateral wheel, especially in a unilateral steered wheel 110 has a tire burst. That is, if it is detected that the vehicle 100 has tire bursts in both wheels on two sides, torque compensation will not be performed.
[0057] Here, in the torque compensation mode, a target position Pt of the steering wheel 131 of the vehicle 100 is determined and the following steps are repeatedly implemented at least once, for example, once every 5 milliseconds, every 10 milliseconds or every 15 milliseconds, until the torque compensation mode is exited: obtaining a current actual position Ps of the steering wheel 131, for example, the current actual position Ps of the steering wheel 131 may be detected by way of a steering wheel angle sensor not shown; determining a current compensation torque based on a 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 implemented again: obtaining a current actual position of the steering wheel 131; determining a current compensation torque based on a 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 towards the target position. If it is determined that the torque compensation mode is to be exited, the process may be ended.
[0059] By way of the steering control method according to the embodiment of the present application, the steering wheel can automatically remain at a safe target position as much as possible in a short time after occurrence of the tire burst, regardless of whether the driver correctly operates the steering wheel at this time.
[0060] In some embodiments, the method 200 according to the embodiment of the present application may be implemented by the control device 133 of the steering system 130 described above, 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 electric 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 one specific example, the steering control method 200 according to the embodiment of the present application is applied to the electro-hydraulic steering system 130 shown in Fig. 2. When it is detected by the tire burst sensor that a tire burst occurs in the left front steered wheel 110 of the vehicle 100, the torque compensation mode is entered, wherein the control device 133 controls the electric 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 the embodiment of the present application, so that the steering wheel rotates towards the target position.
[0062] In some embodiments, the target position of the steering wheel 131 may be determined based on the actual position of the steering wheel at a previous moment of occurrence of a physical tire burst and the offset of the steering wheel caused by the tire burst. Therefore, the vehicle may travel in the initial direction as much as possible after the tire burst.
[0063] As shown in Fig. 3, determining a target position of a steering wheel 131 of the vehicle 100 may include: obtaining an actual position P0 before tire burst of the steering wheel 131 at a previous moment T0 of the actual occurrence (i.e., physical occurrence) of the tire burst in the unilateral wheel; obtaining an offset of the steering wheel 131 due to the tire burst in the unilateral wheel; and determining the target position Pt of the steering wheel based on the actual position P0 before tire burst and the offset of the steering wheel 131. For example, the target position Pt may be equal to the sum of the actual position P0 before tire burst and the offset.
[0064] It should be understood here that, as shown in Fig. 3, the previous moment T0 of the actual occurrence of the tire burst in a unilateral wheel is a time shortly before the time T1 of the actual occurrence of the tire burst in the unilateral wheel.
[0065] It should be understood here that, the offset refers to the passive position change of the steering wheel in a short time after occurrence of a tire burst in a unilateral wheel in the case where the steering wheel is not intervened.
[0066] In some embodiments, the actual position P0 before tire burst of the steering wheel 131 may be obtained by way of a steering wheel angle sensor. For example, the steering wheel angle sensor detects and records the position of the steering wheel 131 during the traveling of the vehicle, and stores the same in its memory or transmits the same to the control device 133. After occurrence of a tire burst in a unilateral wheel and entering the torque compensation mode, the actual position P0 before tire burst of the steering wheel 131 at the previous moment T0 of the actual occurrence of the tire burst in the unilateral wheel 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 previous moment T0 of the actual occurrence of the tire burst in the unilateral wheel may be estimated according to the moment T2 exactly when the tire burst in the unilateral wheel is detected.
[0068] As some implementations, when it is detected whether the vehicle has a tire burst in a unilateral wheel by way of a tire burst sensor, in the torque compensation mode, the previous moment T0 of the actual occurrence of the tire burst in the unilateral wheel is determined based on the moment T2 when the tire burst sensor detects the tire burst in the unilateral wheel and its detection delay (T2-T 1) .
[0069] In one example, the previous moment T0 of the actual occurrence of the tire burst in the unilateral wheel is equal to the moment T2 when the tire burst in the unilateral wheel is detected minus a preset threshold, wherein the preset threshold is, for example, determined according to the sensing delay of the tire burst sensor or obtained by calibration. For example, the preset threshold may be the sum of the sensing delay of the tire burst sensor and a set value. In one example, the sensing delay of the tire burst 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 is any value between 200 and 240 milliseconds, for example, 220 milliseconds.
[0070] As other implementations, the previous moment T 0 of the actual occurrence of the tire burst in the unilateral wheel may also be obtained by calibration.
[0071] In some embodiments, the offset of the steering wheel is related to the vehicle speed of the vehicle. That is, obtaining an offset of the steering wheel 131 due to the tire burst in the unilateral wheel may include: obtaining a vehicle speed of the vehicle at the previous moment T0 of the occurrence of the tire burst in the unilateral wheel; and obtaining the offset based on the vehicle speed and a preset calibration curve, wherein the preset calibration curve is a relation curve indicates that the offset of the steering wheel changes with the vehicle speed upon occurrence of the tire burst in the unilateral wheel in the case where the steering wheel is not intervened.
[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 tire burst of the vehicle occurs.
[0073] As some implementations, the target position Pt of the steering wheel 131 may be determined according to road conditions when the tire burst of the vehicle occurs. For example, a camera on the vehicle may detect the road conditions when the tire burst of the vehicle occurs, so as to determine a safe traveling direction, and then determine a steering wheel position required for the safe traveling direction as the target position Pt. This is particularly advantageous, for example, when a tire burst occurs in the case of turning.
[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 should be converted into the compensation torque Tor.
[0075] In some embodiments, the difference between the target position and the current actual position may be converted into the compensation torque by a linear function, that is, Tor=k* (Pt-Ps) +b, where k and b are both constants. Here, the greater the current actual position of the steering wheel deviates from the target position, the greater the compensation torque will be. By contrary, the closer the current actual position of the steering wheel is to the target position, the smaller the compensation torque will be.
[0076] As some implementations, determining a current compensation torque based on a difference between the target position and the current actual position may include: determining a 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, a position overshoot of the steering wheel might occur due to excessive compensation torque or other reasons (unconscious operations of the driver and the like) , which leads to a 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 satisfied in the torque compensation mode: the torque compensation mode lasts for a preset time; and a tire burst in a wheel on the other side of the vehicle is detected.
[0079] Here, the torque compensation is a short-term protection strategy to help the driver in a short-term unconscious situation. In general, when it is found that a single-side tire burst of the vehicle occurs, the driver may immediately try to take over the control of the vehicle. Therefore, it may be provided that, once the torque compensation time reaches a set threshold, the torque compensation mode is immediately exited, so that the driver can take over the vehicle smoothly. As shown in Fig. 3, the preset time is the period between T3 and T4, that is, the torque compensation mode is entered at time T3 and exited at time T4. The preset time is, for example, 1 second.
[0080] Preferably, the preset time T3 to T 4 may be obtained by calibration.
[0081] In addition, during the torque compensation process, if a tire burst on the other side is detected, the torque compensation mode may also be exited to avoid providing an improper compensation torque.
[0082] In some embodiments, upon exiting the torque compensation mode, the current compensation torque determined at the exit moment may be applied to the steering wheel in such a manner as to gradually or stepwise decrease to zero, especially gradually decrease to zero with a preset slope. By applying the compensation torque determined at the exit moment to the steering wheel in such a manner as to gradually or stepwise decrease to zero, it is possible to avoid bringing unfavorable feelings to the driver due to suddenly stop of outputting the compensation torque.
[0083] In some embodiments, the preset s lope for s lowing decreasing the output of the compensation torque may be obtained by calibration.
[0084] In some embodiments, the method may further include: after exiting the torque compensation mode, the torque compensation mode will not be entered if a tire burst in a wheel of the vehicle is detected again.
[0085] In some embodiments, the torque compensation mode meh be entered only once in a current power-on cycle of the vehicle. Since a tire burst of the vehicle has a great influence on safe driving of the vehicle, once it happens, the driver is required to timely take over and slowly control the vehicle to stop for inspection. Therefore, the torque compensation function is performed only once in the current power-on cycle.
[0086] It should be understood here that, a power-on cycle starts from an ignition of an engine of the vehicle and ends until the engine is shut down.
[0087] In some embodiments, the torque compensation mode may be entered only when it is detected, for the first time in the current power-on cycle, that the vehicle has a tire burst in a unilateral wheel. In other words, if a tire burst on the other side is also detected after the torque compensation for the tire burst in the unilateral wheel is completed, a torque compensation response will not be made to the event of the tire burst on the other side.
[0088] The embodiment of the present application also provides a computer-readable storage medium having computer-readable instructions stored thereon, wherein computer-readable instructions, when executed by a processor, cause the processor to perform various steps of the steering control method 200 according to the embodiments of the present application.
[0089] Hereto, various embodiments of the present application have been described in detail. In order to avoid obscuring the concept of the present application, some details commonly known in the art have not been described. From the above descriptions, those s killed in the art may fully understand how to implement the technical solutions disclosed here.
[0090] Those skilled in the art will appreciate that the embodiments of the present application may be provided as a method, system, or computer program product. Therefore, the present application may take the form of a hardware only embodiment, a software only embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application may take the form of a computer program product implemented in one or more computer-usable non-transitory storage media (including but not limited to a disk memory, CD-ROM, an optical memory, and the like) containing computer usable program codes therein.
[0091] The present application is described with reference to the flow charts and / or block diagrams of the methods, devices (systems) , and computer program products according to the embodiments of the present application. It should be understood that a function specified in one or more steps in a flowchart and / or one or more blocks in a block diagram may be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, an embedded processing machine, or other programmable data processing devices to produce a machine, such that the instructions executed by a processor of the computer or other programmable data processing devices produce a device for realizing a function specified in one or more steps of a flow chart and / or one or more blocks in a block diagram.
[0092] These computer program instructions may also be stored in a computer readable memory that can guide a computer or other programmable data processing devices to operate in a particular manner, such that the instructions stored in the computer readable memory produce a manufacture including an instruction device. The instruction device realizes a function specified in one or more steps in a flow chart or one or more blocks in a block diagram.
[0093] These computer program instructions may also be loaded onto a computer or other programmable data processing devices, so that a series of operational steps are performed on the computer or other programmable devices to produce a computer-implemented processing, such that the instructions executed on the computer or other programmable devices provide steps for realizing a function specified in one or more steps of a flow chart and / or one or more blocks in a block diagram.
[0094] The features or combinations of features mentioned above in the specification, the accompanying drawings and the claims may be arbitrarily combined with each other or used alone as long as they are meaningful without contradiction with each other within the scope of the present application.
[0095] The above embodiments are only preferred embodiments of the present application, and thus do not limit the patent scope of the present application. Any equivalent modifications made by using the content of the specification and the accompanying drawings of the present application or direct / indirect application in other related technical fields under the invention concept of the present application are included in the patent protection scope of the present application.
Claims
A steering control method for a vehicle, especially a two-track vehicle, wherein the method comprises: entering a torque compensation mode when it is detected that the vehicle has a tire burst in a unilateral wheel, especially a tire burst in a unilateral steered wheel, wherein a target position of a steering wheel of the vehicle is determined in the torque compensation mode and the following steps are repeatedly implemented at least once until exiting the torque compensation mode:obtaining a 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; andoutputting a control instruction for applying the current compensation torque to the steering wheel so that the steering wheel rotates towards the target position.The method according to claim 1, wherein determining a target position of a steering wheel of the vehicle comprises:obtaining an actual position before tire burst of the steering wheel at a previous moment of the actual occurrence of the tire burst in the unilateral wheel;obtaining an offset of the steering wheel due to the tire burst in the unilateral wheel; anddetermining the target position of the steering wheel based on the actual position before tire burst and the offset of the steering wheel.The method according to claim 2, wherein whether the vehicle has a tire burst in a unilateral wheel is detected by means of a tire burst sensor;wherein in the torque compensation mode, the previous moment of the actual occurrence of the tire burst in the unilateral wheel is determined based on a moment when the tire burst sensor detects the tire burst in the unilateral wheel and its detection delay.The method according to claim 2 or 3, wherein obtaining an offset of the steering wheel due to the tire burst in the unilateral wheel comprises:obtaining a vehicle speed of the vehicle at the previous moment of the actual occurrence of the tire burst in the unilateral wheel; andobtaining the offset based on the vehicle speed and a preset calibration curve, wherein the preset calibration curve is a relation curve indicates that the offset of the steering wheel changes with the vehicle speed upon occurrence of the tire burst in the unilateral wheel in the case where the steering wheel is not intervened.The method according to any of claims 1 to 4, wherein determining a current compensation torque based on a difference between the target position and the current actual position comprises:determining a product of the difference and a preset coefficient as the current compensation torque, wherein the preset coefficient is obtained by calibration.The method according to any of claims 1 to 5, wherein 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.The method according to any of claims 1 to 6, further comprising: exiting the torque compensation mode if one of the following conditions is satisfied in the torque compensation mode:the torque compensation mode lasts for a preset time, and preferably the preset time is obtained by calibration; anda tire burst in a wheel on the other side of the vehicle is detected.The method according to claim 7, further compris ing: upon exiting the torque compensation mode, applying the current compensation torque determined at the exit moment to the steering wheel in such a manner as to gradually or stepwise decrease to zero, especially gradually decrease to zero with a preset slope.The method according to any of claims 1 to 8, further comprising:after exiting the torque compensation mode, not entering the torque compensation mode if a tire burst in a wheel of the vehicle is detected again.The method according to any of claims 1 to 9, wherein the torque compensation mode is entered only once in a current power-on cycle of the vehicle.The method according to claim 10, wherein the torque compensation mode is entered only when it is detected, for the first time in the current power-on cycle, that the vehicle has a tire burst in a unilateral wheel.A steering system for a vehicle, especially a two-track vehicle, wherein the steering system comprises a steering wheel, an electric motor for providing electric power, and a control device, wherein the control device is configured to implement the method according to any of claims 1 to 11, so as to control the electric motor to apply the current compensation torque to the steering wheel based on the control instruction in the torque compensation mode.A steering control system for a vehicle, especially a two-track vehicle, comprising:one or more processors; andone or more computer-readable memories coupled with the one or more processors and configured to store a series of computer-executable instructions that, when executed by the one or more processors, cause the one or more processors to perform the method according to any of claims 1 to 11.A computer-readable storage medium having computer-readable instructions stored thereon, wherein the computer-readable instructions, when executed by a processor, cause the processor to implement various steps of the method according to any of claims 1 to 11.A vehicle, especially a two-track vehicle, wherein 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.