Automatic centering method and system for steer-by-wire

文档序号：1349080 发布日期：2020-07-24 浏览：2次中文

阅读说明：本技术 一种线控转向自动对中方法及系统 (Automatic centering method and system for steer-by-wire ) 是由张�诚林特于 2020-04-09 设计创作，主要内容包括：本发明公开了一种线控转向自动对中方法及系统,校准端获取当前线控转向系统所对应的对中校准指令,将对中校准指令发送至线控转向端；线控转向端接收对中校准指令,按照对中校准指令驱动转向电机分别达到左转机械极限位置和右转机械位置,以得到实际转向左极值、实际转向右极值以及实际转向中间值。本发明对不同线控转向系统实现更加快速高效的对中操作,保证了线控转向系统的稳定性和可靠性。(The invention discloses a steer-by-wire automatic centering method and a system, wherein a calibration end acquires a centering calibration instruction corresponding to a current steer-by-wire system and sends the centering calibration instruction to the steer-by-wire end; and the steer-by-wire end receives the centering calibration instruction, and drives the steering motor to reach the left-turning mechanical limit position and the right-turning mechanical position respectively according to the centering calibration instruction so as to obtain an actual steering left extreme value, an actual steering right extreme value and an actual steering intermediate value. The invention realizes faster and more efficient centering operation on different steer-by-wire systems, and ensures the stability and reliability of the steer-by-wire systems.)

1. A method for automatically centering a steering-by-wire device is characterized by comprising the following steps:

s1, the calibration end acquires a centering calibration instruction corresponding to the current steer-by-wire system and sends the centering calibration instruction to the steer-by-wire end;

and S2, the steer-by-wire end receives the centering calibration instruction, and drives the steering motor to reach a left-turning mechanical limit position and a right-turning mechanical position respectively according to the centering calibration instruction so as to obtain an actual steering left extreme value, an actual steering right extreme value and an actual steering intermediate value.

2. The steer-by-wire automatic centering method according to claim 1, wherein the step S2 specifically comprises the steps of:

the steer-by-wire end receives the centering calibration instruction and drives a steering motor to perform steering calibration actions for N times from an initial state, wherein N is greater than or equal to 1;

and after N times of steering calibration actions, the steer-by-wire end obtains N current left-turn numerical values and N current right-turn numerical values, obtains an actual steering left extreme value according to the N current left-turn numerical values, obtains an actual steering right extreme value according to the N current right-turn numerical values, and takes the intermediate value of the actual steering left extreme value and the actual steering right extreme value as an actual steering intermediate value.

3. The steer-by-wire automatic centering method according to claim 1, wherein the step S2 specifically comprises the steps of:

the steer-by-wire end obtains the current intermediate value returned by the steering sensor when the current steer-by-wire system is in the intermediate state in real time, and records the current intermediate value as the actual steer-by-wire intermediate value;

and after N times of steering calibration actions, the steer-by-wire end obtains N current left-turn numerical values and N current right-turn numerical values, obtains an actual steering left extreme value according to the N current left-turn numerical values, and obtains an actual steering right extreme value according to the N current right-turn numerical values.

4. The method as claimed in claim 2 or 3, wherein the step S2 of obtaining the actual turning left extreme value according to the N current left turning values and obtaining the actual turning right extreme value according to the N current right turning values specifically includes the following steps:

when N is 1, the steer-by-wire end takes the current left turn value as an actual steer left extreme value and takes the current right turn value as an actual steer right extreme value;

and when N is greater than or equal to 3, the steer-by-wire end averages the N-2 current left-turn values left after the maximum value and the minimum value of the N current left-turn values are removed to obtain an actual steer left extreme value, and averages the N-2 current right-turn values left after the maximum value and the minimum value of the N current right-turn values are removed to obtain an actual steer right extreme value.

5. The steer-by-wire automatic centering method according to any one of claims 1 to 3, wherein said step S2 is followed by the steps of:

and S3, the steer-by-wire end takes 3% of the actual steering left extreme value as a reserved value, takes 97% of the actual steering left extreme value as the real-time steering left extreme value of the current steer-by-wire system, takes 3% of the actual steering right extreme value as a reserved value, and takes 97% of the actual steering right extreme value as the real-time steering right extreme value of the current steer-by-wire system.

6. A steer-by-wire automatic centering control system comprises a calibration end and a steer-by-wire end which are in communication connection, wherein the calibration end comprises a first memory, a first processor and a first computer program which is stored on the first memory and can run on the first processor, the steer-by-wire end comprises a second memory, a second processor and a second computer program which is stored on the second memory and can run on the second processor, and the following steps are realized when the first processor executes the first computer program:

s1, acquiring a centering calibration instruction corresponding to the current steer-by-wire system, and sending the centering calibration instruction to a steer-by-wire end;

the second processor, when executing the second computer program, implements the steps of:

and S2, receiving the centering calibration instruction, and driving the steering motor to respectively reach a left-turning mechanical limit position and a right-turning mechanical position according to the centering calibration instruction so as to obtain an actual steering left extreme value, an actual steering right extreme value and an actual steering intermediate value.

7. The steer-by-wire automatic centering control system according to claim 6, wherein said second processor executing said step S2 of said second computer program comprises the following steps:

receiving the centering calibration instruction, and driving a steering motor to perform steering calibration actions for N times from an initial state, wherein N is greater than or equal to 1;

in each steering calibration action, driving the steering motor to perform left turning, judging whether the steering motor is in a large-current locked-rotor state and a current left turning value returned by a steering sensor is fixed and unchanged within preset time, recording the current left turning value, then driving the steering motor to perform right turning by a steer-by-wire end, judging whether the steering motor is in the large-current locked-rotor state and the current right turning value returned by the steering sensor is fixed and unchanged within preset time, and recording the current right turning value;

after N times of steering calibration actions, obtaining N current left-turning numerical values and N current right-turning numerical values, obtaining an actual steering left extreme value according to the N current left-turning numerical values, obtaining an actual steering right extreme value according to the N current right-turning numerical values, and taking the intermediate value of the actual steering left extreme value and the actual steering right extreme value as an actual steering intermediate value.

8. The steer-by-wire automatic centering control system according to claim 6, wherein said second processor executing said step S2 of said second computer program comprises the following steps:

acquiring a current intermediate value returned by a steering sensor when the current steer-by-wire system is in an intermediate state in real time, and recording the current intermediate value as an actual steering intermediate value;

receiving the centering calibration instruction, and driving a steering motor to perform steering calibration actions for N times from an initial state, wherein N is greater than or equal to 1;

9. The steer-by-wire automatic centering control system according to claim 7 or 8, wherein said second processor executing said step S2 of said second computer program to obtain an actual steer left extreme value according to N of said current left turn values, and wherein said step of obtaining an actual steer right extreme value according to N of said current right turn values comprises the steps of:

when N is 1, taking the current left turning numerical value as an actual turning left extreme value, and taking the current right turning numerical value as an actual turning right extreme value;

and when N is more than or equal to 3, averaging the N-2 current left-turn values left after the maximum value and the minimum value of the N current left-turn values are removed to obtain an actual steering left extreme value, and averaging the N-2 current right-turn values left after the maximum value and the minimum value of the N current right-turn values are removed to obtain an actual steering right extreme value.

10. The steer-by-wire automatic centering control system according to any one of claims 6 to 8, wherein after said step S2, said second processor executing said second computer program further comprises the steps of:

and S3, taking 3% of the actual steering left extreme value as a reserved value, 97% of the actual steering left extreme value as the real-time steering left extreme value of the current steer-by-wire system, taking 3% of the actual steering right extreme value as a reserved value, and 97% of the actual steering right extreme value as the real-time steering right extreme value of the current steer-by-wire system.

Technical Field

The invention relates to the technical field of unmanned driving, in particular to a method and a system for automatically centering a wire-controlled steering.

Background

Steer-by-wire is an indispensable part of an unmanned system, and its stability and reliability are significantly affected. The intermediate state of steer-by-wire has a great influence on high-speed straight line running, however, the intermediate state of each vehicle is different due to the inconsistency of each vehicle in structural hardware and the fact that the abrasion degree of a steering component cannot be accurately predicted in the using process, so that the centering mode and the centering result of the steering system play a key role in the whole steering system.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the method and the system for automatically centering the steer-by-wire are provided to realize faster and more efficient centering operation on different steer-by-wire systems.

In order to solve the technical problems, the invention adopts the technical scheme that:

a method for automatically centering a steering-by-wire system comprises the following steps:

s1, the calibration end acquires a centering calibration instruction corresponding to the current steer-by-wire system and sends the centering calibration instruction to the steer-by-wire end;

In order to solve the technical problem, the invention adopts another technical scheme as follows:

a steer-by-wire automatic centering control system comprises a calibration end and a steer-by-wire end which are in communication connection, wherein the calibration end comprises a first memory, a first processor and a first computer program which is stored on the first memory and can run on the first processor, the steer-by-wire end comprises a second memory, a second processor and a second computer program which is stored on the second memory and can run on the second processor, and the first processor realizes the following steps when executing the first computer program:

s1, acquiring a centering calibration instruction corresponding to the current steer-by-wire system, and sending the centering calibration instruction to a steer-by-wire end;

the second processor, when executing the second computer program, implements the steps of:

The invention has the beneficial effects that: a method and a system for automatically centering steer-by-wire are characterized in that a centering calibration instruction corresponding to a current steer-by-wire system is sent to the steer-by-wire end by a calibration end, and the steer-by-wire end drives a steering motor to respectively reach a left-turning mechanical limit position and a right-turning mechanical position according to the centering calibration instruction so as to obtain an actual steering left extreme value, an actual steering right extreme value and an actual steering intermediate value, so that faster and more efficient centering operation can be realized on different steer-by-wire systems, and the stability and the reliability of the steer-by-wire system are ensured.

Drawings

FIG. 1 is a schematic flow chart of an automatic centering method for steer-by-wire according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a steer-by-wire automatic centering control system according to an embodiment of the present invention.

Description of reference numerals:

1. a wire-controlled steering automatic centering control system; 2. a calibration end; 3. a first processor; 4. a first memory; 5. a steer-by-wire end; 6. a second processor; 7. a second memory.

Detailed Description

In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.

Referring to fig. 1, a method for automatically centering a steering-by-wire system includes the steps of:

s1, the calibration end acquires a centering calibration instruction corresponding to the current steer-by-wire system and sends the centering calibration instruction to the steer-by-wire end;

From the above description, the beneficial effects of the present invention are: the alignment calibration instruction corresponding to the current steer-by-wire system is sent to the steer-by-wire end by the calibration end, the steer-by-wire end drives the steering motor to reach the left-turn mechanical limit position and the right-turn mechanical position respectively according to the alignment calibration instruction, so as to obtain the actual steering left extreme value, the actual steering right extreme value and the actual steering intermediate value, so as to realize faster and more efficient alignment operation for different steer-by-wire systems, and ensure the stability and reliability of the steer-by-wire system.

Further, the step S2 specifically includes the following steps:

It can be known from the above description that, the steering motor is driven to perform steering calibration actions for N times from an initial state, so as to obtain an actual steering left extreme value and an actual steering right extreme value according to a left steering numerical value and a right steering numerical value of each steering calibration action, and finally obtain an actual steering intermediate value according to an intermediate value between the actual steering left extreme value and the actual steering right extreme value, wherein the actual steering left extreme value, the actual steering right extreme value and the actual steering intermediate value are obtained by automatic acquisition and calculation of the system, so that the centering operation can be realized more quickly and efficiently.

Further, the step S2 specifically includes the following steps:

and after N times of steering calibration actions, the steer-by-wire end obtains N current left-turn numerical values and N current right-turn numerical values, obtains an actual steering left extreme value according to the N current left-turn numerical values, and obtains an actual steering right extreme value according to the N current right-turn numerical values.

It can be known from the above description that if the intermediate position is obtained by calculating the left and right steering extrema, the intermediate position is greatly influenced by the vehicle structure, if the left and right steering angles of the vehicle are greatly different, the intermediate position may have a certain error, and the manual operation is adopted to turn the steering system to the intermediate state first, and obtain the current intermediate value returned by the steering sensor when the steer-by-wire system is in the intermediate state as the centering position, and the left and right steering extrema are obtained by the steer-by-wire end according to the centering calibration instruction, so that the value of the centering position is less influenced by the vehicle structure error, and therefore, the centering operation can be realized more quickly, efficiently and more accurately.

Further, the step S2 of obtaining an actual steering left extreme value according to the N current left-turning numerical values and obtaining an actual steering right extreme value according to the N current right-turning numerical values specifically includes the following steps:

when N is 1, the steer-by-wire end takes the current left turn value as an actual steer left extreme value and takes the current right turn value as an actual steer right extreme value;

From the above description, two operations of one-time centering and multiple-time centering are provided, wherein during one-time centering, the obtained current left-turning numerical value is the actual turning left extreme value, and the obtained current right-turning numerical value is the actual turning right extreme value; and when the centering is carried out for multiple times, averaging is adopted to obtain corresponding left and right extreme values. It should be noted that, during multiple times of centering, if the numerical value of the intermediate position is to be obtained, the current left-turn numerical value and the current right-turn numerical value of the current time are not obtained every time to obtain the current intermediate numerical value, and then the N current intermediate numerical values are averaged, but the averaged actual steering left extreme value and the averaged actual steering right extreme value are subjected to one-time averaging, so that the calculated amount is reduced, the influence of errors on the actual steering intermediate value is avoided, and the centering operation can be realized more quickly, efficiently and more accurately.

Further, the step S2 is followed by the following steps:

From the above description, after the centering is completed, 3% of the left-turn extreme value and the right-turn extreme value are automatically used as the reserved values, so that the irreversible damage to the mechanical structure when the steering is turned to the bottom is avoided.

Referring to fig. 2, an steer-by-wire automatic centering control system includes a calibration end and a steer-by-wire end, which are connected in communication, where the calibration end includes a first memory, a first processor, and a first computer program stored in the first memory and operable on the first processor, the steer-by-wire end includes a second memory, a second processor, and a second computer program stored in the second memory and operable on the second processor, and the first processor implements the following steps when executing the first computer program:

s1, acquiring a centering calibration instruction corresponding to the current steer-by-wire system, and sending the centering calibration instruction to a steer-by-wire end;

the second processor, when executing the second computer program, implements the steps of:

Further, the step S2 of the second computer program executed by the second processor specifically includes the following steps:

receiving the centering calibration instruction, and driving a steering motor to perform steering calibration actions for N times from an initial state, wherein N is greater than or equal to 1;

Further, the step S2 of the second computer program executed by the second processor specifically includes the following steps:

receiving the centering calibration instruction, and driving a steering motor to perform steering calibration actions for N times from an initial state, wherein N is greater than or equal to 1;

Further, the step S2 of executing the second computer program by the second processor to obtain an actual steering left extreme value according to the N current left-turning numerical values specifically includes the following steps:

when N is 1, taking the current left turning numerical value as an actual turning left extreme value, and taking the current right turning numerical value as an actual turning right extreme value;

Further, after the step S2, the second processor executing the second computer program further comprises the steps of:

Referring to fig. 1, a first embodiment of the present invention is:

a method for automatically centering a steering-by-wire system comprises the following steps:

s1, the calibration end acquires a centering calibration instruction corresponding to the current steer-by-wire system and sends the centering calibration instruction to the steer-by-wire end;

and S2, the steer-by-wire end receives the centering calibration instruction, and drives the steering motor to reach the left-turning mechanical limit position and the right-turning mechanical position respectively according to the centering calibration instruction so as to obtain an actual steering left extreme value, an actual steering right extreme value and an actual steering intermediate value.

In this embodiment, two centering modes are provided at the calibration end for the user to select, and when performing calibration, the selected centering mode and the centering calibration instruction are sent to the steer-by-wire end together, and the steer-by-wire end performs centering operation according to the selected centering mode and the centering calibration instruction.

In this embodiment, the step S2 corresponding to the first centering mode specifically includes the following steps:

the steer-by-wire end receives the centering calibration instruction, and drives the steering motor to perform steering calibration actions for N times from an initial state, wherein N is greater than or equal to 1;

in each steering calibration action, the steer-by-wire end drives the steering motor to turn left, judges whether the steering motor is in a large-current locked-rotor state and the current left-turn value returned by the steering sensor is fixed and unchanged in preset time, and records the current left-turn value if the steering motor reaches the maximum left-turn position, namely the limit position of the left-turn machine, and then drives the steering motor to turn right, judges whether the steering motor is in the large-current locked-rotor state and the current right-turn value returned by the steering sensor is fixed and unchanged in preset time, considers that the steering motor reaches the maximum right-turn position, namely the limit position of the right-turn machine, and records the current right-turn value; the preset time can also be preset times, such as 1s, three times and the like, which can indicate that the sensing value is kept unchanged in a period of time;

In this embodiment, the step S2 corresponding to the second centering mode specifically includes the following steps:

the steer-by-wire end acquires a current intermediate value returned by the steering sensor when the current steer-by-wire system is in an intermediate state in real time, and records the current intermediate value as an actual steering intermediate value;

and after the steer-by-wire end carries out N times of steering calibration actions, obtaining N current left-turn numerical values and N current right-turn numerical values, obtaining an actual steering left extreme value according to the N current left-turn numerical values, and obtaining an actual steering right extreme value according to the N current right-turn numerical values.

In any centering mode, step S2 includes an implementation process of obtaining an actual steering left extreme value according to the N current left-turning values and obtaining an actual steering right extreme value according to the N current right-turning values, where the implementation process specifically includes the following steps in this embodiment:

during primary centering, namely when N of a steer-by-wire end is 1, taking a current left turning numerical value as an actual steering left extreme value and taking a current right turning numerical value as an actual steering right extreme value;

and when the steering-by-wire end is centered for multiple times, namely when N is more than or equal to 3, averaging the N-2 current left-turn values left after the maximum value and the minimum value of the N current left-turn values are removed to obtain an actual steering left extreme value, and averaging the N-2 current right-turn values left after the maximum value and the minimum value of the N current right-turn values are removed to obtain an actual steering right extreme value.

In other embodiments, the averaging may be replaced by root mean square value in multiple centering, so as to ensure that the finally obtained actual steering left extreme value and actual steering right extreme value are more real and effective.

And S3, the steer-by-wire end takes 3% of the actual steering left extreme value as a reserved value, 97% of the actual steering left extreme value as the real-time steering left extreme value of the current steer-by-wire system, 3% of the actual steering right extreme value as a reserved value, and 97% of the actual steering right extreme value as the real-time steering right extreme value of the current steer-by-wire system.

Referring to fig. 2, the second embodiment of the present invention is:

a steer-by-wire automatic centering control system 1 comprises a calibration end 2 and a steer-by-wire end 5 which are in communication connection, wherein the calibration end 2 comprises a first memory 4, a first processor 3 and a computer program which is stored on the first memory 4 and can run on the first processor 3, the steer-by-wire end 5 comprises a second memory 7, a second processor 6 and a computer program which is stored on the second memory 7 and can run on the second processor 6, corresponding steps in the first embodiment are realized when the first processor 3 executes the first computer program, and corresponding steps in the first embodiment are realized when the second processor 6 executes the second computer program.

The steer-by-wire end 5 is a control device or a control end or a control module in the current steer-by-wire system, and the current steer-by-wire system further comprises a steering motor and a steering sensor; calibration end 2 specifically is a terminal equipment including M3 treater, a touch-sensitive screen, CAN communication module, partial module charges, the lithium cell module that steps up, outside button module and data storage module, the less convenience of carrying of the whole volume of this terminal equipment, the different centering calibration instruction that corresponds among the built-in different steer-by-wire systems, a key operation CAN realize sending different centering calibration instructions to different steer-by-wire systems, thereby CAN easily operate alone after carrying out simple training to operating personnel, make things convenient for most personnel to use.

In summary, the method and system for automatically centering steer-by-wire provided by the present invention send a centering calibration command corresponding to the current steer-by-wire system to the steer-by-wire end, perform N steering calibration actions from an initial state by driving a steering motor, obtain an actual steering left extreme value and an actual steering right extreme value according to a left steering value and a right steering value of each steering calibration action, finally obtain an actual steering middle value according to a middle value of the actual steering left extreme value and the actual steering right extreme value or obtain a current middle value returned by a steering sensor when the current steer-by-wire system is in a middle state at the beginning as an actual steering middle value to obtain an actual steering left extreme value, an actual steering right extreme value and an actual steering middle value, and automatically take 3% of the left steering extreme value and the right steering extreme value as a reserved value after centering is completed, the non-reversible damage to a mechanical structure when the steering is turned to the bottom is avoided, so that the centering operation which is faster, more efficient and more accurate is realized for different steer-by-wire systems, and the stability and the reliability of the steer-by-wire systems are ensured.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.

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Automatic centering method and system for steer-by-wire

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