阅读说明：本技术 智能驾驶sbw方向盘可静止控制方法、系统和存储介质 (Intelligent driving SBW steering wheel stillness control method, system and storage medium ) 是由 陈博 张小乐 李兵 曹晨军 于 2021-08-20 设计创作，主要内容包括：本发明公开了一种智能驾驶SBW方向盘可静止控制方法,包括：识别当前方向盘状态和智能驾驶指令状态是否允许使能方向盘静止；若允许使能方向盘静止,控制方向盘在目标转速限幅内,自当前位置向目标位置运动,直至方向盘达到方向盘角度中位静止。本发明还公开了一种用于执行所述智能驾驶SBW方向盘可静止控制方法中步骤的计算机可读介质,以及一种智能驾驶SBW方向盘可静止控制系统。本发明可避免智驾模式下方向盘如果也跟随上位机转动带给驾驶员的不舒适感,还可避免方向盘如果一直停留在智驾使能前的位置带给驾驶员的偏置感,以及可避免方向盘如果保持常规手感模式时方向盘动作和整车转向不匹配的驾驶错觉感,带给驾乘人员耳目一新的智能化驾驶感受。(The invention discloses a method for controlling the intelligent driving of a static steering wheel (SBW), which comprises the following steps: identifying whether the current steering wheel state and the intelligent driving instruction state allow the enabling of the steering wheel to be static; and if the enabled steering wheel is allowed to be static, controlling the steering wheel to move from the current position to the target position within the target rotating speed amplitude limit until the steering wheel reaches the steering wheel angle and the middle position is static. The invention also discloses a computer readable medium for executing the steps in the intelligent driving SBW steering wheel stillness control method and an intelligent driving SBW steering wheel stillness control system. The intelligent driving control system can avoid the uncomfortable feeling brought to a driver by the steering wheel rotating along with the upper computer in the intelligent driving mode, can also avoid the bias feeling brought to the driver by the steering wheel staying at the position before the intelligent driving enable all the time, and can avoid the driving illusion that the action of the steering wheel is not matched with the steering of the whole vehicle when the steering wheel keeps the conventional hand feeling mode, thereby bringing a new intelligent driving feeling to the driver and passengers.)

1. A method for controlling the stillness of an intelligent driving SBW steering wheel is characterized by comprising the following steps:

s1, identifying whether the current steering wheel state and the intelligent driving instruction state allow the enabled steering wheel to be static;

and S2, if the steering wheel is allowed to be enabled to be static, controlling the steering wheel to move from the current position to the target position within the target rotation speed amplitude limit until the steering wheel reaches the steering wheel angle and the middle position is static.

2. The intelligent-drive SBW steering-wheel-stationarily-controlling method of claim 1, wherein: when step S2 is performed;

electrifying and initializing, judging that the enabling of the steering wheel is allowed to be static if all the following working conditions are met, and otherwise, judging that the enabling of the steering wheel is not allowed to be static;

the intelligent driving command CAN signal is normal, the intelligent driving command is not requested, the target angle is not exceeded, the vehicle speed is less than or equal to the specified vehicle speed, the driver is not intervened, the power-assisted state is started, the intelligent driving command is requested, and the intelligent driving command is intelligent driving control.

3. The intelligent-drive SBW steering-wheel-stationarily-controlling method of claim 1, wherein: the control of the steering wheel to the target angle comprises the following steps;

s3.1, acquiring a target angle and a current angle of a steering wheel;

s3.2, filtering the target angle and the current angle;

s3.3, obtaining a real-time angle difference;

s3.4, inquiring a proportional coefficient table according to the vehicle speed and the real-time angle difference to obtain a proportional coefficient;

s3.5, multiplying the real-time angle difference by a proportional coefficient to obtain a target rotating speed;

s3.6, setting amplitude limiting and dead zone processing on the target rotating speed to obtain a calculated target rotating speed;

s3.7, calculating the target rotating speed minus the current rotating speed to obtain a rotating speed difference;

s3.8, enabling the rotating speed angle to follow the control regulator to calculate the static steering wheel torque;

and S3.9, continuously outputting the static steering wheel torque until the real-time angle difference is 0 degree.

4. The intelligent-drive SBW steering-wheel-stationarily-controlling method of claim 1, wherein: the target rotating speed amplitude limit is 10 deg/s-500 deg/s.

5. The intelligent-drive SBW steering-wheel-stationarily-controlling method of claim 1, wherein: the target angle is 0 degrees.

6. A computer readable storage medium for performing the steps of the intelligent driving SBW steering wheel stationary control method of any one of claims 1-5.

7. A smart driving SBW steering wheel stillable control module, comprising:

the identification unit is used for identifying the current steering wheel state and the intelligent driving instruction state;

the judging unit judges whether the enabled steering wheel is allowed to be static or not according to the current steering wheel state and the intelligent driving instruction state;

and the control unit controls the steering wheel to move from the current position to the target position within the target rotating speed amplitude limit until the steering wheel reaches the steering wheel angle and the middle position is static if the steering wheel is allowed to be enabled to be static.

8. The smart driving SBW steering wheel quiescable control module of claim 7, wherein: the identification unit identifies the current steering wheel state and the intelligent driving instruction state; the intelligent driving command CAN comprises an intelligent driving command CAN signal state, an intelligent driving command state, a target angle state, a vehicle speed state, a driver intervention state and a power assisting state.

9. The smart driving SBW steering wheel quiescable control module of claim 7, wherein:

if all the following working conditions are met, the judging unit allows the enabling steering wheel to be static, otherwise, the judging unit does not allow the enabling steering wheel to be static;

the intelligent driving command CAN signal is normal, the intelligent driving command is not requested, the target angle is not exceeded, the vehicle speed is less than or equal to the specified vehicle speed, the driver is not intervened, the power-assisted state is started, the intelligent driving command is requested, and the intelligent driving command is intelligent driving control.

10. The smart driving SBW steering wheel quiescable control module of claim 7, wherein: the control unit controls the steering wheel to move towards the target angle in the following mode;

acquiring a target angle and a current angle of a steering wheel;

filtering the target angle and the current angle;

obtaining a real-time angle difference;

inquiring a proportional coefficient table according to the vehicle speed and the real-time angle difference to obtain a proportional coefficient;

multiplying the real-time angle difference by a proportional coefficient to obtain a target rotating speed;

setting amplitude limiting and dead zone processing on the target rotating speed to obtain a calculated target rotating speed;

calculating the target rotating speed and subtracting the current rotating speed to obtain a rotating speed difference;

the rotating speed angle is made to follow the control regulator to calculate the static steering wheel moment;

and continuously outputting the static steering wheel torque until the real-time angle difference is 0 degree.

11. The smart driving SBW steering wheel quiescable control module of claim 7, wherein: the target rotating speed amplitude limit is 10 deg/s-500 deg/s.

12. The smart driving SBW steering wheel quiescable control module of claim 7, wherein: the target angle is 0 degrees.

Technical Field

The invention relates to the field of automobiles, in particular to a method for controlling the intelligent driving SBW steering wheel to be static. The invention also relates to a computer readable medium for executing the steps in the intelligent driving SBW steering wheel stillness control method and an intelligent driving SBW steering wheel stillness control system.

Background

The automobile electric power steering-By-Wire (SBW) system has great significance for advanced automatic driving of automobiles, and is considered to be one of key execution components for intelligent driving. Given that the 2025 year high and fully autonomous cars are expected to start entering the market and to grow rapidly, steer-by-wire systems are a new technology that truly frees human hands from steering. Compared with the traditional EPS system, the SBW system has the characteristics of road feel feedback control, variable transmission ratio, active steering control and the like, so the pre-research and development of the SBW system become the focus of the steering industry and advance towards safe and reliable mass production.

The current steer-by-wire technology mainly comprises the following 3 schemes:

1. conventional steer-by-wire: a steering wheel system; and the actuator system. The steering wheel system is used for force feeling simulation and angle outgoing (the angle is sent out to the actuator, and the actuator finishes steering action along with the angle signal);

2. intelligent driving steer-by-wire: firstly, planning paths of an ADAS, a large screen (transmitting a steering angle signal through a PC screen), a rocker (a position signal generating device) and the like on an upper computer system; and the actuator system. The upper computer system realizes angle outgoing (the angle is sent to the actuator, and the actuator finishes steering action along with the angle signal);

3. conventional steer-by-wire + smart drive steer-by-wire: on the basis of conventional steer-by-wire, an intelligent driving upper computer is added: the steering actuator is controlled by the steering wheel and the upper computer in a combined manner, the steering wheel and the upper computer have priorities, and the priority of the steering wheel is generally higher than that of the upper computer.

In the prior art, when the 3 rd arrangement scheme is used, when the steer-by-wire system is switched from the conventional steer-by-wire mode to the smart driving control mode, the steering wheel is processed in a manner that: firstly, synchronizing a steering wheel and an actuator and moving along with an angle instruction of an upper computer; and secondly, the steering wheel stays at a position before entering intelligent driving, and no relevant control logic exists. And thirdly, the steering wheel keeps the normal hand feeling mode, but (because in the intelligent driving mode) the actuator is not controlled under the condition of no forcible intervention of a driver.

Disclosure of Invention

In this summary, a series of simplified form concepts are introduced that are simplifications of the prior art in this field, which will be described in further detail in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

The invention aims to provide a static control method of an intelligent driving SBW steering wheel, which is used for the 3 rd wire-controlled steering scheme and can synchronously and slowly reset the SBW steering wheel to the steering wheel angle middle position along with an intelligent driving switching instruction and keep static.

Accordingly, the present invention also provides a computer readable medium for executing the steps of the intelligent driving SBW steering wheel stillness control method, and an intelligent driving SBW steering wheel stillness control system.

In order to solve the technical problem, the invention provides a method for controlling the intelligent driving SBW steering wheel to be stationary, which comprises the following steps:

s1, identifying whether the current steering wheel state and the intelligent driving instruction state allow the enabled steering wheel to be static;

s2, if the steering wheel is allowed to be enabled to be static, controlling the steering wheel to move from the current position to the target position within the target rotating speed amplitude limit until the steering wheel reaches the steering wheel angle and the middle position is static;

optionally, the method for controlling the intelligent driving SBW steering wheel to be stationary is further improved, and when step S2 is implemented;

electrifying and initializing, judging that the enabling of the steering wheel is allowed to be static if all the following working conditions are met, and otherwise, judging that the enabling of the steering wheel is not allowed to be static;

the intelligent driving command CAN signal is normal, the intelligent driving command is not requested, the target angle is not exceeded, the vehicle speed is less than or equal to the specified vehicle speed, the driver is not intervened, the power-assisted state is started, the intelligent driving command is requested, and the intelligent driving command is intelligent driving control.

Optionally, the method for controlling the intelligent driving SBW steering wheel to be stationary is further improved, and the step of controlling the steering wheel to move towards the target angle comprises the following steps;

s3.1, acquiring a target angle and a current angle of a steering wheel;

s3.2, filtering the target angle and the current angle;

s3.3, obtaining a real-time angle difference;

s3.4, inquiring a proportional coefficient table according to the vehicle speed and the real-time angle difference to obtain a proportional coefficient;

s3.5, multiplying the real-time angle difference by a proportional coefficient to obtain a target rotating speed;

s3.6, setting amplitude limiting and dead zone processing on the target rotating speed to obtain a calculated target rotating speed; the dead zone processing includes: shielding a rotation speed signal of the non-rotation of the steering wheel;

s3.7, calculating the target rotating speed minus the current rotating speed to obtain a rotating speed difference;

s3.8, enabling the rotating speed angle to follow the control regulator to calculate the static steering wheel torque;

and S3.9, continuously outputting the static steering wheel torque until the real-time angle difference is 0 degree.

A scale coefficient table is provided for example, horizontal-axis vehicle speed break points (vehicle speed values and break point numbers can be calibrated), for example, 0km/h vehicle speed to 100km/h vehicle speed, and intervals are distributed, for example, 10 vehicle speed break points (01020305060708090100). And secondly, the vertical axis is an absolute value breakpoint of the angle difference (the specific numerical value of the absolute value of the angle difference and the number of breakpoints can be calibrated). And the value of the scale coefficient table is a scale coefficient, namely, the absolute value of the angle difference with different vehicle speeds corresponds to a scale coefficient.

Optionally, the intelligent driving SBW steering wheel static control method is further improved, and the target rotating speed limit is 10 deg/s-500 deg/s, preferably 200 deg/s.

Optionally, the intelligent driving SBW steering wheel static control method is further improved, and the target angle is 0 degree.

To solve the above technical problem, the present invention provides a computer-readable storage medium for the steps of the intelligent driving SBW steering wheel static control method.

In order to solve the above technical problem, the present invention provides a module for controlling a steering wheel of an intelligent driving SBW to be stationary, comprising:

the identification unit is used for identifying the current steering wheel state and the intelligent driving instruction state;

the judging unit judges whether the enabled steering wheel is allowed to be static or not according to the current steering wheel state and the intelligent driving instruction state;

and the control unit controls the steering wheel to move from the current position to the target position within the target rotating speed amplitude limit until the steering wheel reaches the steering wheel angle and the middle position is static if the steering wheel is allowed to be enabled to be static.

Optionally, the intelligent driving SBW steering wheel stillness control module is further improved, and the identification unit identifies the current steering wheel state and the intelligent driving instruction state; the intelligent driving command CAN comprises an intelligent driving command CAN signal state, an intelligent driving command state, a target angle state, a vehicle speed state, a driver intervention state and a power assisting state.

Optionally, the intelligent driving SBW steering wheel stillness control module is further improved, and if all the following working conditions are met, the judgment unit allows the steering wheel to be enabled to be still, otherwise, the judgment unit does not allow the steering wheel to be enabled to be still;

the intelligent driving command CAN signal is normal, the intelligent driving command is not requested, the target angle is not exceeded, the vehicle speed is less than or equal to the specified vehicle speed, the driver is not intervened, the power-assisted state is started, the intelligent driving command is requested, and the intelligent driving command is intelligent driving control.

Optionally, the intelligent driving SBW steering wheel static control module is further improved, and the control unit controls the steering wheel to move towards the target angle in the following manner;

acquiring a target angle and a current angle of a steering wheel;

filtering the target angle and the current angle;

obtaining a real-time angle difference;

inquiring a proportional coefficient table according to the vehicle speed and the real-time angle difference to obtain a proportional coefficient;

multiplying the real-time angle difference by a proportional coefficient to obtain a target rotating speed;

setting amplitude limiting and dead zone processing on the target rotating speed to obtain a calculated target rotating speed;

calculating the target rotating speed and subtracting the current rotating speed to obtain a rotating speed difference;

the rotating speed angle is made to follow the control regulator to calculate the static steering wheel moment;

and continuously outputting the static steering wheel torque until the real-time angle difference is 0 degree.

Optionally, the intelligent driving SBW steering wheel static control module is further improved, and the target rotating speed limit is 10 deg/s-500 deg/s, preferably 200 deg/s.

Optionally, the intelligent driving SBW steering wheel static control module is further improved, and the target angle is 0 degree.

The steer-by-wire system cancels the mechanical connection between a steering wheel and a steering gear, and transmits a steering instruction to the steering gear through an electric signal to realize the steering control of a vehicle, wherein the electric signal mainly comes from: firstly, a wire control steering wheel sends out an angle signal; or ② an angle signal sent by the intelligent driving upper computer. The intelligent driving control system solves the technical problem of how to control the steering wheel to act when the steering wheel control mode is switched into the intelligent driving mode in the steering wheel control system combining the steering wheel and the intelligent driving upper computer used in the intelligent driving vehicle. The steering wheel of the SBW vehicle can be ensured to be static when the SBW vehicle is intelligently driven and steered, and can be taken over at any time when needed, and the steering wheel can be ensured to be static to bring the following driving feeling to a driver under a future high-degree automatic driving mode;

1. a steering wheel that remains stationary may enhance the driver's sense of comfort.

2. The telescopic pipe column is matched, and after the steering wheel is static, the steering wheel can be retracted into the instrument desk, so that the space of the cockpit is greatly increased, and a driver can more comfortably engage in other activities.

Under the control of the invention, when the vehicle enters the intelligent driving mode, the steering wheel slowly returns to the angle neutral position from the current position and keeps static. The intelligent driving control system can avoid the uncomfortable feeling brought to a driver by the steering wheel rotating along with the upper computer in the intelligent driving mode, can also avoid the bias feeling brought to the driver by the steering wheel staying at the position before the intelligent driving enable all the time, and can avoid the driving illusion that the action of the steering wheel is not matched with the steering of the whole vehicle when the steering wheel keeps the conventional hand feeling mode, thereby bringing a new intelligent driving feeling to the driver and passengers.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification. The drawings are not necessarily to scale, however, and may not be intended to accurately reflect the precise structural or performance characteristics of any given embodiment, and should not be construed as limiting or restricting the scope of values or properties encompassed by exemplary embodiments in accordance with the invention. The invention will be described in further detail with reference to the following detailed description and accompanying drawings:

fig. 1 is a schematic diagram of the principle of the present invention.

FIG. 2 is a schematic diagram of a possible embodiment of the determination process according to the present invention.

Fig. 3 is a schematic flow chart of the present invention for controlling the steering wheel to move toward the target angle and implementing the standstill.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and technical effects of the present invention will be fully apparent to those skilled in the art from the disclosure in the specification. The invention is capable of other embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the general spirit of the invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. The following exemplary embodiments of the present invention may be embodied in many different forms and should not be construed as limited to the specific embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the technical solutions of these exemplary embodiments to those skilled in the art.

A first embodiment;

the invention provides a method for controlling the intelligent driving SBW steering wheel to be stationary, which comprises the following steps:

s1, identifying whether the current steering wheel state and the intelligent driving instruction state allow the enabled steering wheel to be static;

and S2, if the steering wheel is allowed to be enabled to be static, controlling the steering wheel to move from the current position to the target position within the target rotation speed amplitude limit until the steering wheel reaches the steering wheel angle and the middle position is static.

A second embodiment;

referring to fig. 1, the present invention provides a method for controlling a smart driving SBW steering wheel to be stationary, comprising the steps of:

s1, electrifying and initializing, judging that the enabled steering wheel is allowed to be static if all the following working conditions are met, otherwise, judging that the enabled steering wheel is not allowed to be static;

the intelligent driving command CAN signal is normal, the intelligent driving command is not requested, the target angle is not exceeded, the vehicle speed is less than or equal to the specified vehicle speed (for example, 10kph), the driver is not intervened, the assistance state is started, the intelligent driving command is requested, and the intelligent driving command is intelligent driving control;

the above only defines the conditions that are satisfied by allowing the steering wheel to be stationary, and referring to fig. 2, the present invention provides a judgment flow, and also exemplarily shows the states of system invalidation and suspension;

condition 1: failure of the steering wheel system or invalid of the turn angle signal;

condition 2: the intelligent driving command CAN signal is normal, the intelligent driving command is not requested, the target angle is not exceeded, the vehicle speed is less than or equal to 10kph, the driver does not know the vehicle speed, and the power assisting state is started;

condition 3: the intelligent driving command CAN signal is abnormal, or the target angle is out of limit, or the vehicle speed is more than 10kph, or the vehicle speed is invalid, or the driver intervenes, or the power-assisted state is closed;

condition 4: the intelligent driving instruction is a request;

condition 5: the intelligent driving command is intelligent driving control;

condition 6: the intelligent driving instruction is an unsolicited instruction;

s2, if the steering wheel is allowed to be enabled to be static, controlling the steering wheel to move from the current position to the target position within 10 deg/S-500 deg/S of the target rotating speed amplitude limit, wherein the amplitude limit is preferably 200deg/S, until the steering wheel reaches the steering wheel angle, and the middle position is static;

wherein, referring to fig. 3, controlling the steering wheel to move toward the target angle includes the following steps;

s3.1, acquiring a target angle and a current angle of the steering wheel, wherein the target angle is 0 degree;

s3.2, low-pass filtering the target angle and the current angle;

s3.3, obtaining a real-time angle difference;

s3.4, inquiring a proportional coefficient table according to the vehicle speed and the real-time angle difference to obtain a proportional coefficient;

s3.5, multiplying the real-time angle difference by a proportional coefficient to obtain a target rotating speed;

s3.6, setting amplitude limiting and dead zone processing on the target rotating speed to obtain a calculated target rotating speed;

s3.7, calculating the target rotating speed minus the current rotating speed to obtain a rotating speed difference;

s3.8, enabling the rotating speed angle to follow the control regulator to calculate the static steering wheel torque;

and S3.9, continuously outputting the static steering wheel torque until the real-time angle difference is 0 degree.

A third embodiment;

the present invention provides a computer-readable storage medium for executing the steps in the intelligent-driving SBW steering wheel stillable control method according to the first embodiment or the second embodiment.

A fourth embodiment;

the invention provides a static control module of an intelligent driving SBW steering wheel, which comprises:

the identification unit is used for identifying the current steering wheel state and the intelligent driving instruction state;

the judging unit judges whether the enabled steering wheel is allowed to be static or not according to the current steering wheel state and the intelligent driving instruction state;

and the control unit controls the steering wheel to move from the current position to the target position within the target rotating speed amplitude limit until the steering wheel reaches the steering wheel angle and the middle position is static if the steering wheel is allowed to be enabled to be static.

A fifth embodiment;

the invention provides a static control module of an intelligent driving SBW steering wheel, which comprises:

the recognition unit, it is used for discerning current steering wheel state and intelligent driving instruction state, includes: the intelligent driving command CAN signal state, the intelligent driving command state, the target angle state, the vehicle speed state, the driver intervention state and the assistance state;

the judging unit is used for judging whether the enabling of the steering wheel is allowed to be static or not when all the following working conditions are met; the intelligent driving command CAN signal is normal, the intelligent driving command is not requested, the target angle is not exceeded, the vehicle speed is less than or equal to the specified vehicle speed (for example, 10kph), the driver is not intervened, the assistance state is started, the intelligent driving command is requested, and the intelligent driving command is intelligent driving control;

the control unit controls the steering wheel to move from the current position to the target position until the steering wheel reaches the steering wheel angle neutral position and is static within 10 deg/s-500 deg/s of the target rotating speed amplitude limit, wherein the amplitude limit is preferably 200deg/s, and the control unit comprises the following steps:

acquiring a target angle and a current angle of a steering wheel, wherein the target angle is 0 degree;

filtering the target angle and the current angle;

obtaining a real-time angle difference;

inquiring a proportional coefficient table according to the vehicle speed and the real-time angle difference to obtain a proportional coefficient;

multiplying the real-time angle difference by a proportional coefficient to obtain a target rotating speed;

setting amplitude limiting and dead zone processing on the target rotating speed to obtain a calculated target rotating speed;

calculating the target rotating speed and subtracting the current rotating speed to obtain a rotating speed difference;

the rotating speed angle is made to follow the control regulator to calculate the static steering wheel moment;

and continuously outputting the static steering wheel torque until the real-time angle difference is 0 degree.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The present invention has been described in detail with reference to the specific embodiments and examples, but these are not intended to limit the present invention. Many variations and modifications may be made by one of ordinary skill in the art without departing from the principles of the present invention, which should also be considered as within the scope of the present invention.