A road surface recognition and adaptive steering wheel torque compensation method based on rack force

A road surface recognition and steering wheel technology, which is applied to power steering mechanisms, automatic steering control components, steering mechanisms, etc., can solve problems such as torque reduction, driver's hand strength is too light, feedback feel and poor road feel, etc., to avoid traffic accidents risk effect

Active Publication Date: 2021-06-15
BOSCH HUAYU STEERING SYST CO LTD
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  • Abstract
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Problems solved by technology

[0013] In order to solve the problem that the torque of the steering wheel decreases sharply when the vehicle in the prior art turns on a road with a low adhesion coefficient, the driver will feel that the hand force is too light, and the feedback feel and road feel are poor. The present invention provides a rack-based The road surface recognition and adaptive steering wheel torque compensation method, the present invention does not require manual switching by the driver, the steering system adopting the present invention can automatically identify the low-adhesion road surface and automatically switch to the steering assist mode of the low-adhesion road surface

Method used

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  • A road surface recognition and adaptive steering wheel torque compensation method based on rack force
  • A road surface recognition and adaptive steering wheel torque compensation method based on rack force
  • A road surface recognition and adaptive steering wheel torque compensation method based on rack force

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Embodiment

[0112] Such as Figure 1 to Figure 7 As shown, a rack force-based road surface recognition and adaptive steering wheel torque compensation method includes the following steps:

[0113] 1) Calibration of the reference curve:

[0114] Calibrate the reference curve according to the steering wheel angle, steering wheel angular speed and vehicle speed input signal, which is divided into three parts: the calibration reference rack force curve, the calibration rack force variation factor with vehicle speed and the calibration rack force variation factor with steering wheel speed. , which is specifically:

[0115] 1a) if figure 2 As shown in , the reference rack force curve is calibrated, wherein the reference value of the rack force changes with the change of the steering wheel angle, and the steps are as follows:

[0116] 1a1) Correct the tire pressure to the specified value, which can be directly obtained from the OEM;

[0117] 1a2) Load the vehicle to full load. The load at f...

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Abstract

A method for road surface recognition and adaptive steering wheel torque compensation based on rack force, consisting of the following steps: calibration of reference curve - including calibration reference rack force curve, calibration rack force variation factor with vehicle speed and calibration rack force variation factor The change factor of the steering wheel steering speed, and then confirm that the trigger condition of the calculation of the rack force is met and calculate the rack force, and obtain the identification of the low adhesion coefficient road surface through the input signal of the vehicle speed, steering wheel angle, rack force and steering wheel angular speed calculation, and finally The system compensates the steering wheel torque in the form of compensating the output torque of the motor under the determination condition that the low adhesion coefficient road surface is met. The rack force-based road surface recognition and adaptive steering wheel torque compensation method of the present invention can solve the problem that the hand force of the steering wheel decreases sharply when the vehicle turns on a low-adhesion road surface, and prevents the driver from over-steering or It is necessary to repeatedly correct the operation of the steering wheel, avoiding the risk of traffic accidents.

Description

technical field [0001] The invention relates to the field of automobile driving safety, in particular to a rack force-based road surface recognition and adaptive steering wheel torque compensation method applied to an automobile steering system. Background technique [0002] At present, when it comes to car driving safety, it is usually divided into driver active factors and environmental road surface factors, and the environmental road surface factors usually refer to road conditions, weather conditions, etc., and these are usually fed back to the vehicle and the driver themselves through the road surface adhesion coefficient . [0003] The so-called road surface adhesion coefficient refers to the ratio of the adhesion force to the pressure in the normal direction of the wheel (that is, the direction perpendicular to the road surface). It can be regarded as the static friction coefficient between the tire and the road surface. The road surface adhesion coefficient is usuall...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D5/04B62D6/00B62D101/00B62D117/00B62D119/00B62D137/00
CPCB62D5/0463B62D6/00
Inventor 黄乾生黄毅陈驰姜孟泽焦若愚匡立文
Owner BOSCH HUAYU STEERING SYST CO LTD
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