Method for steering by utilizing electric control braking system when power-assisted steering of vehicle is insufficient

Abstract

The invention relates to a method for steering by using an electric control braking system when the power-assisted steering of a vehicle is insufficient. The method comprises the following steps: acquiring the current input torque of a steering wheel, the steering angle of the steering wheel, the vehicle speed and the lateral acceleration information of the vehicle; when it is detected that a vehicle-mounted storage battery lacks electricity, a power system breaks down or a steering gear breaks down, whether the current steering wheel rotating angle is matched with the steering wheel torque or not is judged; when the torque of the steering wheel is greater than a normal power assisting function and the torque-torque proportional relation corresponding to the steering angle of the steering wheel is higher than a steering hand torque threshold value a, it is judged that steering power assisting is insufficient or power assisting fails, and the electric control braking emergency auxiliary steering function is activated; and when it is detected that the proportional relation between the current steering angle of the steering wheel and the torque of the steering wheel is lower than a steering hand torque threshold value b, the electric control braking emergency auxiliary steering function is inactivated. When the power-assisted steering is insufficient, the torque applied to the steering wheel by a driver is detected, and direct yawing torque control is carried out by utilizing electric control brake to realize vehicle steering, so that the vehicle safety is improved, and the vehicle control redundancy is increased.

Description

technical field [0001] The invention belongs to the technical field of chassis electronic control, and in particular relates to a method for steering by using an electronically controlled braking system when the steering assistance of a vehicle is insufficient. Background technique [0002] At present, the degree of automatic driving and driving assistance of highway vehicles is gradually improving, and the demand for vehicle driving safety is also more urgent. The existing vehicles are equipped with brakes on the left front, left rear, right front and right rear wheels, and at the same time, the front wheels are equipped with power steering gears. In normal working conditions, the left front and right front wheels can be pushed by the power steering gears to change the rolling direction to complete the steering. . However, when the vehicle is running at high speed, insufficient steering assistance or even loss of steering assistance may occur due to insufficient power supp...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide a method for steering by using an electronically controlled braking system when the steering power of the vehicle is insufficient, so as to solve the problems of emergency curb parking and safe driving away when the steering system fails

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