The invention belongs to the technical field of automobile steering control, and particularly relates to an EPS power-assisted mode and return mode switching process control method which is composed of a steering mode switching judgment module, a switching time determination module, a torque curve processing module and a switching compensation torque determination module. By designing the switching time length determination module, the return time is determined according to the steering angle of the steering wheel and the vehicle speed at the current moment, the expectation of a driver is better met, the expected value of the switching compensation torque is obtained through torque processing of the Bizier curve according to calculation of different switching conditions, and therefore the accuracy of the switching compensation torque is improved. The switching compensation torque at any switching moment is obtained by tracking the switching torque curve graph, so that the steering mode switching process of the vehicle under different working conditions is smoother, and the steering comfort of a driver is greatly improved; the problem of pause caused by sudden change of hand torque felt by a driver when the power-assisted mode and the aligning mode of the current electric power-assisted steering automobile are switched is solved, and the driving experience is improved.
本发明属于汽车转向控制技术领域,尤其为一种EPS助力模式与回正模式切换过程控制方法,所述控制方法由转向模式切换判断模块、切换时间确定模块、力矩曲线处理模块以及切换补偿力矩确定模块组成。本发明通过设计切换时间长度确定模块,根据当前时刻的转向盘转角和车速确定回正时间,更满足驾驶员期望,通过Bizier曲线的力矩处理,根据不同切换情况的计算得出切换补偿力矩的期望值,以跟踪该切换力矩曲线图为目标得到切换任意时刻的切换补偿力矩,使得车辆不同工况下的转向模式切换过程更加平滑,大大提高了驾驶员进行转向时的舒适性,解决了当前电动助力转向汽车助力模式与回正模式切换时驾驶员所感受的手力矩突变导致顿挫感,提升了驾驶体验。
Control method for switching process of EPS (electric power steering) power assisting mode and aligning mode
一种EPS助力模式与回正模式切换过程控制方法
2025-01-10
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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