CN111497819A - Emergency control method and system for steering failure of automatic driving vehicle - Google Patents
Emergency control method and system for steering failure of automatic driving vehicle Download PDFInfo
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- CN111497819A CN111497819A CN202010389143.1A CN202010389143A CN111497819A CN 111497819 A CN111497819 A CN 111497819A CN 202010389143 A CN202010389143 A CN 202010389143A CN 111497819 A CN111497819 A CN 111497819A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000008569 process Effects 0.000 claims abstract description 8
- 230000001133 acceleration Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses an emergency control method for steering failure of an automatic driving vehicle, which comprises the following steps of: 1) in the automatic driving process of the vehicle, EPS fault information is monitored in real time; 2) when the EPS has a failure that the steering cannot be performed, the vehicle control unit sends an instruction to the active braking system; 3) the active braking system brakes the single-side wheel to enable the vehicle to lean to the side; the principle of the invention is that when the EPS has a fault, an active braking system (such as ESC) actively brakes the inner side wheel expected to be steered of the vehicle, and the steering of the vehicle in the deceleration process is realized by using the braking moment difference of two sides of the vehicle, so that the vehicle is parked close to the side, the driving safety is ensured, no additional control mechanism is needed, and the cost is hardly increased.
Description
Technical Field
The invention relates to the field of unmanned vehicle safety.
Background
When the electric control steering system fails and the vehicle cannot steer, the safety of the automatic driving vehicle cannot be reliably guaranteed.
At present, the existing domestic patent is mainly applied to engineering vehicles, a mechanical control structure is additionally arranged to manually adjust a pneumatic brake pipeline to brake and brake an inner side wheel, meanwhile, the driving force of the outer side wheel is increased to reduce the turning radius, so that the cost is high, the requirement on the operating capacity of a driver is high, and the assembling difficulty and the operating difficulty are increased during implementation.
Disclosure of Invention
The invention aims to solve the technical problem of realizing an emergency control method for assisting an automatic driving vehicle by an emergency control system when a steering system fails, the method is realized by software algorithm control based on the existing hardware of the whole vehicle, no additional control mechanism is needed, and the cost is hardly increased.
In order to achieve the purpose, the invention adopts the technical scheme that: an emergency control method for steering failure of an autonomous vehicle, comprising the steps of:
1) monitoring fault information of an electric control steering system in real time in the automatic driving process of a vehicle;
2) when the electric control steering system has a fault that the steering cannot be performed, the vehicle control unit sends an instruction to the active braking system;
3) the active braking system brakes by adjusting wheel torque, so that torque difference is generated between the left wheel and the right wheel of the vehicle, and the whole vehicle generates a rotating torque to enable the vehicle to turn to the side.
In the step 3), when the vehicle is controlled to lean to the left and stop, the left wheel is controlled to brake, and the right wheel does not brake or the braking force is smaller than that of the left wheel; when the vehicle is controlled to lean to the right and stop, the right wheel is controlled to brake, and the left wheel does not brake or the braking force is smaller than that of the right wheel.
In the step 3), the vehicle yaw angular velocity ω and the vehicle yaw angular acceleration d ω/dt are obtained according to the driving requirement, and the torque T is J × d ω/dt according to a mechanical formula, where J is the rotational inertia of the vehicle, and when the vehicle is controlled to lean left or turn left, the torque difference between the left and right wheels is controlled to generate a counterclockwise torque for the vehicle; when the vehicle is controlled to lean to the right or turn to the right, the torque difference value of the left wheel and the right wheel is controlled to generate a clockwise torque for the vehicle, and the emergency control system can monitor and adjust the driving torque/braking torque in real time during the whole action period, so that the instability of the whole vehicle or the locking of the wheels is prevented.
And 4) gradually adjusting and reducing the torque difference value of the left wheel and the right wheel according to the information of the lane where the vehicle is located, which is acquired in real time, until the vehicle is in a stable state, the exit condition is met, and the emergency control system exits from the control.
And 4) acquiring the lane information of the vehicle through a front camera or a GPS.
And 5) when the vehicle stops moving to the side, the active braking system sends an instruction to the EPB, and after the EPB realizes parking, the active braking system stops working.
The emergency control system is provided with an active braking system and an emergency control system, the emergency control system is connected with an electric control steering system to obtain a signal whether the steering system fails or not, is connected with a yaw angle sensor, a wheel speed sensor and other components to obtain related signal information of the whole vehicle, is connected with the braking system and a driving system of the whole vehicle to obtain wheel side torque information, and adjusts the wheel side torque.
The active braking system is an ESC system, and is connected with the EPB and sends a parking signal to the EPB.
The active braking system is connected with a front camera or a GPS to acquire the information of the lane where the vehicle is located.
The principle of the invention is that when the EPS has a fault, an active braking system (such as ESC) actively brakes the inner side wheel expected to be steered of the vehicle, and the steering of the vehicle in the deceleration process is realized by using the braking moment difference of two sides of the vehicle, so that the vehicle is parked close to the side, the driving safety is ensured, no additional control mechanism is needed, and the cost is hardly increased.
Drawings
The following is a brief description of the contents of each figure in the description of the present invention:
FIG. 1 is a schematic diagram of an emergency operation system;
FIG. 2 is a basic control flow diagram of an emergency operation system;
fig. 3 is a diagram of vehicle torque analysis during operation of the emergency operation system.
Detailed Description
The following description of the embodiments with reference to the drawings is provided to describe the embodiments of the present invention, and the embodiments of the present invention, such as the shapes and configurations of the components, the mutual positions and connection relationships of the components, the functions and working principles of the components, the manufacturing processes and the operation and use methods, etc., will be further described in detail to help those skilled in the art to more completely, accurately and deeply understand the inventive concept and technical solutions of the present invention.
As shown in fig. 1, the emergency control system for executing the emergency control method includes an EPS system, a vehicle controller, an active braking system (such as an ESC), a yaw angle sensor, a wheel speed sensor, a steering wheel angle sensor, and the like, in the driving process of the unmanned vehicle, if an EPS fault occurs (the EPS cannot realize steering), the vehicle controller sends an instruction to the active braking system (such as the ESC), and the active braking system brakes the inner side wheels of the entire vehicle expected to be steered, so that the entire vehicle is steered to park while keeping the vehicle, thereby ensuring driving safety.
Furthermore, the method is simple. In order to better control the vehicle, the system further comprises an EPB, a front camera or a GPS, the active braking system is connected with the EPB and sends a parking signal to the EPB, the vehicle can be parked after being stopped, the active braking system is connected with the front camera or the GPS to acquire the information of the lane where the vehicle is located, acquire the information of the lane where the vehicle is located and judge whether the vehicle is successfully leaned on the side.
As shown in a basic flow chart of the emergency control system shown in fig. 2, the system can monitor whether the electric control steering system fails in real time, calculate and obtain wheel-side torque according to related signal information such as current vehicle speed, lane information and driving intention after the failure of steering occurs, combine and obtain current vehicle speed signals, lane signals, yaw angular acceleration and other signal information of the vehicle after the wheel-side torque is adjusted to judge whether the exit requirement is met, repeat calculation and adjustment if the exit adjustment is not met, continuously perform closed-loop control according to the logic, adjust the torque until the driving requirement is met, and exit the emergency control system. The emergency control system can adjust the driving torque or the braking torque in real time during the whole execution action, and the whole vehicle instability or wheel locking is prevented.
Specifically, the emergency control method for steering failure of the automatic driving vehicle comprises the following steps:
1) in the automatic driving process of the vehicle, EPS fault information is monitored in real time;
2) the vehicle control unit receives EPS failure information and sends a command to an active braking system;
3) the active braking system brakes the inner wheels expected to turn, generates an inner and outer braking moment difference to deflect the whole vehicle, and simultaneously monitors the actual states of the whole vehicle and the wheels in the braking process to prevent the whole vehicle from over-turning and the wheels from locking;
4) the method comprises the steps that information of a lane where a vehicle is located is obtained in real time, and when the vehicle is close to the side, four wheels execute the same braking force to stop the vehicle;
5) when the whole vehicle stops at the side, the active braking system sends an instruction to an EPB (electronic parking system), and after the EPB realizes parking, the active braking system quits working.
Taking normal driving to the right as an example, when the EPS is failed, the vehicle control unit sends a command to the active braking system, and applies braking to the right front wheel and the right rear wheel to realize steering to the right. As shown in fig. 2, the active braking system (for example, ESC) drives the motor, opens the Supply valve, closes the TC valve, and closes the ISO valve of the other side wheel (left front and left back), so that when the brake is applied to the right side wheel, no brake is applied to the left side wheel, the braking force difference between the two side wheels causes the entire vehicle to turn right, and the vehicle stops at the side.
As shown in fig. 3, the information parameter is calculated by taking the driving vehicle running in a right turn as an example, the theoretical target yaw rate ω -v/R is obtained from the current vehicle speed v and the target turning radius R, the yaw acceleration d ω -d (v/R)/dt is obtained by derivation thereof,
according to the mechanical formula, the torque T is J d omega, wherein J is the rotational inertia of the vehicle,
and analyzing the torque of the whole vehicle and the wheel to obtain the rotation torque delta T of the whole vehicle (T1-T2) × L/2 r, wherein T1 and T2 are the torque of the left wheel side and the right wheel side, L is the wheel track, and r is the rolling radius of the tire
T1-T2＝2J*r*(d(v/R)/dt)/L；
The theoretical value of the difference between the left wheel side torque and the right wheel side torque T1-T2 can be obtained through the calculation, the difference between the real-time yaw velocity value of the whole vehicle and the target yaw velocity value is used for correcting the T1-T2, the real-time yaw velocity value is smaller than the target yaw velocity value, and the difference between the left wheel side torque and the right wheel side torque is amplified; the real-time yaw angular velocity value is larger than the target yaw angular velocity value, and the torque difference between the left wheel side and the right wheel side is reduced.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (9)
1. An emergency control method for steering failure of an autonomous vehicle, comprising the steps of:
1) monitoring fault information of an electric control steering system in real time in the automatic driving process of a vehicle;
2) when the electric control steering system has a fault that the steering cannot be performed, the vehicle control unit sends an instruction to the active braking system;
3) the active braking system brakes by adjusting wheel torque, so that torque difference is generated between the left wheel and the right wheel of the vehicle, and the whole vehicle generates a rotating torque to enable the vehicle to turn to the side.
2. The emergency maneuver method for steering failure of an autonomous vehicle of claim 1, wherein: in the step 3), when the vehicle is controlled to lean to the left and stop, the left wheel is controlled to brake, and the right wheel does not brake or the braking force is smaller than that of the left wheel; when the vehicle is controlled to lean to the right and stop, the right wheel is controlled to brake, and the left wheel does not brake or the braking force is smaller than that of the right wheel.
3. The emergency maneuver method for steering failure of an autonomous vehicle according to claim 1 or 2, characterized in that: in the step 3), the vehicle yaw angular velocity ω and the vehicle yaw angular acceleration d ω/dt are obtained according to the driving requirement, and the torque T is J × d ω/dt according to a mechanical formula, where J is the rotational inertia of the vehicle, and when the vehicle is controlled to lean left or turn left, the torque difference between the left and right wheels is controlled to generate a counterclockwise torque for the vehicle; when the vehicle is controlled to lean to the right or turn to the right, the torque difference value of the left wheel and the right wheel is controlled to generate a clockwise torque for the vehicle, and the emergency control system can monitor and adjust the driving torque/braking torque in real time during the whole action period, so that the instability of the whole vehicle or the locking of the wheels is prevented.
4. The emergency maneuver method for steering failure of an autonomous vehicle according to claim 3, characterized in that: and 4) gradually adjusting and reducing the torque difference value of the left wheel and the right wheel according to the information of the lane where the vehicle is located, which is acquired in real time, until the vehicle is in a stable state, the exit condition is met, and the emergency control system exits from the control.
5. The emergency maneuver method for steering failure of an autonomous vehicle according to claim 4, characterized in that: and 4) acquiring the lane information of the vehicle through a front camera or a GPS.
6. The emergency maneuver method for steering failure of an autonomous vehicle according to claim 1 or 5, characterized in that: and 5) when the vehicle stops moving to the side, the active braking system sends an instruction to the EPB, and after the EPB realizes parking, the active braking system stops working.
7. An emergency operation system for executing the emergency operation method according to any one of claims 1 to 5, characterized in that: the system is provided with an active braking system, the system is provided with an emergency control system, the emergency control system is connected with an electric control steering system to obtain a signal whether the steering system fails or not, is connected with a yaw angle sensor, a wheel speed sensor and other components to obtain related signal information of the whole vehicle, is connected with a braking system and a driving system of the whole vehicle to obtain wheel side torque information, and adjusts the wheel side torque.
8. The emergency operation system according to claim 7, wherein: the active braking system is an ESC system, and is connected with the EPB and sends a parking signal to the EPB.
9. The emergency operation system according to claim 7 or 8, wherein: the active braking system is connected with a front camera or a GPS to acquire the information of the lane where the vehicle is located.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010389143.1A CN111497819B (en) | 2020-05-09 | 2020-05-09 | Emergency control method and system for steering failure of automatic driving vehicle |
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| CN202010389143.1A CN111497819B (en) | 2020-05-09 | 2020-05-09 | Emergency control method and system for steering failure of automatic driving vehicle |
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| CN111497819B CN111497819B (en) | 2024-06-14 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113682303A (en) * | 2021-09-27 | 2021-11-23 | 岚图汽车科技有限公司 | Method and system for steering vehicle |
| CN113911204A (en) * | 2021-10-22 | 2022-01-11 | 岚图汽车科技有限公司 | Method and system for failure backup of steering system |
| CN114834440A (en) * | 2021-02-01 | 2022-08-02 | 本田技研工业株式会社 | Vehicle control system |
| CN114919640A (en) * | 2022-06-24 | 2022-08-19 | 广州小鹏自动驾驶科技有限公司 | Vehicle steering control method, driving controller, steering system and vehicle |
| CN115042856A (en) * | 2021-09-07 | 2022-09-13 | 长城汽车股份有限公司 | Motor vehicle auxiliary steering method and device, line control controller and motor vehicle |
| CN115056850A (en) * | 2022-06-29 | 2022-09-16 | 上海集度汽车有限公司 | Auxiliary control method, system, vehicle and medium based on steer-by-wire |
| CN116022102A (en) * | 2023-03-23 | 2023-04-28 | 小米汽车科技有限公司 | Vehicle control method and device based on electronic hand brake, vehicle and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115056850B (en) * | 2022-06-29 | 2024-04-09 | 上海集度汽车有限公司 | Auxiliary control method, system, vehicle and medium based on steer-by-wire |
| CN116022102A (en) * | 2023-03-23 | 2023-04-28 | 小米汽车科技有限公司 | Vehicle control method and device based on electronic hand brake, vehicle and storage medium |
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| CN111497819B (en) | 2024-06-14 |
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