CN116198589A - Torque steering compensation method and device for vehicle, vehicle controller and storage medium - Google Patents
Torque steering compensation method and device for vehicle, vehicle controller and storage medium Download PDFInfo
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- CN116198589A CN116198589A CN202111443221.2A CN202111443221A CN116198589A CN 116198589 A CN116198589 A CN 116198589A CN 202111443221 A CN202111443221 A CN 202111443221A CN 116198589 A CN116198589 A CN 116198589A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a torque steering compensation method and device of a vehicle, a vehicle controller and a storage medium, wherein the torque steering compensation method of the vehicle comprises the following steps: acquiring running information of a vehicle; when the vehicle meets the torque steering compensation learning condition according to the running information of the vehicle, performing torque compensation learning according to the running information of the vehicle to obtain a torque compensation value of a steering power-assisted motor of the vehicle; and carrying out torque steering compensation control on the vehicle according to the torque compensation value. Therefore, the torque steering compensation method of the vehicle can accurately judge whether the vehicle has torque steering or not, timely eliminate the torque steering of the vehicle, improve the adaptability of vehicle driving and ensure driving safety.
Description
Technical Field
The present invention relates to the field of vehicle control, and more particularly, to a torque steering compensation method of a vehicle, a torque steering compensation device of a vehicle, a vehicle controller, and a computer-readable storage medium.
Background
In the starting and accelerating processes of the vehicle, the driving torque of the left and right wheels is not uniform easily due to the problems of the left and right asymmetry of the driving shaft, the non-uniform output torque of the left and right driving motors, the non-uniform abrasion of the left and right tires and the like, so that the torque steering phenomenon of the vehicle is caused.
In the related art, after it is determined that the vehicle has undergone torque steering, a method is employed in which a prescribed braking force is applied to non-driving wheels on the side where the vehicle is not steered, to eliminate or reduce the torque steering, for example, the torque steering causes the vehicle to steer to the right, the prescribed braking force is applied to left non-driving wheels of the vehicle, the torque steering causes the vehicle to steer to the left, and the prescribed braking force is applied to right non-driving wheels of the vehicle.
The method solves the problem of torque steering by only applying braking force, influences normal running of the vehicle, reduces driving experience of a driver, and judges whether the vehicle is subjected to torque steering or not by only using an accelerator pedal and a steering signal in the related technology, so that the method has a large defect.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, an object of the present invention is to provide a torque steering compensation method for a vehicle, which can accurately determine whether a vehicle has torque steering, timely eliminate the torque steering of the vehicle, improve the adaptability of vehicle driving, and ensure driving safety.
A second object of the present invention is to provide a torque steering compensation device for a vehicle.
A third object of the present invention is to propose a vehicle controller.
A fourth object of the present invention is to propose a computer readable storage medium.
To achieve the above object, an embodiment of a first aspect of the present invention provides a torque steering compensation method for a vehicle, the method including: acquiring running information of the vehicle; when the vehicle meets the torque steering compensation learning condition according to the running information of the vehicle, performing torque compensation learning according to the running information of the vehicle to obtain a torque compensation value of a steering power-assisted motor of the vehicle; and carrying out torque steering compensation control on the vehicle according to the torque compensation value.
The torque steering compensation method of the embodiment of the invention firstly obtains the running information of the vehicle, then judges whether the vehicle meets the torque steering compensation learning condition according to the running information, and when the vehicle meets the condition, performs torque compensation learning according to the running information of the vehicle to obtain the torque compensation value of the steering power-assisted motor of the vehicle, and further performs torque steering compensation on the control vehicle according to the torque compensation value. Therefore, the torque steering compensation method of the vehicle can accurately judge whether the vehicle has torque steering or not, timely eliminate the torque steering of the vehicle, improve the adaptability of vehicle driving and ensure driving safety.
In some embodiments of the present invention, the driving information of the vehicle includes a left wheel speed, a right wheel speed, a yaw rate, a lateral acceleration, a steering wheel angle, and a steering wheel torque of the vehicle, wherein determining that the vehicle satisfies a torque steering compensation learning condition according to the driving information of the vehicle includes: and determining that the vehicle meets a torque steering compensation learning condition when a wheel speed difference between a left wheel speed and a right wheel speed of the vehicle is greater than or equal to a first wheel speed difference threshold, or the lateral acceleration is greater than a preset acceleration threshold and greater than zero, or the yaw rate is greater than a preset angular velocity threshold and the steering wheel rotation angle is greater than a preset angular threshold and the direction of the yaw rate is the same as the steering wheel rotation angle, or the steering wheel torque is greater than a preset torque threshold and the direction of the steering wheel torque is opposite to the output torque direction of the steering power assisting motor.
In some embodiments of the present invention, torque compensation learning is performed according to travel information of the vehicle, including: determining a first speed signal according to the left wheel speed and the right wheel speed of the vehicle, determining a second speed signal according to the steering wheel rotation angle, and determining a moment learning value according to the first speed signal and the second speed signal; acquiring a speed signal of the vehicle, and determining a compensation coefficient according to the speed signal of the vehicle; and determining the moment compensation value according to the moment learning value and the compensation coefficient.
In some embodiments of the present invention, determining a first speed signal from left and right wheel speeds of the vehicle includes: a wheel speed difference between a left wheel speed and a right wheel speed of the vehicle is determined, and an absolute value of the wheel speed difference is taken as the first speed signal.
In some embodiments of the invention, determining a second speed signal from the steering wheel angle comprises: and calculating the steering wheel rotation angle by deriving to obtain the steering wheel rotation speed of the vehicle, and taking the absolute value of the steering wheel rotation speed as the second speed signal.
In some embodiments of the present invention, when the vehicle is subjected to torque steering compensation control according to the torque compensation value, the method further includes: determining that the vehicle completes torque steer compensation when a wheel speed difference between a left wheel speed and a right wheel speed of the vehicle is less than a first wheel speed difference threshold; and returning to continue to perform torque compensation learning according to the running information of the vehicle when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than or equal to a first wheel speed difference threshold value.
In some embodiments of the present invention, when the vehicle is subjected to torque steering compensation control according to the torque compensation value, the method further includes: when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is larger than the preset maximum rotation speed difference, determining that the torque steering compensation is abnormal, and returning to acquire the running information of the vehicle again.
To achieve the above object, a second aspect of the present invention provides a torque steering compensation device for a vehicle, the device including: the acquisition module is used for acquiring the running information of the vehicle; and the control module is used for carrying out torque compensation learning according to the running information of the vehicle when the vehicle is determined to meet the torque steering compensation learning condition according to the running information of the vehicle, obtaining a torque compensation value of a steering power-assisted motor of the vehicle, and carrying out torque steering compensation control on the vehicle according to the torque compensation value.
The torque steering compensation device of the vehicle comprises an acquisition module and a control module, wherein the acquisition module is used for acquiring running information of the vehicle, and the control module is used for carrying out torque compensation learning according to whether the vehicle meets the torque steering compensation learning condition or not and carrying out torque compensation learning when the vehicle meets the condition so as to acquire a torque compensation value of a steering power-assisted motor of the vehicle, and then controlling the vehicle to carry out torque steering compensation control according to the torque compensation value. Therefore, the torque steering compensation device of the vehicle can accurately judge whether the vehicle has torque steering or not, timely eliminate the torque steering of the vehicle, improve the adaptability of vehicle driving and ensure driving safety.
To achieve the above object, an embodiment of a third aspect of the present invention provides a vehicle controller including a memory, a processor, and a torque steer compensation program of a vehicle stored on the memory and operable on the processor, the processor implementing the torque steer compensation method of a vehicle according to the above embodiment when executing the torque steer compensation program of the vehicle.
The vehicle controller provided by the embodiment of the invention comprises the memory and the processor, and the processor executes the torque steering compensation program of the vehicle stored in the memory, so that whether the vehicle has torque steering or not can be accurately judged, the torque steering of the vehicle can be timely eliminated, the driving adaptability of the vehicle is improved, and the driving safety is ensured.
To achieve the above object, a fourth aspect of the present invention provides a computer-readable storage medium having stored thereon a torque steer compensation program of a vehicle, which when executed by a processor, implements the torque steer compensation method of a vehicle according to the above embodiments.
According to the embodiment of the invention, the processor executes the torque steering compensation program of the vehicle on the computer readable storage medium, so that whether the vehicle has torque steering or not can be accurately judged, the torque steering of the vehicle is timely eliminated, the driving adaptability of the vehicle is improved, and the driving safety is ensured.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of a method of torque steer compensation of a vehicle according to one embodiment of the present invention;
FIG. 2 is a flow chart of a method of torque steer compensation of a vehicle according to one embodiment of the present invention;
FIG. 3 is a schematic illustration of a method of torque steer compensation of a vehicle according to one embodiment of the present invention;
FIG. 4 is a diagram of torque learned value relationships according to one embodiment of the invention;
FIG. 5 is a schematic diagram of compensation coefficient relationships according to one embodiment of the present invention;
FIG. 6 is a flow chart of a method of torque steer compensation of a vehicle according to one embodiment of the present invention;
FIG. 7 is a flow chart of a method of torque steer compensation of a vehicle according to one embodiment of the present invention;
FIG. 8 is a block diagram showing the construction of a torque steer compensation device of a vehicle according to an embodiment of the present invention;
fig. 9 is a block diagram of a vehicle controller according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
The following describes a torque steering compensation method and apparatus for a vehicle, a vehicle controller, and a storage medium according to embodiments of the present invention with reference to the accompanying drawings.
FIG. 1 is a flow chart of a method of torque steer compensation of a vehicle according to one embodiment of the present invention.
As shown in fig. 1, the present invention proposes a torque steering compensation method of a vehicle, the method comprising the steps of:
s10, acquiring running information of the vehicle.
Specifically, the running information of the vehicle in the present embodiment may include the left wheel speed, the right wheel speed, the yaw rate, the lateral acceleration, the steering wheel angle, and the steering wheel torque of the vehicle.
The left wheel speed and the right wheel speed of the vehicle in the running information may be determined according to the driving mode of the vehicle, whether the left front wheel speed and the right front wheel speed of the vehicle or the left rear wheel speed and the right rear wheel speed of the vehicle.
Taking a front axle driven vehicle as an example, the left wheel speed and the right wheel speed in the running information refer to the left front wheel speed and the right front wheel speed. When the wheel speed difference between the left wheel speed and the right wheel speed is calculated, the wheel speed difference between the left front wheel speed and the right front wheel speed is calculated.
It can be understood that the specific acquisition mode of the driving information of the vehicle in this embodiment is not limited, and may be, for example, direct acquisition by setting a corresponding sensor, or indirect calculation acquisition by other driving information of the vehicle. For example, the left wheel speed and the right wheel speed of the vehicle CAN be directly acquired through a CAN (Controller Area Network ) network.
And S20, when the vehicle meets the torque steering compensation learning condition according to the running information of the vehicle, performing torque compensation learning according to the running information of the vehicle to obtain a torque compensation value of a steering power-assisted motor of the vehicle.
Specifically, after the traveling information of the vehicle is acquired, it may be further determined whether the vehicle satisfies the torque steering compensation learning condition according to the traveling information of the vehicle, and more specifically, when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is equal to or greater than a first wheel speed difference threshold value, or the lateral acceleration is greater than a preset acceleration threshold value and greater than zero, or the yaw rate is greater than a preset angular velocity threshold value and the steering wheel rotation angle is greater than a preset angular threshold value and the direction of the yaw rate is the same as the direction of the steering wheel rotation angle, or the steering wheel torque is greater than a preset torque threshold value and the direction of the steering wheel torque is opposite to the output torque direction of the steering assist motor, it is determined that the vehicle satisfies the torque steering compensation learning condition.
More specifically, when the difference between the wheel speeds of the left wheel and the right wheel of the vehicle is greater than or equal to the first wheel speed difference threshold, it means that the difference between the left wheel and the right wheel of the vehicle is large, and if the vehicle is traveling at the current wheel speed, the vehicle cannot normally travel straight ahead, and the torque steering phenomenon of the vehicle needs to be compensated. When the lateral acceleration of the vehicle is greater than the preset acceleration threshold value and greater than zero, the vehicle is deviated from the current driving route, and the torque steering phenomenon of the vehicle needs to be compensated. When the yaw rate of the vehicle is greater than the preset angular rate threshold value, the steering wheel angle of the vehicle is greater than the preset angular rate threshold value, and the direction of the yaw rate is the same as the direction of the steering wheel angle, it means that the current vehicle is in a path deviated from the normal running, so that the torque steering compensation is also performed on the current vehicle.
It should be noted that all the thresholds mentioned in this embodiment may be adjusted according to the model, type, etc. of the vehicle, and of course, the thresholds may be acquired by collection in advance.
In this embodiment, after it is determined that the vehicle satisfies the torque-steering compensation learning condition, the torque-compensation learning may be performed according to the information of the vehicle to obtain the torque compensation value of the steering assist motor of the vehicle.
In this embodiment, since the vehicle is an electric vehicle, the torque compensation can be performed on the steering assist motor of the vehicle when the vehicle torque steering problem is solved.
And S30, performing torque steering compensation control on the vehicle according to the torque compensation value.
Specifically, after the torque compensation value of the steering assist motor of the vehicle is calculated, the torque steering compensation control can be performed on the vehicle according to the torque compensation value, so as to complete the torque steering compensation of the vehicle. It should be noted that, the torque compensation value in this embodiment may be adjusted in real time according to the slowing process of the torque steering of the vehicle, specifically, the torque difference between the left wheel and the right wheel of the vehicle may be continuously monitored, and then the compensation value of the motor torque may be calculated to perform real-time adjustment.
In some embodiments of the present invention, as shown in fig. 2, the torque compensation learning according to the running information of the vehicle includes:
s201, determining a first speed signal according to the left wheel speed and the right wheel speed of the vehicle, determining a second speed signal according to the steering wheel angle, and determining a moment learning value according to the first speed signal and the second speed signal.
Specifically, in the present embodiment, when calculating the torque compensation value of the assist motor, the torque learning value may be calculated first, and then the torque learning value may be adjusted to obtain the torque compensation value. More specifically, the torque learning value of the embodiment of the present invention is determined by a first speed signal, which may be determined based on the left wheel speed and the right wheel speed, and a second speed signal, which may be determined based on the steering wheel angle signal of the vehicle.
More specifically, as shown in fig. 3, the present embodiment may first determine a wheel speed difference between a left wheel speed and a right wheel speed of the vehicle, and take an absolute value of the wheel speed difference as a first speed signal. The steering wheel angle may also be derivative calculated to obtain a steering wheel speed of the vehicle and the absolute value of the steering wheel speed may be used as the second speed signal.
After the first speed signal and the second speed signal are obtained, the torque learning value can be obtained by a table look-up method. The relationship between the first speed signal, the second speed signal and the torque learning value can be shown in fig. 4, wherein the abscissa represents the first speed signal, the ordinate represents the torque learning value, the different curves represent the different second speed signals, and after the first speed signal and the second speed signal are determined, the torque learning value can be determined according to the determined torque learning value.
S202, acquiring a vehicle speed signal of the vehicle, and determining a compensation coefficient according to the vehicle speed signal of the vehicle.
Specifically, the vehicle speed signal in this embodiment may be directly obtained from the sensor, or may be indirectly obtained by calculation from other signals such as the wheel speed, and in this embodiment, the manner of obtaining the vehicle speed signal is not limited.
After the vehicle speed signal is obtained, the compensation coefficient can be determined according to the vehicle speed signal, as shown in fig. 5, different vehicle speeds respectively correspond to different moment learning value compensation coefficients, and the corresponding relationship is related to the type, the model and the like of the vehicle, so that the vehicle speed signal can be obtained through experiments in advance. Note that, the compensation coefficient in this embodiment is smaller than 1.
And S203, determining a moment compensation value according to the moment learning value and the compensation coefficient.
After the torque learning value and the compensation coefficient are obtained, a torque compensation value may be determined according to the torque learning value and the compensation coefficient, and specifically, the torque learning value may be multiplied by the compensation coefficient to obtain the torque compensation value.
It should be noted that, as shown in fig. 3, when the torque learning value is multiplied by the compensation coefficient, an adjustment constant may be added to participate in the calculation, that is, the torque learning value, the compensation coefficient and the adjustment constant are multiplied to obtain the torque compensation value. It should be noted that, the adjustment constant in this embodiment may be-1, for adjusting the direction of the torque compensation value, which is always opposite to the direction of the current output torque of the booster motor.
After the torque compensation value is calculated, the torque compensation value can be superimposed on the output torque of the normal steering system booster motor to compensate the vehicle torque steering.
In some embodiments of the present invention, as shown in fig. 6, when the torque compensation control is performed on the vehicle according to the torque compensation value, the method further includes:
s601, determining that the vehicle completes torque steering compensation when a wheel speed difference between a left wheel speed and a right wheel speed of the vehicle is smaller than a first wheel speed difference threshold value.
Specifically, in this embodiment, torque compensation of the power-assisted motor may be adjusted in real time according to a slowing process of torque steering, and in the adjusting process, whether torque steering compensation is completed may be determined according to a wheel speed difference between left and right wheels, where when the wheel speed difference between the left and right wheels is smaller than a first wheel speed difference threshold, it is indicated that the current vehicle has solved the problem of torque steering, and it may be further determined that the vehicle has completed torque steering compensation.
S602, returning to continue to perform torque compensation learning according to the running information of the vehicle when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than or equal to a first wheel speed difference threshold value.
Specifically, when the wheel speed difference between the left wheel and the right wheel is larger than or equal to a first wheel speed difference threshold value, the current vehicle is indicated to have the problem of torque steering, and torque compensation learning is continuously performed on the vehicle, namely, the running information of the vehicle is acquired again, and the torque compensation learning is performed on the vehicle according to the running information of the vehicle.
In some embodiments of the present invention, when the torque steering compensation control is performed on the vehicle according to the torque compensation value, the method further includes: when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is larger than the preset maximum rotation speed difference, determining that the torque steering compensation is abnormal, and returning to acquire the running information of the vehicle again.
Specifically, if the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is calculated to be greater than the preset maximum rotation speed difference in the process of torque compensation of the vehicle, there is a possibility that the vehicle is in error in acquiring the running information of the vehicle or the vehicle is running abnormally, and the range which can be solved by the torque compensation is exceeded, so that the abnormality in torque steering compensation can be determined, and further the vehicle is acquired again, and the torque compensation value is calculated again.
Referring to fig. 7, firstly, a lateral acceleration, a yaw rate, a wheel speed of left and right wheels, a steering wheel moment and a steering wheel angle of a vehicle are obtained by using an EPS (Electric Power Steering ) controller, then whether the vehicle meets a torque steering condition or not is judged according to the obtained information, a front wheel speed difference of the vehicle is calculated when the torque steering condition is met, an EPS power-assisted motor moment compensation value is calculated, and then the EPS power-assisted motor outputs the moment compensation value so as to compensate the torque steering of the vehicle, further whether the vehicle meets a torque steering compensation requirement is judged, if not, the motor moment compensation value is compensated again, and if yes, the process is ended. And after the vehicle torque steering is compensated, whether the difference value of the front wheel speed is larger than the set maximum difference value is also judged, if so, the compensation learning error is indicated, at the moment, the compensation moment value is set to zero, and then the running information of the vehicle is acquired again.
In summary, the torque steering compensation method of the vehicle provided by the embodiment of the invention can accurately judge whether the vehicle has torque steering, timely eliminate the torque steering of the vehicle, improve the adaptability of vehicle driving and ensure driving safety.
Fig. 8 is a block diagram of a torque steering compensation device of a vehicle according to an embodiment of the present invention.
As shown in fig. 8, the present invention proposes a torque steer compensation device 100 of a vehicle, the torque steer compensation device 100 comprising an acquisition module 101 and a control module 102.
Wherein, the acquisition module 101 is used for acquiring the running information of the vehicle; the control module 102 is configured to perform torque compensation learning according to the running information of the vehicle when it is determined that the vehicle meets the torque steering compensation learning condition according to the running information of the vehicle, obtain a torque compensation value of a steering assist motor of the vehicle, and perform torque steering compensation control on the vehicle according to the torque compensation value.
In some embodiments of the present invention, the driving information of the vehicle includes a left wheel speed, a right wheel speed, a yaw rate, a lateral acceleration, a steering wheel angle, and a steering wheel torque of the vehicle, wherein determining that the vehicle satisfies the torque steering compensation learning condition according to the driving information of the vehicle includes: and determining that the vehicle meets the torque steering compensation learning condition when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than or equal to a first wheel speed difference threshold value, or the lateral acceleration is greater than a preset acceleration threshold value and greater than zero, or the yaw rate is greater than a preset angular velocity threshold value and the steering wheel rotation angle is greater than a preset angular threshold value and the direction of the yaw rate is the same as the direction of the steering wheel rotation angle, or the steering wheel torque is greater than a preset torque threshold value and the direction of the steering wheel torque is opposite to the direction of the output torque of the steering power assisting motor.
In some embodiments of the invention, the control module is further to: determining a first speed signal according to the left wheel speed and the right wheel speed of the vehicle, determining a second speed signal according to the steering wheel rotation angle, and determining a moment learning value according to the first speed signal and the second speed signal; acquiring a speed signal of a vehicle, and determining a compensation coefficient according to the speed signal of the vehicle; and determining a moment compensation value according to the moment learning value and the compensation coefficient.
In some embodiments of the invention, the control module is further to: a wheel speed difference between a left wheel speed and a right wheel speed of the vehicle is determined, and an absolute value of the wheel speed difference is taken as a first speed signal.
In some embodiments of the invention, the control module is further to: and calculating the steering wheel rotation angle by deriving, obtaining the steering wheel rotation speed of the vehicle, and taking the absolute value of the steering wheel rotation speed as a second speed signal.
In some embodiments of the invention, the control module is further to: determining that the vehicle completes torque steering compensation when a wheel speed difference between a left wheel speed and a right wheel speed of the vehicle is less than a first wheel speed difference threshold; and returning to continue to perform torque compensation learning according to the running information of the vehicle when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than or equal to a first wheel speed difference threshold value.
In some embodiments of the invention, the control module is further to: when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is larger than the preset maximum rotation speed difference, determining that the torque steering compensation is abnormal, and returning to acquire the running information of the vehicle again.
It should be noted that, for a specific embodiment of the torque steering compensation device for a vehicle according to the embodiment of the present invention, reference may be made to a specific implementation of the torque steering compensation method for a vehicle in the foregoing embodiment, which is not described herein again.
In summary, the torque steering compensation device of the vehicle can accurately judge whether the vehicle has torque steering, timely eliminate the torque steering of the vehicle, improve the adaptability of vehicle driving and ensure driving safety.
Fig. 9 is a block diagram of a vehicle controller according to an embodiment of the present invention.
Further, as shown in fig. 9, the present invention proposes a vehicle controller 200, the vehicle controller 200 including a memory 201, a processor 202, and a torque steering compensation program of a vehicle stored in the memory 201 and operable on the processor 202, the processor 202 implementing the torque steering compensation method of the vehicle in the above embodiment when executing the torque steering compensation program of the vehicle.
The vehicle controller provided by the embodiment of the invention can accurately judge whether the vehicle has torque steering or not by executing the torque steering compensation program of the vehicle stored in the memory through the processor, timely eliminate the torque steering of the vehicle, improve the adaptability of vehicle driving and ensure driving safety.
Further, the present invention proposes a computer-readable storage medium having stored thereon a torque steer compensation program of a vehicle, which when executed by a processor implements the torque steer compensation method of a vehicle in the above-described embodiments.
The computer readable storage medium of the embodiment of the invention executes the torque steering compensation program of the vehicle stored on the storage medium through the processor, can accurately judge whether the vehicle has torque steering, timely eliminate the torque steering of the vehicle, improve the adaptability of vehicle driving and ensure driving safety.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, as used in embodiments of the present invention, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or as implying any particular number of features in the present embodiment. Thus, a feature of an embodiment of the invention that is defined by terms such as "first," "second," etc., may explicitly or implicitly indicate that at least one such feature is included in the embodiment. In the description of the present invention, the word "plurality" means at least two or more, for example, two, three, four, etc., unless explicitly defined otherwise in the embodiments.
In the present invention, unless explicitly stated or limited otherwise in the examples, the terms "mounted," "connected," and "fixed" as used in the examples should be interpreted broadly, e.g., the connection may be a fixed connection, may be a removable connection, or may be integral, and it may be understood that the connection may also be a mechanical connection, an electrical connection, etc.; of course, it may be directly connected, or indirectly connected through an intermediate medium, or may be in communication with each other, or in interaction with each other. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific embodiments.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (10)
1. A torque steer compensation method of a vehicle, comprising:
acquiring running information of the vehicle;
when the vehicle meets the torque steering compensation learning condition according to the running information of the vehicle, performing torque compensation learning according to the running information of the vehicle to obtain a torque compensation value of a steering power-assisted motor of the vehicle;
and carrying out torque steering compensation control on the vehicle according to the torque compensation value.
2. The torque steer compensation method of a vehicle according to claim 1, wherein the traveling information of the vehicle includes a left wheel speed, a right wheel speed, a yaw rate, a lateral acceleration, a steering wheel angle, and a steering wheel torque of the vehicle, wherein determining that the vehicle satisfies a torque steer compensation learning condition according to the traveling information of the vehicle comprises:
and determining that the vehicle meets a torque steering compensation learning condition when a wheel speed difference between a left wheel speed and a right wheel speed of the vehicle is greater than or equal to a first wheel speed difference threshold, or the lateral acceleration is greater than a preset acceleration threshold and greater than zero, or the yaw rate is greater than a preset angular velocity threshold and the steering wheel rotation angle is greater than a preset angular threshold and the direction of the yaw rate is the same as the steering wheel rotation angle, or the steering wheel torque is greater than a preset torque threshold and the direction of the steering wheel torque is opposite to the output torque direction of the steering power assisting motor.
3. The torque steering compensation method of a vehicle according to claim 2, characterized in that the torque compensation learning is performed based on the running information of the vehicle, comprising:
determining a first speed signal according to the left wheel speed and the right wheel speed of the vehicle, determining a second speed signal according to the steering wheel rotation angle, and determining a moment learning value according to the first speed signal and the second speed signal;
acquiring a speed signal of the vehicle, and determining a compensation coefficient according to the speed signal of the vehicle;
and determining the moment compensation value according to the moment learning value and the compensation coefficient.
4. A torque steer compensation method of a vehicle according to claim 3 wherein determining a first speed signal from a left wheel speed and a right wheel speed of said vehicle comprises:
a wheel speed difference between a left wheel speed and a right wheel speed of the vehicle is determined, and an absolute value of the wheel speed difference is taken as the first speed signal.
5. A torque steer compensation method of a vehicle according to claim 3 wherein determining a second speed signal based on said steering wheel angle comprises:
and calculating the steering wheel rotation angle by deriving to obtain the steering wheel rotation speed of the vehicle, and taking the absolute value of the steering wheel rotation speed as the second speed signal.
6. The torque steering compensation method of a vehicle according to claim 2, characterized in that, when torque steering compensation control is performed on the vehicle according to the torque compensation value, the method further comprises:
determining that the vehicle completes torque steer compensation when a wheel speed difference between a left wheel speed and a right wheel speed of the vehicle is less than a first wheel speed difference threshold;
and returning to continue to perform torque compensation learning according to the running information of the vehicle when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than or equal to a first wheel speed difference threshold value.
7. The torque steering compensation method of a vehicle according to claim 2, characterized in that, when torque steering compensation control is performed on the vehicle according to the torque compensation value, the method further comprises:
when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is larger than the preset maximum rotation speed difference, determining that the torque steering compensation is abnormal, and returning to acquire the running information of the vehicle again.
8. A torque steering compensation device of a vehicle, characterized by comprising:
the acquisition module is used for acquiring the running information of the vehicle;
and the control module is used for carrying out torque compensation learning according to the running information of the vehicle when the vehicle is determined to meet the torque steering compensation learning condition according to the running information of the vehicle, obtaining a torque compensation value of a steering power-assisted motor of the vehicle, and carrying out torque steering compensation control on the vehicle according to the torque compensation value.
9. A vehicle controller comprising a memory, a processor and a torque steer compensation program of a vehicle stored on the memory and operable on the processor, the processor implementing a torque steer compensation method of a vehicle according to any one of claims 1-7 when executing the torque steer compensation program of the vehicle.
10. A computer-readable storage medium, characterized in that a torque steer compensation program of a vehicle is stored thereon, which when executed by a processor implements the torque steer compensation method of a vehicle according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111443221.2A CN116198589A (en) | 2021-11-30 | 2021-11-30 | Torque steering compensation method and device for vehicle, vehicle controller and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111443221.2A CN116198589A (en) | 2021-11-30 | 2021-11-30 | Torque steering compensation method and device for vehicle, vehicle controller and storage medium |
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| CN116198589A true CN116198589A (en) | 2023-06-02 |
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| CN202111443221.2A Pending CN116198589A (en) | 2021-11-30 | 2021-11-30 | Torque steering compensation method and device for vehicle, vehicle controller and storage medium |
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| CN118124671A (en) * | 2024-05-06 | 2024-06-04 | 岚图汽车科技有限公司 | Vehicle steering control method and device, storage medium and vehicle |
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