CN116198589A - Vehicle torque steering compensation method and device, vehicle controller, storage medium - Google Patents

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

Vehicle torque steering compensation method and device, vehicle controller, storage medium

technical field

The present invention relates to the field of vehicle control, in particular to a vehicle torque steering compensation method, a vehicle torque steering compensation device, a vehicle controller and a computer-readable storage medium.

Background technique

During the start and acceleration process of the vehicle, due to the asymmetry of the left and right drive shafts, or the different output torques of the left and right drive motors, or the inconsistent wear of the left and right tires, it is easy to cause the drive torque of the left and right wheels to be inconsistent, which in turn leads to torque steering of the vehicle.

In the related art, after it is determined that the vehicle has torque steered, the method adopted is to apply a specified braking force to the non-driven wheels on the non-steered side of the vehicle to eliminate or reduce torque steer, for example, torque steer causes the vehicle to steer On the right side, the specified braking force is applied to the left non-driven wheel of the vehicle, and torque steer causes the vehicle to turn to the left, and the specified braking force is applied to the right non-driven wheel of the vehicle.

This method solves the torque steering problem only by applying braking force, which affects the normal running of the vehicle and reduces the driving experience of the driver. In the related art, it is only judged whether the vehicle has torque steering through the accelerator pedal and the steering signal, which has a large defect.

Contents of the invention

The present invention aims to solve one of the technical problems in the related art at least to a certain extent. Therefore, an object of the present invention is to provide a torque steering compensation method of a vehicle, which can accurately determine whether the vehicle has torque steering, and eliminate the torque steering of the vehicle in time, 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 provide a computer-readable storage medium.

In order to achieve the above purpose, the embodiment of the first aspect of the present invention proposes a torque steering compensation method for a vehicle, the method comprising: acquiring driving information of the vehicle; determining that the vehicle satisfies torque steering compensation according to the driving information of the vehicle When learning conditions, torque compensation learning is performed according to the driving information of the vehicle to obtain a torque compensation value of a power steering motor of the vehicle; torque steering compensation control is performed on the vehicle according to the torque compensation value.

The torque steering compensation method of the embodiment of the present invention first obtains the driving information of the vehicle, then judges whether the vehicle satisfies the torque steering compensation learning condition according to the driving information, and performs torque compensation learning according to the driving information of the vehicle when the vehicle satisfies the condition, so as to The torque compensation value of the power steering motor of the vehicle is obtained, and then the torque steering compensation is performed on the controlled vehicle according to the torque compensation value. Therefore, the vehicle torque steering compensation method of this embodiment can accurately determine whether the vehicle has torque steering, and timely eliminate the vehicle torque steering, improve the adaptability of vehicle driving, and ensure driving safety.

In some embodiments of the present invention, the driving information of the vehicle includes the left wheel speed, right wheel speed, yaw rate, lateral acceleration, steering wheel angle and steering wheel torque of the vehicle, wherein, according to the The driving information of the vehicle determines that the vehicle satisfies the torque steering compensation learning condition, including: the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than or equal to the first wheel speed difference threshold, or the lateral The acceleration is greater than a preset acceleration threshold and greater than zero, or the yaw rate is greater than a preset angular rate threshold and the steering wheel angle is greater than a preset angle threshold, and the direction of the yaw rate is the same as the direction of the steering wheel angle, Or when the steering wheel torque is greater than a preset torque threshold and the direction of the steering wheel torque is opposite to the direction of the output torque of the steering assist motor, it is determined that the vehicle satisfies the torque steering compensation learning condition.

In some embodiments of the present invention, performing torque compensation learning according to the driving information of the vehicle includes: determining the first speed signal according to the left wheel speed and the right wheel speed of the vehicle, and determining the first speed signal according to the steering wheel angle second speed signal, and determine a torque learning value according to the first speed signal and the second speed signal; acquire the vehicle speed signal of the vehicle, and determine a compensation coefficient according to the vehicle speed signal; learn according to the torque value and the compensation coefficient determine the torque compensation value.

In some embodiments of the present invention, determining the first speed signal according to the left wheel speed and the right wheel speed of the vehicle comprises: determining a wheel speed difference between the left wheel speed and the right wheel speed of the vehicle , and use the absolute value of the wheel speed difference as the first speed signal.

In some embodiments of the present invention, determining the second speed signal according to the steering wheel angle includes: performing derivative calculation on the steering wheel angle to obtain the steering wheel rotation speed of the vehicle, and calculating the steering wheel rotation speed The absolute value of is used as the second speed signal.

In some embodiments of the present invention, when performing torque steering compensation control on the vehicle according to the torque compensation value, the method further includes: When the speed difference is less than the first wheel speed difference threshold, it is determined that the vehicle has completed the torque steering compensation; when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than or equal to the first wheel speed difference threshold, return Continue to perform torque compensation learning according to the driving information of the vehicle.

In some embodiments of the present invention, when performing torque steering compensation control on the vehicle according to the torque compensation value, the method further includes: When the speed difference is greater than the preset maximum speed difference, it is determined that the torque steering compensation is abnormal, and the driving information of the vehicle is returned to be acquired again.

In order to achieve the above purpose, the embodiment of the second aspect of the present invention proposes a torque steering compensation device for a vehicle, the device includes: an acquisition module, used to acquire the driving information of the vehicle; a control module, used to When the driving information determines that the vehicle satisfies the torque steering compensation learning condition, torque compensation learning is performed according to the driving information of the vehicle, the torque compensation value of the steering assist motor of the vehicle is obtained, and the vehicle is adjusted according to the torque compensation value. Perform torque steer compensation control.

The torque steering compensation device for a vehicle in the embodiment of the present invention includes an acquisition module and a control module, wherein the vehicle's driving information is first acquired through the acquisition module, and then the control module is used to judge whether the vehicle satisfies the torque steering compensation learning condition, and when the condition is satisfied Carry out torque compensation learning at the same time to obtain the torque compensation value of the steering assist motor of the vehicle, and then control the vehicle to perform torque steering compensation control according to the torque compensation value. Thus, the torque steering compensation device for a vehicle in the embodiment of the present invention can accurately determine whether there is torque steering in the vehicle, and timely eliminate the torque steering of the vehicle, improve the adaptability of the vehicle driving, and ensure driving safety.

In order to achieve the above purpose, the embodiment of the third aspect of the present invention proposes a vehicle controller, the controller includes a memory, a processor, and a torque steering compensation program of the vehicle stored in the memory and operable on the processor. When the processor executes the vehicle torque steering compensation program, the vehicle torque steering compensation method according to the above-mentioned embodiments is implemented.

The vehicle controller in the embodiment of the present invention includes a memory and a processor. The processor executes the torque steering compensation program of the vehicle stored in the memory, can accurately determine whether the vehicle has torque steering, and eliminate the torque steering of the vehicle in time, improving the performance of the vehicle. Driving adaptability to ensure driving safety.

In order to achieve the above purpose, the embodiment of the fourth aspect of the present invention proposes a computer-readable storage medium on which is stored a torque steering compensation program of the vehicle. When the torque steering compensation program of the vehicle is executed by a processor, the The torque steering compensation method of the vehicle described in the example.

In the embodiment of the present invention, by executing the torque steering compensation program of the vehicle on the computer-readable storage medium by the processor, it is possible to accurately determine whether there is torque steering in the vehicle, and to eliminate the torque steering of the vehicle in time, so as to improve the adaptability of the vehicle driving and ensure Drive safely.

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.

Description of drawings

FIG. 1 is a flowchart of a torque steering compensation method for a vehicle according to an embodiment of the present invention;

FIG. 2 is a flowchart of a torque steering compensation method for a vehicle according to an embodiment of the present invention;

3 is a schematic diagram of a torque steering compensation method for a vehicle according to an embodiment of the present invention;

Fig. 4 is a schematic diagram of the relationship between torque learning values according to an embodiment of the present invention;

Fig. 5 is a schematic diagram of the relationship between compensation coefficients according to an embodiment of the present invention;

FIG. 6 is a flowchart of a torque steering compensation method for a vehicle according to an embodiment of the present invention;

Fig. 7 is a flowchart of a torque steering compensation method for a vehicle according to a specific embodiment of the present invention;

8 is a structural block diagram of a torque steering compensation device for a vehicle according to an embodiment of the present invention;

FIG. 9 is a structural block diagram of a vehicle controller according to an embodiment of the present invention.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

The vehicle torque steering compensation method and device, vehicle controller, and storage medium according to the embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 is a flowchart of a torque steering compensation method for a vehicle according to an embodiment of the present invention.

As shown in Fig. 1, the present invention proposes a kind of torque steering compensation method of vehicle, and this method comprises the following steps:

S10, acquiring driving information of the vehicle.

Specifically, the driving information of the vehicle in this embodiment may include the vehicle's left wheel speed, right wheel speed, yaw rate, lateral acceleration, steering wheel angle and steering wheel torque.

It should be noted that the left wheel speed and right wheel speed of the vehicle in the driving information can be determined according to the driving mode of the vehicle, whether it is the left front wheel speed and right front wheel speed of the vehicle, or the left rear wheel speed and Right rear wheel speed.

Taking a vehicle driven by the front axle as an example, the left wheel speed and right wheel speed in the driving information refer to the left front wheel speed and the right front wheel speed. When calculating the wheel speed difference between the left wheel speed and the right wheel speed, 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 method of the vehicle's driving information in this embodiment is not limited, for example, it may be acquired directly by setting a corresponding sensor, or may be acquired indirectly through other driving information of the vehicle. For example, the wheel speed of the left wheel and the wheel speed of the right wheel of the vehicle may be directly obtained through a CAN (Controller Area Network, controller area network) network.

S20. When it is determined that the vehicle satisfies the torque steering compensation learning condition according to the driving information of the vehicle, torque compensation learning is performed according to the driving information of the vehicle, and a torque compensation value of the power steering motor of the vehicle is obtained.

Specifically, after the driving information of the vehicle is acquired, it can be further judged according to the driving information of the vehicle whether the vehicle satisfies the torque steering compensation learning condition, more specifically, the wheel speed between the left wheel speed and the right wheel speed of the vehicle The difference is greater than or equal to the first wheel speed difference threshold, or the lateral acceleration is greater than the preset acceleration threshold and greater than zero, or the yaw rate is greater than the preset angular velocity threshold and the steering wheel angle is greater than the preset angle threshold, and the direction of the yaw rate is consistent with the direction of the steering wheel When the direction of the steering angle is the same, or the steering wheel torque is greater than the preset torque threshold and the direction of the steering wheel torque is opposite to the direction of the output torque of the steering assist motor, it is determined that the vehicle meets the torque steering compensation learning condition.

More specifically, when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than or equal to the first wheel speed difference threshold, it means that the difference between the left and right wheels of the vehicle is relatively large, and the vehicle uses If the current wheel speed is driven, the vehicle will not be able to move forward in a straight line normally, and its torque steer phenomenon needs to be compensated. When the lateral acceleration of the vehicle is greater than the preset acceleration threshold and greater than zero, it means that the vehicle is deviating from the current driving route, and its torque steering phenomenon needs to be compensated. When the yaw rate of the vehicle is greater than the preset angular velocity threshold, the steering wheel angle of the vehicle is greater than the preset angle threshold, 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 on a route that deviates from the normal driving. It is therefore also torque steer compensated.

It should be noted that all the thresholds mentioned in this embodiment can be adjusted according to the model and type of the vehicle, and of course, the thresholds can be obtained through collection in advance.

In this embodiment, after it is determined that the vehicle satisfies the torque steering compensation learning condition, the torque compensation learning can be performed according to the information of the vehicle to obtain the torque compensation value of the steering assist motor of the vehicle.

Wherein, it should be noted that since the vehicle in this embodiment is an electric vehicle, when solving the vehicle torque steering problem, torque compensation can be performed on the steering assist motor of the vehicle.

S30, performing torque steering compensation control on the vehicle according to the torque compensation value.

Specifically, after the torque compensation value of the power steering motor of the vehicle is calculated, the torque steering compensation control of the vehicle can be performed according to the torque compensation value, and then the torque steering compensation of the vehicle can be completed. It should be noted that the torque compensation value in this embodiment can be adjusted in real time according to the deceleration process of the vehicle's torque steering. Specifically, the torque difference between the left and right wheels of the vehicle can be continuously monitored, and then the compensation value of the motor torque can be calculated for real-time adjustment.

In some embodiments of the present invention, as shown in FIG. 2, torque compensation learning is performed according to the driving information of the vehicle, including:

S201. Determine the first speed signal according to the left wheel speed and the right wheel speed of the vehicle, determine the second speed signal according to the steering wheel angle, and determine the torque learning value according to the first speed signal and the second speed signal.

Specifically, in this embodiment, when calculating the torque compensation value of the booster 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 in the embodiment of the present invention is determined by the first speed signal and the second speed signal. In particular, the first speed signal can be determined according to the left wheel speed and the right wheel speed, and the second speed signal can be determined according to the vehicle speed. The steering wheel angle signal is determined.

More specifically, as shown in FIG. 3 , in this embodiment, the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle can be determined first, and the absolute value of the wheel speed difference can be used as the first speed signal. It is also possible to perform derivative calculation on the steering wheel angle to obtain the steering wheel rotation speed of the vehicle, and use the absolute value of the steering wheel rotation speed 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 means of table lookup. Wherein, the relationship between the first speed signal, the second speed signal and the torque learning value can be referred to as shown in Figure 4, wherein the abscissa represents the first speed signal, the ordinate represents the torque learning value, and different curves represent different For the second speed signal, after the first speed signal and the second speed signal are determined, the torque learning value can be determined according to it.

S202. Acquire a vehicle speed signal of the vehicle, and determine a compensation coefficient according to the vehicle speed signal.

Specifically, the vehicle speed signal in this embodiment can be obtained directly from the sensor, of course, it can also be obtained through indirect calculation according to other signals such as wheel speed. In this embodiment, the method 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 Figure 5, different vehicle speeds correspond to different compensation coefficients of the torque learning value. Get experimental. It should be noted that the compensation coefficient in this embodiment is less than 1.

S203. Determine a torque compensation value according to the torque learning value and the compensation coefficient.

After the torque learning value and the compensation coefficient are obtained, the torque compensation value can be determined according to the torque learning value and the compensation coefficient. Specifically, the torque learning value can be multiplied by the compensation coefficient to obtain the torque compensation value.

It should be noted that, as shown in Figure 3, when multiplying the torque learning value and the compensation coefficient, an adjustment constant can also be added to participate in the calculation, that is, the torque learning value, compensation coefficient and adjustment constant are multiplied together to obtain Get the torque compensation value. It should be noted that the adjustment constant in this embodiment can be -1, which is used to adjust the direction of the torque compensation value, and the direction of the torque compensation value in this embodiment 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 power assist motor of the normal steering system to compensate the vehicle torque steering.

In some embodiments of the present invention, as shown in FIG. 6, when performing torque steering compensation control on the vehicle according to the torque compensation value, the method further includes:

S601. When the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is smaller than a first wheel speed difference threshold, determine that the vehicle has completed torque steering compensation.

Specifically, in this embodiment, the torque compensation of the booster motor can be adjusted in real time according to the slowing process of the torque steering, and during the adjustment process, it can be judged whether the torque steering compensation is completed according to the wheel speed difference between the left and right wheels. Wherein, when the wheel speed difference between the left and right wheels is less than the first wheel speed difference threshold, it means that the current vehicle has solved the problem of torque steering, and then it can be determined that the vehicle has completed torque steering compensation.

S602, when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than or equal to the first wheel speed difference threshold, return to continue torque compensation learning according to the vehicle's driving information.

Specifically, when it is judged that the wheel speed difference between the left and right wheels is greater than or equal to the first wheel speed difference threshold, it means that the current vehicle still has a torque steering problem, and then continue to perform torque compensation learning on the vehicle, that is, reacquire the vehicle's Driving information, and carry out torque compensation learning on the vehicle according to the driving information of the vehicle.

In some embodiments of the present invention, when performing torque steering compensation control on the vehicle according to the torque compensation value, the method further includes: the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than a preset maximum rotational speed When there is a difference, it is determined that the torque steering compensation is abnormal, and it returns to reacquire the driving information of the vehicle.

Specifically, if the calculated wheel speed difference between the left and right wheel speeds of the vehicle is greater than the preset maximum speed difference during the torque compensation process of the vehicle, it is possible that the vehicle’s driving information is acquired incorrectly, or the vehicle’s driving is The abnormality has exceeded the range that the torque compensation can solve, so it can be determined that the torque steering compensation is abnormal, and then go back to reacquire the driving information of the vehicle and recalculate the torque compensation value.

Referring to Figure 7, first use the EPS (Electric Power Steering, electric power steering system) controller to obtain the vehicle lateral acceleration, yaw rate, left and right wheel speeds, steering wheel torque and steering wheel angle, and then judge the vehicle according to the obtained information Whether the torque steering condition is met, and when the torque steering condition is met, the front wheel speed difference of the vehicle is calculated, and the torque compensation value of the EPS booster motor is calculated, and then the EPS booster motor outputs the torque compensation value to compensate the vehicle torque steering , and then judge whether the vehicle meets the torque steering compensation requirements, if not, then compensate the motor torque compensation value again, and end if it is satisfied. Moreover, after the vehicle torque steering is compensated, it is also judged whether the front wheel speed difference is greater than the set maximum difference. If it is greater, it means that the compensation learning error is made. At this time, the compensation torque value is set to zero, and then re-acquired Vehicle driving information.

To sum up, the vehicle torque steering compensation method of the embodiment of the present invention can accurately determine whether the vehicle has torque steering, and timely eliminate the vehicle torque steering, improve the adaptability of vehicle driving, and ensure driving safety.

FIG. 8 is a structural block diagram of a torque steer compensation device for a vehicle according to an embodiment of the present invention.

As shown in FIG. 8 , the present invention proposes a torque steering compensation device 100 for a vehicle, and the torque steering compensation device 100 includes an acquisition module 101 and a control module 102 .

Wherein, the acquisition module 101 is used to acquire the driving information of the vehicle; the control module 102 is used to determine that the vehicle satisfies the torque steering compensation learning condition according to the driving information of the vehicle, to perform torque compensation learning according to the driving information of the vehicle, and to obtain the power steering motor of the vehicle. torque compensation value, 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 the left wheel speed, the right wheel speed, the yaw rate, the lateral acceleration, the steering wheel angle and the steering wheel torque, wherein, the vehicle is determined according to the driving information of the vehicle Satisfy the torque steering compensation learning conditions, including: the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than or equal to the first wheel speed difference threshold, or the lateral acceleration is greater than the preset acceleration threshold and greater than zero, or the lateral acceleration is greater than the preset acceleration threshold and greater than zero, or The swing angular velocity is greater than the preset angular velocity threshold and the steering wheel angle is greater than the preset angle threshold and the direction of the yaw rate is the same as the direction of the steering wheel angle, or the steering wheel torque is greater than the preset torque threshold and the direction of the steering wheel torque is the same as that of the power steering motor. When the direction of the output torque is opposite, it is determined that the vehicle satisfies the torque steering compensation learning condition.

In some embodiments of the present invention, the control module is further configured to: determine the first speed signal according to the left wheel speed and the right wheel speed of the vehicle, determine the second speed signal according to the steering wheel angle, and determine the second speed signal according to the first speed signal and The second speed signal determines the torque learning value; acquires the vehicle speed signal, and determines the compensation coefficient according to the vehicle speed signal; determines the torque compensation value according to the torque learning value and the compensation coefficient.

In some embodiments of the present invention, the control module is further configured to: determine the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle, and use the absolute value of the wheel speed difference as the first speed signal.

In some embodiments of the present invention, the control module is further configured to: calculate the derivative of the steering wheel angle to obtain the steering wheel rotation speed of the vehicle, and use the absolute value of the steering wheel rotation speed as the second speed signal.

In some embodiments of the present invention, the control module is further used to: determine that the vehicle has completed torque steering compensation when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is less than the first wheel speed difference threshold; When the wheel speed difference between the left wheel speed and the right wheel speed is greater than or equal to the first wheel speed difference threshold, return to continue torque compensation learning based on vehicle driving information.

In some embodiments of the present invention, the control module is further configured to: determine that the torque steering compensation is abnormal when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than a preset maximum speed difference, and Return to reacquire the driving information of the vehicle.

It should be noted that, for the specific implementation manner of the vehicle torque steering compensation device in the embodiment of the present invention, reference may be made to the specific implementation manners of the vehicle torque steering compensation method in the above-mentioned embodiments, which will not be repeated here.

To sum up, the vehicle torque steer compensation device of the embodiment of the present invention can accurately determine whether the vehicle has torque steer, and timely eliminate the vehicle torque steer, improve the driving adaptability of the vehicle, and ensure driving safety.

FIG. 9 is a structural 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, which includes a memory 201, a processor 202, and the torque of the vehicle stored in the memory 201 and operable on the processor 202. Steering compensation program. When the processor 202 executes the vehicle torque steering compensation program, the vehicle torque steering compensation method in the above-mentioned embodiments is implemented.

The vehicle controller in the embodiment of the present invention executes the torque steering compensation program of the vehicle stored in the memory by the processor, can accurately determine whether the vehicle has torque steering, and timely eliminate the torque steering of the vehicle, improving the adaptability of the vehicle driving, Ensure driving safety.

Further, the present invention proposes a computer-readable storage medium on which is stored a vehicle torque steering compensation program, and when the vehicle torque steering compensation program is executed by a processor, the vehicle torque steering compensation method in the above-mentioned embodiments is realized.

The computer-readable storage medium of the embodiment of the present invention can accurately determine whether the vehicle has torque steering through the processor executing the torque steering compensation program of the vehicle stored thereon, and eliminate the torque steering of the vehicle in time to improve the driving adaptability of the vehicle. performance, to ensure driving safety.

It should be noted that the logic and/or steps shown in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, apparatus, or device and execute instructions), or in combination with these Instructions are used to execute systems, devices, or equipment. For the purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use in or in conjunction with an instruction execution system, device or device. More specific examples (non-exhaustive list) of computer-readable media include the following: electrical connection with one or more wires (electronic device), portable computer disk case (magnetic device), random access memory (RAM), Read Only Memory (ROM), Erasable and Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and 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 can be printed, as it may be possible, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or other suitable processing if necessary. The program is processed electronically and stored in computer memory.

It should be understood that various parts of the present invention can be realized by hardware, software, firmware or their combination. In the embodiments described above, various steps or methods may be implemented by software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques known in the art: Discrete logic circuits, ASICs with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic 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 embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial", The orientation or positional relationship indicated by "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the referred device or element Must be in a particular orientation, be constructed in a particular orientation, and operate in a particular orientation, and therefore should not be construed as limiting the invention.

In addition, terms such as "first" and "second" used in the embodiments of the present invention are used for description purposes only, and cannot be understood as indicating or implying relative importance, or implicitly indicating number of technical features. Therefore, the features defined by terms such as "first" and "second" in the embodiments of the present invention may explicitly or implicitly indicate that at least one of the features is included in the embodiment. In the description of the present invention, the word "plurality" means at least two or two or more, such as two, three, four, etc., unless otherwise specifically defined in the embodiments.

In the present invention, unless otherwise clearly specified or limited in the embodiments, the terms "installation", "connection", "connection" and "fixation" appearing in the embodiments should be understood in a broad sense, for example, the connection can be It can be a fixed connection, or it can be a detachable connection, or it can be integrated. It can be understood that it can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediary, or it can be two The connectivity within a component, or the interaction between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific implementation conditions.

In the present invention, unless otherwise clearly specified and limited, the first feature may be in direct contact with the first feature or the first and second feature may be in direct contact with the second feature through an intermediary. touch. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.

Claims (10)

1. A torque steering compensation method for a vehicle, comprising: Acquiring the driving information of the vehicle; When it is determined that the vehicle satisfies the torque steering compensation learning condition according to the driving information of the vehicle, torque compensation learning is performed according to the driving information of the vehicle to obtain a torque compensation value of a power steering motor of the vehicle; A torque steering compensation control is performed on the vehicle according to the torque compensation value. 2. The torque steering compensation method of the vehicle according to claim 1, wherein the running information of the vehicle comprises the left wheel speed, the right wheel speed, the yaw rate, the lateral acceleration, the steering wheel The steering angle and steering wheel torque, wherein it is determined according to the driving information of the vehicle that the vehicle satisfies the torque steering compensation learning condition, including: The wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than or equal to the 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 The preset angular velocity threshold and the steering wheel angle is greater than the preset angle threshold and the direction of the yaw rate is the same as the direction of the steering wheel angle, or the steering wheel torque is greater than the preset torque threshold and the steering wheel torque When the direction of is opposite to the direction of the output torque of the steering assist motor, it is determined that the vehicle satisfies the torque steering compensation learning condition. 3. The torque steering compensation method of a vehicle according to claim 2, wherein the torque compensation learning is performed according to the driving information of the vehicle, comprising: determining a first speed signal based on the left wheel speed and right wheel speed of the vehicle, determining a second speed signal based on the steering wheel angle, and determining torque learning based on the first speed signal and the second speed signal value; Acquiring a vehicle speed signal of the vehicle, and determining a compensation coefficient according to the vehicle speed signal of the vehicle; The torque compensation value is determined according to the torque learning value and the compensation coefficient. 4. The torque steering compensation method of a vehicle according to claim 3, wherein determining the first speed signal according to the left wheel speed and the right wheel speed of the vehicle comprises: A wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is determined, and the absolute value of the wheel speed difference is used as the first speed signal. 5. The torque steering compensation method of a vehicle according to claim 3, wherein determining the second speed signal according to the steering wheel angle comprises: Derivative calculation is performed on the steering wheel angle to obtain the steering wheel rotation speed of the vehicle, and the absolute value of the steering wheel rotation speed is used as the second speed signal. 6. The torque steering compensation method of a vehicle according to claim 2, characterized in that, when performing torque steering compensation control 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 less than a first wheel speed difference threshold, it is determined that the vehicle has completed torque steering compensation; When the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than or equal to the first wheel speed difference threshold, return to continue torque compensation learning according to the vehicle's driving information. 7. The torque steering compensation method of a vehicle according to claim 2, characterized in that, when performing torque steering compensation control 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 greater than the preset maximum rotational speed difference, it is determined that the torque steering compensation is abnormal, and the driving information of the vehicle is returned to be acquired again. 8. A torque steering compensation device for a vehicle, characterized in that it comprises: an acquisition module, configured to acquire the driving information of the vehicle; A control module, configured to perform torque compensation learning according to the driving information of the vehicle when determining that the vehicle satisfies the torque steering compensation learning condition according to the driving information of the vehicle, obtain a torque compensation value of the steering assist motor of the vehicle, and A torque steering compensation control is performed on the vehicle according to the torque compensation value. 9. A vehicle controller, characterized in that it comprises a memory, a processor, and a torque steering compensation program of the vehicle stored on the memory and operable on the processor, and the processor executes the torque steering compensation program of the vehicle , the vehicle torque steering compensation method according to any one of claims 1-7 is realized. 10. A computer-readable storage medium, characterized in that a torque steering compensation program of a vehicle is stored thereon, and when the torque steering compensation program of a vehicle is executed by a processor, the method according to any one of claims 1-7 can be realized. The torque steering compensation method for the vehicle described above.

Images