CN116252857A - Power assisting moment determining method and device, electronic equipment and storage medium - Google Patents
Power assisting moment determining method and device, electronic equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
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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
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Abstract
The method determines a target power-assisted moment according to the current speed of a target vehicle, the current steering wheel hand moment, the current balance function amplitude, the mapping relation between the steering wheel hand moment and the first moment corresponding to the current speed, the mapping relation between the balance function amplitude and the first weight, the mapping relation between the steering wheel hand moment and the second moment and the mapping relation between the balance function amplitude and the second weight, and can determine the target power-assisted moment according to the current balance function amplitude when a WIR function is started so as to solve the problem that the basic power-assisted moment is influenced after the WIR function is started.
Description
Technical Field
The application relates to the technical field of automobile electric power steering, in particular to a power-assisted moment determining method, a device, electronic equipment and a storage medium.
Background
The WIR (WheelImbalance Rejection) function in EPS (electric power steering) system is to solve steering wheel shake caused by unbalance of rotating parts such as tires, brake disks, and the like. The function is to cancel unbalanced vibration of a rotating member such as a tire or a brake disc by generating a motor signal capable of compensating for steering wheel vibration, with a wheel rotation frequency as an input. The EPS may output a current balance function magnitude to characterize the degree of jolt of the current road of the vehicle. However, after the WIR function is started, the basic power-assisted torque is output to the motor, and after the basic power-assisted torque is overlapped with motor torque commands of other modules, the hand feeling of the driver is changed.
Thus, there is a need for a boost torque determination method to solve the problem of influencing the basic boost torque after the WIR function is turned on.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present application provides a method, an apparatus, an electronic device, and a storage medium for determining a boosting torque, so as to solve the above-mentioned technical problems.
The power assisting moment determining method provided by the application comprises the following steps:
acquiring the current speed, the current steering wheel hand torque and the current balance function amplitude of a target vehicle;
determining a mapping relation between the steering wheel hand moment and the first moment, a mapping relation between the balance function amplitude and the first weight, a mapping relation between the steering wheel hand moment and the second moment and a mapping relation between the balance function amplitude and the second weight, which correspond to the current vehicle speed;
determining a target second moment in the two moments;
determining a target first weight value in a plurality of first weight values according to the current balance function amplitude value, and determining a target second weight value in a plurality of second weight values;
and determining a target power assisting moment based on the target first moment, the target first weight, the target second moment and the target second weight.
In an embodiment of the present invention, before the obtaining the current speed, the current hand torque, and the current balance function amplitude of the target vehicle, the method further includes:
when the power assisting function is in a closed state, data calibration is carried out according to a plurality of preset vehicle speeds and a plurality of preset steering wheel hand moments, so that a plurality of mapping relations between the steering wheel hand moments and the first moments are obtained;
and when the power assisting function is in an on state and the amplitude of the power assisting function is a target value, performing data calibration according to a plurality of preset vehicle speeds and a plurality of preset steering wheel hand moments to obtain a plurality of mapping relations of the steering wheel hand moments to the second moment.
In an embodiment of the present invention, before the obtaining the current speed, the current hand torque, and the current balance function amplitude of the target vehicle, the method further includes:
and carrying out data calibration according to a plurality of preset vehicle speeds and a plurality of preset balance function amplitudes to obtain a mapping relation between the plurality of balance function amplitudes and the first weight and a mapping relation between the plurality of balance function amplitudes and the second weight, wherein the sum of the first weight and the second weight obtained according to the same preset vehicle speed and the same preset balance function amplitude is 1.
In an embodiment of the present invention, the determining the target assist torque based on the target first torque, the target first weight, the target second torque, and the target second weight includes:
determining the product of the target first moment and the target first weight as a first partial moment;
determining the product of the target second moment and the target second weight as a second partial moment;
and determining the sum of the first partial torque and the second partial torque as the target power assisting torque.
To achieve the above and other related objects, the present application provides a boosting torque determination device comprising:
the data acquisition module is used for acquiring the current speed, the current steering wheel hand torque and the current balance function amplitude of the target vehicle;
the mapping relation determining module is used for determining a mapping relation between the steering wheel hand moment and the first moment corresponding to the current vehicle speed, a mapping relation between the balance function amplitude and the first weight, a mapping relation between the steering wheel hand moment and the second moment and a mapping relation between the balance function amplitude and the second weight;
the moment determining module is used for determining a target first moment in a plurality of first moments according to the current steering wheel hand moment and determining a target second moment in a plurality of second moments;
the weight determining module is used for determining a target first weight value in a plurality of first weight values according to the current balance function amplitude value and determining a target second weight value in a plurality of second weight values;
and the target torque determining module is used for determining a target power assisting torque based on the target first torque, the target first weight, the target second torque and the target second weight.
In an embodiment of the present invention, the assisting torque determining apparatus further includes:
the first determining module is used for performing data calibration according to a plurality of preset vehicle speeds and a plurality of preset steering wheel hand moments when the power assisting function is in a closed state, so as to obtain a plurality of mapping relations of the steering wheel hand moments to the first moments;
and the second determining module is used for carrying out data calibration according to a plurality of preset vehicle speeds and a plurality of preset steering wheel hand moments when the power assisting function is in an on state and the amplitude of the power assisting function is a target value, so as to obtain a plurality of mapping relations of the steering wheel hand moments to the second moment.
In an embodiment of the present invention, the assisting torque determining apparatus further includes:
the third determining module is used for performing data calibration according to a plurality of preset vehicle speeds and a plurality of preset balance function amplitudes to obtain a mapping relation between the plurality of balance function amplitudes and the first weight and a mapping relation between the plurality of balance function amplitudes and the second weight, and the sum of the first weight and the second weight obtained according to the same preset vehicle speed and the same preset balance function amplitude is 1.
In an embodiment of the present invention, the target torque determination module includes:
a first component torque determining unit configured to determine a product of the target first torque and the target first weight as a first component torque;
a second partial torque determining unit configured to determine a product of the target second torque and the target second weight as a second partial torque;
and the target torque determining unit is used for determining the sum of the first partial torque and the second partial torque as the target power assisting torque.
To achieve the above and other related objects, the present application also provides an electronic device, including:
one or more processors;
and a storage device for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the assistance torque determination method of any one of the foregoing embodiments.
To achieve the above and other related objects, the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform the assist torque determining method according to any one of the foregoing embodiments.
As described above, the method, the device, the electronic equipment and the storage medium for determining the assistance torque have the following beneficial effects:
according to the power assisting moment determining method, the target power assisting moment is determined according to the current speed of the target vehicle, the current steering wheel hand moment, the current balance function amplitude, the mapping relation between the steering wheel hand moment corresponding to the current speed and the first moment, the mapping relation between the balance function amplitude and the first weight, the mapping relation between the steering wheel hand moment and the second moment and the mapping relation between the balance function amplitude and the second weight, and the target power assisting moment can be determined according to the current balance function amplitude when the WIR function is started, so that the problem that the basic power assisting moment is influenced after the WIR function is started is solved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:
FIG. 1 is a flow chart diagram illustrating a method of assisting torque determination in accordance with an exemplary embodiment of the present application;
FIG. 2 is a graph illustrating calibration of data based on a plurality of preset vehicle speeds and a plurality of preset steering wheel hand moments in accordance with an exemplary embodiment of the present application;
FIG. 3 is a block diagram of a boost torque determination system shown in an exemplary embodiment of the present application
Fig. 4 is a block diagram of a boosting torque determination device shown in an exemplary embodiment of the present application.
Detailed Description
Further advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure in the present specification, by describing embodiments of the present application with reference to the accompanying drawings and preferred examples. The present application may be embodied or carried out in other specific embodiments, and the details of the present application may be modified or changed from various points of view and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation to the scope of the present application.
It should be noted that, the illustrations provided in the following embodiments merely illustrate the basic concepts of the application by way of illustration, and only the components related to the application are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.
In the following description, numerous details are set forth to provide a more thorough explanation of embodiments of the present application, however, it will be apparent to one skilled in the art that embodiments of the present application may be practiced without these specific details, in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the embodiments of the present application.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for determining a assist torque according to an exemplary embodiment of the present application. As can be seen with reference to fig. 1, the assist torque determination method may include:
step S110, obtaining a current speed of the target vehicle, a current steering wheel hand torque, and a current balance function amplitude.
In one embodiment of the present application, the current speed of the target vehicle may be obtained by the acceleration sensor, the current steering wheel torque of the target vehicle may be determined by the torque sensor mounted on the vehicle, the current balance function amplitude (i.e., WIR amplitude) may be determined by the EPS system, the WIR amplitude may reflect the bump degree of the road surface on which the target vehicle is traveling, and the larger the WIR amplitude, the bump the larger the road surface, and the smaller the WIR amplitude, the more gentle the road surface.
Step S120, determining a mapping relation between the steering wheel hand moment and the first moment, a mapping relation between the balance function amplitude and the first weight, a mapping relation between the steering wheel hand moment and the second moment and a mapping relation between the balance function amplitude and the second weight, which correspond to the current vehicle speed.
In one embodiment of the present application, the mapping relationship between the steering wheel hand torque and the first torque, the mapping relationship between the balance function amplitude and the first weight, the mapping relationship between the steering wheel hand torque and the second torque, and the mapping relationship between the balance function amplitude and the second weight may be obtained by calibrating the target vehicle by an operator.
Step S130, determining a target first moment in a plurality of first moments according to the current hand moment of the steering wheel, and determining a target second moment in a plurality of second moments.
Step S140, determining a target first weight value in the plurality of first weight values according to the current balance function amplitude value, and determining a target second weight value in the plurality of second weight values.
In one embodiment of the present application, the first torque and the second torque may be assist torques determined according to the EPS system, which may help the driver to alleviate steering sticking feeling when driving the vehicle.
Step S150, determining a target power assisting moment based on the target first moment, the target first weight, the target second moment and the target second weight.
In one embodiment of the present application, the target assist torque may be determined based on the target first torque, the target first weight, the target second torque, and the target second weight.
In an exemplary embodiment, the process of determining the target assist torque based on the target first torque, the target first weight, the target second torque, and the target second weight in step S150 may include steps S151 to S153.
In step S151, the product of the target first moment and the target first weight is determined as the first component moment.
In one embodiment of the present application, the target first torque, the target second torque, the target first weight, and the target second torque are all parameters obtained according to calibration data, so that the subsequent target assist torque can be determined more quickly and more accurately.
In step S152, the product of the target second moment and the target second weight is determined as the second split moment.
And step S153, determining the sum of the first partial torque and the second partial torque as a target assisting torque.
In one embodiment of the application, the sum of the first partial torque and the second partial torque is determined as the target power assisting torque, the target power assisting torque can be determined in a short time, and the EPS system can assist driving of the target vehicle according to the target power assisting torque, so that the problem that after the WIR function is started, the hand feeling consistency of a user of the target vehicle is poor when the user uses the vehicle is solved.
In an exemplary embodiment, the assist torque determining method may further include steps S210 to S230.
And S210, when the power assisting function is in a closed state, performing data calibration according to a plurality of preset vehicle speeds and a plurality of preset steering wheel hand moments to obtain a mapping relation between the steering wheel hand moments and the first moment.
In an embodiment of the present application, when the WIR function is in the off state, data calibration may be performed according to a plurality of preset vehicle speeds and a plurality of preset steering wheel hand moments, so as to obtain a mapping relationship between the plurality of steering wheel hand moments and the first moment. And when the WIR function is in a closed state and the road surface is a gentle road surface, data calibration is performed according to a plurality of preset vehicle speeds and a plurality of preset steering wheel hand moments, so that a mapping relation of the plurality of steering wheel hand moments and the first moment is obtained.
For example, the preset vehicle speed may be 0, 5, 10, 20, 30, 40, 60, 80, 100, 120, 140, 160, 180, 200, 220, and 240 in kph (kilomertersport). The preset steering wheel hand torque can be set according to actual conditions, and the maximum value of the general steering wheel hand torque is 10 N.m.
And step S220, when the power assisting function is in an on state and the amplitude of the power assisting function is a target value, performing data calibration according to a plurality of preset vehicle speeds and a plurality of preset steering wheel hand moments to obtain a mapping relation of the plurality of steering wheel hand moments and the second moment.
In an embodiment of the present application, when the power assisting function is in an on state and the amplitude of the power assisting function is a target value, data calibration may be performed according to a plurality of preset vehicle speeds and a plurality of preset steering wheel hand moments, so as to obtain a mapping relationship between the plurality of steering wheel hand moments and the second moment.
The target value may be, for example, a maximum value of the assist function amplitude, for example, 1.1.
Fig. 2 is a graph after data calibration according to a plurality of preset vehicle speeds and a plurality of preset hand torques. The increasing trend of the curve obtained by calibration according to the step S210 and the step S220 is consistent. The abscissa may be the hand torque of the steering wheel, the ordinate after the data calibration according to step S210 may be the first torque output by the EPS, and the ordinate after the data calibration according to step S220 may be the second torque output by the EPS.
Step S230, performing data calibration according to a plurality of preset vehicle speeds and a plurality of preset balance function magnitudes to obtain a mapping relation between the plurality of balance function magnitudes and the first weight and a mapping relation between the plurality of balance function magnitudes and the second weight.
And the sum of the first weight and the second weight obtained according to the same preset vehicle speed and the same preset balance function amplitude is 1.
In one embodiment of the present application, a mapping relationship between a plurality of balance function magnitudes and a first weight and a mapping relationship between a plurality of balance function magnitudes and a second weight are corresponding to any preset vehicle speed.
In one embodiment of the present application, after data calibration is performed according to a first preset vehicle speed and a first preset balance function amplitude, a first calibrated weight and a second calibrated weight are determined and obtained under the first preset vehicle speed and the first preset balance function amplitude, and when the current steering wheel hand torque is an arbitrary value, a better auxiliary function can be realized according to the target power assisting torque obtained according to the first calibrated weight and the second calibrated weight.
In one embodiment of the present application, after the data calibration, the target first moment, the target second moment, the target first weight and the target second weight in the step S130 may be determined by a linear interpolation look-up table.
Fig. 3 is a block diagram of a boost torque determination system provided in an embodiment of the present application. The power assisting moment determining system can comprise a first searching module, a second searching module, a third searching module and a weighted summation module, wherein the first searching module can determine a target first moment according to a mapping relation between a steering wheel hand moment corresponding to a current vehicle speed and the first moment and a current steering wheel hand moment, the second searching module can determine a target second moment according to a mapping relation between a steering wheel hand moment corresponding to the current vehicle speed and the second moment and the current steering wheel hand moment, the third searching module can determine a target first weight and a target second weight according to the current vehicle speed and a current balance function amplitude, and the weighted summation module can determine a target power assisting moment according to the target first moment, the target first weight, the target second moment and the target second weight.
In summary, according to the method of the embodiment of the present application, the target assist torque is determined according to the current speed of the target vehicle, the current steering wheel hand torque, the current balance function amplitude, the mapping relationship between the steering wheel hand torque and the first torque corresponding to the current speed, the mapping relationship between the balance function amplitude and the first weight, the mapping relationship between the steering wheel hand torque and the second torque, and the mapping relationship between the balance function amplitude and the second weight, so that the target assist torque can be determined according to the current balance function amplitude when the WIR function is turned on, and the problem that the basic assist torque is affected after the WIR function is turned on is solved.
Fig. 4 is a block diagram of a boosting torque determination device shown in an exemplary embodiment of the present application. As shown in fig. 4, the exemplary assist torque determining apparatus 400 includes:
the data acquisition module 410 is configured to acquire a current speed of the target vehicle, a current steering wheel hand torque, and a current balance function amplitude.
The mapping relation determining module 420 is configured to determine a mapping relation between a steering wheel hand moment and a first moment, a mapping relation between a balance function amplitude and a first weight, a mapping relation between a steering wheel hand moment and a second moment, and a mapping relation between a balance function amplitude and a second weight, which correspond to a current vehicle speed.
The moment determination module 430 is configured to determine a target first moment from among a plurality of first moments and determine a target second moment from among a plurality of second moments according to a current steering wheel hand moment.
The weight determining module 440 is configured to determine a target first weight from a plurality of first weights and determine a target second weight from a plurality of second weights according to the current balance function magnitude.
The target torque determination module 450 is configured to determine a target assist torque based on the target first torque, the target first weight, the target second torque, and the target second weight.
In another exemplary embodiment, the assist torque determining apparatus may further include:
the first determining module is used for performing data calibration according to a plurality of preset vehicle speeds and a plurality of preset steering wheel hand moments when the power assisting function is in a closed state, so as to obtain a mapping relation of the plurality of steering wheel hand moments and the first moment;
and the second determining module is used for carrying out data calibration according to a plurality of preset vehicle speeds and a plurality of preset steering wheel hand moments when the power assisting function is in an on state and the amplitude of the power assisting function is a target value, so as to obtain a mapping relation of the plurality of steering wheel hand moments and the second moment.
In another exemplary embodiment, the assist torque determining apparatus may further include:
the third determining module is used for performing data calibration according to a plurality of preset vehicle speeds and a plurality of preset balance function amplitudes to obtain a mapping relation between the plurality of balance function amplitudes and the first weight and a mapping relation between the plurality of balance function amplitudes and the second weight, and the sum of the first weight and the second weight obtained according to the same preset vehicle speed and the same preset balance function amplitude is 1.
In another exemplary embodiment, the target torque determination module may include:
a first component torque determining unit configured to determine a product of a target first torque and a target first weight as a first component torque;
a second torque component determining unit configured to determine a product of the target second torque and the target second weight as a second torque component;
and the target torque determining unit is used for determining the sum of the first partial torque and the second partial torque as a target power assisting torque.
It should be noted that, the assisting moment determining device provided in the foregoing embodiment and the assisting moment determining method provided in the foregoing embodiment belong to the same concept, and a specific manner in which each module and unit perform an operation has been described in detail in the method embodiment, which is not repeated herein. In practical application, the assisting moment determining device provided in the above embodiment may distribute the functions to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above, which is not limited herein.
The embodiment of the application also provides electronic equipment, which comprises: one or more processors; and a storage device for storing one or more programs, which when executed by the one or more processors, cause the electronic device to implement the assist torque determining method provided in each of the embodiments described above.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Where each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present application may be implemented by means of software, or may be implemented by means of hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
Another aspect of the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform the assist torque determining method provided in the above-described respective embodiments. The computer-readable storage medium may be included in the electronic device described in the above embodiment or may exist alone without being incorporated in the electronic device.
Another aspect of the present application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions so that the computer device performs the assist torque determination method provided in the above-described respective embodiments.
The above embodiments are merely illustrative of the principles of the present application and its effectiveness and are not intended to limit the present application. Modifications and variations may be made to the above-described embodiments by those of ordinary skill in the art without departing from the spirit and scope of the present application. It is therefore contemplated that the appended claims will cover all such equivalent modifications and changes as fall within the true spirit and scope of the disclosure.
Claims (10)
1. A method of assisting torque determination, the method comprising:
acquiring the current speed, the current steering wheel hand torque and the current balance function amplitude of a target vehicle;
determining a mapping relation between the steering wheel hand moment and the first moment, a mapping relation between the balance function amplitude and the first weight, a mapping relation between the steering wheel hand moment and the second moment and a mapping relation between the balance function amplitude and the second weight, which correspond to the current vehicle speed;
determining a target first moment in a plurality of first moments according to the current steering wheel hand moment, and determining a target second moment in a plurality of second moments;
determining a target first weight value in a plurality of first weight values according to the current balance function amplitude value, and determining a target second weight value in a plurality of second weight values;
and determining a target power assisting moment based on the target first moment, the target first weight, the target second moment and the target second weight.
2. The assist torque determining method of claim 1, wherein prior to the obtaining the current speed of the target vehicle, the current steering wheel hand torque, and the current balance function magnitude, the method further comprises:
when the power assisting function is in a closed state, data calibration is carried out according to a plurality of preset vehicle speeds and a plurality of preset steering wheel hand moments, so that a plurality of mapping relations between the steering wheel hand moments and the first moments are obtained;
and when the power assisting function is in an on state and the amplitude of the power assisting function is a target value, performing data calibration according to a plurality of preset vehicle speeds and a plurality of preset steering wheel hand moments to obtain a plurality of mapping relations of the steering wheel hand moments to the second moment.
3. The assist torque determining method of claim 1, wherein prior to the obtaining the current speed of the target vehicle, the current steering wheel hand torque, and the current balance function magnitude, the method further comprises:
and carrying out data calibration according to a plurality of preset vehicle speeds and a plurality of preset balance function amplitudes to obtain a mapping relation between the plurality of balance function amplitudes and the first weight and a mapping relation between the plurality of balance function amplitudes and the second weight, wherein the sum of the first weight and the second weight obtained according to the same preset vehicle speed and the same preset balance function amplitude is 1.
4. The assist torque determining method as recited in claim 1, wherein said determining a target assist torque based on said target first torque, said target first weight, said target second torque, and said target second weight comprises:
determining the product of the target first moment and the target first weight as a first partial moment;
determining the product of the target second moment and the target second weight as a second partial moment;
and determining the sum of the first partial torque and the second partial torque as the target power assisting torque.
5. A assistance torque determining device, characterized by comprising:
the data acquisition module is used for acquiring the current speed, the current steering wheel hand torque and the current balance function amplitude of the target vehicle;
the mapping relation determining module is used for determining a mapping relation between the steering wheel hand moment and the first moment corresponding to the current vehicle speed, a mapping relation between the balance function amplitude and the first weight, a mapping relation between the steering wheel hand moment and the second moment and a mapping relation between the balance function amplitude and the second weight;
the moment determining module is used for determining a target first moment in a plurality of first moments according to the current steering wheel hand moment and determining a target second moment in a plurality of second moments;
the weight determining module is used for determining a target first weight value in a plurality of first weight values according to the current balance function amplitude value and determining a target second weight value in a plurality of second weight values;
and the target torque determining module is used for determining a target power assisting torque based on the target first torque, the target first weight, the target second torque and the target second weight.
6. The assist torque determining apparatus according to claim 5, characterized in that the assist torque determining apparatus further comprises:
the first determining module is used for performing data calibration according to a plurality of preset vehicle speeds and a plurality of preset steering wheel hand moments when the power assisting function is in a closed state, so as to obtain a plurality of mapping relations of the steering wheel hand moments to the first moments;
and the second determining module is used for carrying out data calibration according to a plurality of preset vehicle speeds and a plurality of preset steering wheel hand moments when the power assisting function is in an on state and the amplitude of the power assisting function is a target value, so as to obtain a plurality of mapping relations of the steering wheel hand moments to the second moment.
7. The assist torque determining apparatus according to claim 5, characterized in that the assist torque determining apparatus further comprises:
the third determining module is used for performing data calibration according to a plurality of preset vehicle speeds and a plurality of preset balance function amplitudes to obtain a mapping relation between the plurality of balance function amplitudes and the first weight and a mapping relation between the plurality of balance function amplitudes and the second weight, and the sum of the first weight and the second weight obtained according to the same preset vehicle speed and the same preset balance function amplitude is 1.
8. The assist torque determining apparatus of claim 5, wherein the target torque determining module comprises:
a first component torque determining unit configured to determine a product of the target first torque and the target first weight as a first component torque;
a second partial torque determining unit configured to determine a product of the target second torque and the target second weight as a second partial torque;
and the target torque determining unit is used for determining the sum of the first partial torque and the second partial torque as the target power assisting torque.
9. An electronic device, the electronic device comprising:
one or more processors;
storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the assistance torque determination method of any one of claims 1-4.
10. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform the assist torque determining method according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310320971.3A CN116252857B (en) | 2023-03-29 | 2023-03-29 | Power assisting moment determining method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202310320971.3A CN116252857B (en) | 2023-03-29 | 2023-03-29 | Power assisting moment determining method and device, electronic equipment and storage medium |
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Citations (5)
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|---|---|---|---|---|
| DE102011016052A1 (en) * | 2011-04-05 | 2012-10-11 | Volkswagen Ag | Method for determining target support moment in power steering system of motor car, involves assigning curve representing connection between hand and support moments, and determining target moment based on hand moment and vehicle velocity |
| CN104627237A (en) * | 2013-11-06 | 2015-05-20 | 上海航天汽车机电股份有限公司 | EPS-based pavement high frequency interference damping suppression method and system |
| US20180362022A1 (en) * | 2017-06-14 | 2018-12-20 | GM Global Technology Operations LLC | Systems and methods for holistic vehicle control with collaborative steering, electronic limited slip differential (elsd), powertrain and braking |
| CN112550431A (en) * | 2019-09-26 | 2021-03-26 | 上海汽车集团股份有限公司 | Torque damping compensation control method, controller and steering control method |
| CN114987600A (en) * | 2021-03-01 | 2022-09-02 | 蜂巢智能转向系统(江苏)有限公司保定分公司 | Control method and device for keeping central position of automobile steering wheel and automobile |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011016052A1 (en) * | 2011-04-05 | 2012-10-11 | Volkswagen Ag | Method for determining target support moment in power steering system of motor car, involves assigning curve representing connection between hand and support moments, and determining target moment based on hand moment and vehicle velocity |
| CN104627237A (en) * | 2013-11-06 | 2015-05-20 | 上海航天汽车机电股份有限公司 | EPS-based pavement high frequency interference damping suppression method and system |
| US20180362022A1 (en) * | 2017-06-14 | 2018-12-20 | GM Global Technology Operations LLC | Systems and methods for holistic vehicle control with collaborative steering, electronic limited slip differential (elsd), powertrain and braking |
| CN112550431A (en) * | 2019-09-26 | 2021-03-26 | 上海汽车集团股份有限公司 | Torque damping compensation control method, controller and steering control method |
| CN114987600A (en) * | 2021-03-01 | 2022-09-02 | 蜂巢智能转向系统(江苏)有限公司保定分公司 | Control method and device for keeping central position of automobile steering wheel and automobile |
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