CN117184214A - Vehicle control method and device, electronic equipment and vehicle - Google Patents
Vehicle control method and device, electronic equipment and vehicle Download PDFInfo
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Abstract
The disclosure relates to a vehicle control method, a device, an electronic device and a vehicle, wherein the method comprises the following steps: acquiring a vehicle speed, a steering wheel angle and a steering wheel rotating speed; under the condition that the acquired vehicle speed is lower than a preset speed threshold value, determining a compensation damping moment for the steering wheel according to the acquired vehicle speed, the acquired steering wheel angle, the acquired steering wheel rotating speed and a proportional differential PD control algorithm; determining a target assistance torque according to the compensation damping torque and a basic assistance torque for the steering wheel; and controlling the power-assisted motor of the steering wheel according to the target power-assisted torque. Through the technical scheme, the phenomenon that the steering wheel is difficult to return to the neutral position when the vehicle is at a low speed can be improved, so that a user can better control the vehicle to run at a low speed in a straight line, and the user experience is improved.
Description
Technical Field
The disclosure relates to the field of vehicles, and in particular relates to a vehicle control method, a device, electronic equipment and a vehicle.
Background
With the continuous development of vehicle technology, the control system of the vehicle has higher and higher intelligent level. Advanced auxiliary driving functions and automatic driving functions of vehicles are increasingly required to be reliable and easy to use of the electric power steering system. In the related art, when a vehicle runs at a low speed, the steering wheel is difficult to accurately correct due to friction and damping in a steering system and damping of a tire, so that the situation that the steering wheel is left in a turning angle and the vehicle has a left yaw rate is easy to occur, the linear running performance of the vehicle is influenced, and certain potential safety hazards are caused.
Disclosure of Invention
The invention aims to provide a vehicle control method, a device, electronic equipment and a vehicle, which can overcome the phenomenon that a steering wheel is difficult to accurately align due to friction and damping in a steering system and damping of a tire to a certain extent when the vehicle runs at a low speed, so that the steering wheel can be more easily and accurately aligned.
In order to achieve the above object, the present disclosure provides a vehicle control method including:
acquiring a vehicle speed, a steering wheel angle and a steering wheel rotating speed;
under the condition that the acquired vehicle speed is lower than a preset speed threshold value, determining a compensation damping moment for the steering wheel according to the acquired vehicle speed, the acquired steering wheel angle, the acquired steering wheel rotating speed and a proportional differential PD control algorithm;
determining a target assistance torque according to the compensation damping torque and a basic assistance torque for the steering wheel;
and controlling the power-assisted motor of the steering wheel according to the target power-assisted torque.
Optionally, the determining the compensation damping moment for the steering wheel according to the acquired vehicle speed, the acquired steering wheel angle, the acquired steering wheel rotating speed and the PD control algorithm includes:
Determining a proportional coefficient and a differential coefficient corresponding to the acquired vehicle speed according to a preset first corresponding relation, wherein the first corresponding relation comprises the corresponding relation among the vehicle speed, the proportional coefficient and the differential coefficient;
and determining the compensation damping moment by using a PD control algorithm according to the acquired steering wheel angle, the acquired steering wheel rotating speed, and the proportional coefficient and the differential coefficient corresponding to the acquired vehicle speed.
Optionally, the determining the compensation damping moment by using a PD control algorithm according to the obtained steering wheel angle, the obtained steering wheel rotation speed, and the proportional coefficient and the differential coefficient corresponding to the obtained vehicle speed includes:
determining the compensating damping moment according to the following formula:
wherein delta s For the acquired steering wheel angle,for the obtained steering wheel rotation speed, kp is a proportional coefficient corresponding to the obtained vehicle speed, kd is a differential coefficient corresponding to the obtained vehicle speed, and com_trq is the compensation damping torque.
Optionally, the method further comprises:
acquiring a hand torque applied to the steering wheel;
determining a damping control moment for the steering wheel according to the acquired vehicle speed, the acquired steering wheel rotating speed and the acquired hand moment under the condition that the acquired vehicle speed is higher than the speed threshold;
And determining the target power-assisted torque according to the damping control torque and the basic power-assisted torque.
Optionally, the determining the damping control moment for the steering wheel according to the acquired vehicle speed, the acquired steering wheel rotating speed and the acquired hand moment includes:
determining damping coefficient parameters corresponding to the acquired vehicle speed according to a preset second corresponding relation, wherein the second corresponding relation comprises a corresponding relation between the vehicle speed and the damping coefficient parameters, and the damping coefficient parameters comprise a damping moment gain coefficient, a damping moment secondary gain coefficient, a steering wheel moment upper limit value and a steering wheel moment lower limit value;
determining a damping gain coefficient according to the acquired hand torque, a steering wheel torque upper limit value corresponding to the acquired vehicle speed and a steering wheel torque lower limit value corresponding to the acquired vehicle speed;
determining a damping moment according to the acquired steering wheel rotating speed, a damping moment gain coefficient corresponding to the acquired vehicle speed and a damping moment secondary gain coefficient corresponding to the acquired vehicle speed;
and determining the damping control moment according to the damping moment and the damping gain coefficient.
Optionally, the damping coefficient parameter further includes a damping torque limit value, and the determining the damping torque according to the acquired steering wheel rotation speed, the damping torque gain coefficient corresponding to the acquired vehicle speed, and the damping torque secondary gain coefficient corresponding to the acquired vehicle speed includes:
Determining an unlimited damping moment according to the acquired steering wheel rotating speed, a damping moment gain coefficient corresponding to the acquired vehicle speed and a damping moment secondary gain coefficient corresponding to the acquired vehicle speed;
and determining the damping moment according to the non-limiting damping moment and a damping moment limit value corresponding to the acquired vehicle speed.
Optionally, the damping coefficient parameter further includes a steering wheel rotation speed dead zone value, and the determining the non-limiting damping torque according to the acquired steering wheel rotation speed, the damping torque gain coefficient corresponding to the acquired vehicle speed, and the damping torque secondary gain coefficient corresponding to the acquired vehicle speed includes:
determining the effective rotating speed of the steering wheel according to the acquired rotating speed of the steering wheel and the dead zone value of the rotating speed of the steering wheel corresponding to the acquired vehicle speed;
and determining the unlimited damping moment according to the effective rotating speed of the steering wheel, the damping moment gain coefficient corresponding to the acquired vehicle speed and the damping moment secondary gain coefficient corresponding to the acquired vehicle speed.
Optionally, the determining the effective rotation speed of the steering wheel according to the acquired rotation speed of the steering wheel and the dead zone value of the rotation speed of the steering wheel corresponding to the acquired vehicle speed comprises: determining the effective rotational speed of the steering wheel according to the following formula:
Wherein A is 0 For the steering wheel rotation speed dead zone value corresponding to the acquired vehicle speed,for the acquired steering wheel speed, n e Is the effective rotational speed of the steering wheel.
Optionally, the determining the damping gain coefficient according to the acquired hand torque, the steering wheel torque upper limit value corresponding to the acquired vehicle speed, and the steering wheel torque lower limit value corresponding to the acquired vehicle speed includes: the damping gain factor is determined according to the following formula:
wherein G is the damping gain coefficient, |T h I is the absolute value of the hand moment, A 3 A is a lower limit value of the steering wheel moment corresponding to the acquired vehicle speed 4 Is the steering wheel torque upper limit value corresponding to the acquired vehicle speed.
Optionally, the determining the non-limiting damping moment according to the effective rotation speed of the steering wheel, the damping moment gain coefficient corresponding to the acquired vehicle speed and the damping moment secondary gain coefficient corresponding to the acquired vehicle speed includes: determining the non-limiting damping moment according to the following formula:
wherein Unl _Trq is the unlimited damping moment, A 1 For the damping moment gain coefficient corresponding to the acquired vehicle speed, A 1q Sign is a sign function, which is a damping moment quadratic gain coefficient corresponding to the acquired vehicle speed.
Optionally, the determining the damping moment according to the non-limiting damping moment and a damping moment limit corresponding to the acquired vehicle speed includes:
the damping moment is determined according to the following formula:
wherein l_Trq is the damping moment, A 2 Is a damping torque limit corresponding to the acquired vehicle speed.
Optionally, the determining the damping control moment according to the damping moment and the damping gain coefficient includes: the ideal damping moment is determined according to the following formula:
Tar_Trq＝G*l_Trq
wherein tar_trq is the ideal damping moment;
and carrying out low-pass filtering on the ideal damping moment to obtain the damping control moment.
The present disclosure also provides a vehicle control apparatus including:
a first acquisition module configured to acquire a vehicle speed, a steering wheel angle, and a steering wheel rotational speed;
the first determining module is configured to determine a compensation damping moment for the steering wheel according to the acquired vehicle speed, the acquired steering wheel angle, the acquired steering wheel rotating speed and a proportional differential PD control algorithm under the condition that the acquired vehicle speed is lower than a preset speed threshold;
a second determination module configured to determine a target assist torque from the compensating damping torque and a base assist torque for the steering wheel;
A control module configured to control a booster motor of the steering wheel in accordance with the target booster torque.
Optionally, the apparatus further comprises:
a second acquisition module configured to acquire a hand torque applied to the steering wheel;
a third determining module configured to determine a damping control torque for the steering wheel based on the acquired vehicle speed, the acquired steering wheel rotational speed, the acquired hand torque, if the acquired vehicle speed is higher than the speed threshold;
a fourth determination module configured to determine the target assist torque based on the damping control torque and the base assist torque.
The present disclosure also provides an electronic device, including:
a memory having a computer program stored thereon;
and a processor for executing the computer program in the memory to implement the steps of the vehicle control method described above.
The present disclosure also provides a vehicle including a controller that when executed performs the steps of the vehicle control method described above.
Through the technical scheme, when the vehicle is at a low speed, the PD control algorithm is utilized to determine the compensation damping torque for the steering wheel, the power-assisted motor is controlled to output the target power-assisted torque determined according to the basic power-assisted torque and the compensation damping torque, so that the phenomenon that the steering wheel is difficult to return to the neutral position when the vehicle is at the low speed can be improved, the accuracy and the stability of the steering of the vehicle are improved, the user can better control the vehicle to run in a low-speed straight line, and the user experience is improved.
Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification, illustrate the disclosure and together with the description serve to explain, but do not limit the disclosure. In the drawings:
fig. 1 is a flowchart illustrating a vehicle control method according to an exemplary embodiment.
Fig. 2 is a flowchart illustrating a vehicle control method according to another exemplary embodiment.
Fig. 3 is a block diagram of a vehicle control apparatus according to an exemplary embodiment.
Fig. 4 is a block diagram of an electronic device, according to an example embodiment.
Detailed Description
Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the disclosure, are not intended to limit the disclosure.
It should be noted that, all actions for acquiring signals, information or data in the present disclosure are performed under the condition of conforming to the corresponding data protection rule policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.
Fig. 1 is a flowchart illustrating a vehicle control method according to an exemplary embodiment. As shown in fig. 1, the vehicle control method includes the following steps.
In step S101, the vehicle speed, the steering wheel angle, and the steering wheel rotational speed are acquired.
The vehicle speed refers to the running speed of the vehicle. The vehicle speed of the vehicle may be acquired by a vehicle speed sensor. Steering wheel angle is the angle of steering wheel rotation, and can be obtained through steering wheel angle sensor. The steering wheel rotation speed is the angular velocity of steering wheel rotation and can be obtained according to the calculation of steering wheel rotation angle, and the steering wheel rotation speed is equal to the differentiation of the steering wheel rotation angle with respect to time.
In step S102, in the case where the acquired vehicle speed is lower than the preset speed threshold, the compensation damping torque for the steering wheel is determined according to the acquired vehicle speed, the acquired steering wheel angle, the acquired steering wheel rotational speed, and the proportional-derivative PD control algorithm.
The speed threshold is preset. When the vehicle is traveling at a low speed, it is difficult for the steering wheel to return to the neutral position (steering angle of 0) due to friction and damping in the steering system and damping of the tires. As the vehicle speed increases, the phenomenon that the steering wheel is hard to return to the neutral position due to friction and damping in the steering system and damping of the tires becomes less and less noticeable until the vehicle speed increases to a certain value, and the minimum vehicle speed at which the phenomenon is hard to be perceived by the driver can be set as the speed threshold.
PD is Proportional (Proportional), differential. Specific parameters in the PD control algorithm may be determined based on a number of experimental results. The compensation damping torque is a torque for overcoming the phenomenon that it is difficult for the steering wheel to return to the neutral position due to friction and damping in the steering system and damping of the tire.
In step S103, a target assist torque is determined from the compensation damping torque and the base assist torque for the steering wheel.
The basic assist torque for the steering wheel may be an assist torque (compensation damping torque is not taken into account) determined by the electric power steering system of the vehicle as a function of the assist characteristic. The target assist torque is an assist torque that needs an assist motor to output for assisting a driver in controlling steering of a steering wheel. In one embodiment, the direction of the compensating damping torque may be the same as the direction of the base boost torque.
In step S104, the assist motor of the steering wheel is controlled according to the target assist torque.
In other words, in step S104, the assist motor outputs the target assist torque, assisting the driver in turning the steering wheel shape, and assisting the driver in controlling the steering of the vehicle.
Through the technical scheme, when the vehicle is at a low speed, the PD control algorithm is utilized to determine the compensation damping torque for the steering wheel, the power-assisted motor is controlled to output the target power-assisted torque determined according to the basic power-assisted torque and the compensation damping torque, so that the phenomenon that the steering wheel is difficult to return to the neutral position when the vehicle is at the low speed can be improved, the accuracy and the stability of the steering of the vehicle are improved, the user can better control the vehicle to run in a low-speed straight line, and the user experience is improved.
In yet another embodiment, determining the compensating damping moment for the steering wheel based on the obtained vehicle speed, the obtained steering wheel angle, the obtained steering wheel speed, and the PD control algorithm includes:
determining a proportional coefficient and a differential coefficient corresponding to the acquired vehicle speed according to a preset first corresponding relation, wherein the first corresponding relation comprises the corresponding relation among the vehicle speed, the proportional coefficient and the differential coefficient;
and determining the compensation damping moment by using a PD control algorithm according to the acquired steering wheel angle, the acquired steering wheel rotating speed, and the proportional coefficient and the differential coefficient corresponding to the acquired vehicle speed.
The first correspondence is preset. In the first correspondence relation, a proportional coefficient and a differential coefficient corresponding to the vehicle speed may be determined according to the vehicle speed. The proportional coefficient and the differential coefficient corresponding to different vehicle speeds may be determined experimentally.
For example, in the process that the vehicle runs at the speed of 20km/h, determining a proportional coefficient and a differential coefficient corresponding to the speed in the first corresponding relation according to the speed of the vehicle of 20km/h and according to the first corresponding relation; and determining the compensation damping moment by using a PD control algorithm according to the proportional coefficient and the differential coefficient corresponding to the speed in the first corresponding relation, and the steering wheel rotating speed and the steering wheel rotating angle acquired in the step S101.
In the embodiment, the proportional coefficient and the differential coefficient corresponding to the vehicle speed in the first corresponding relation are determined according to the vehicle speed and the first corresponding relation, so that the compensation damping moment determined according to the PD control algorithm is more in line with the actual requirements of different vehicle speeds, and the steering wheel can be better assisted to return, and the user experience is improved.
In yet another embodiment, determining the compensation damping torque using the PD control algorithm based on the obtained steering wheel angle, the obtained steering wheel rotational speed, and the proportional and derivative coefficients corresponding to the obtained vehicle speed, includes:
the compensation damping moment is determined according to the following formula:
wherein delta s For the acquired steering wheel angle,for the obtained steering wheel rotation speed, kp is a proportional coefficient corresponding to the obtained vehicle speed, kd is a differential coefficient corresponding to the obtained vehicle speed, and com_trq is a compensation damping torque.
δ s The value of (2) may be positive or negative. Delta s Positive and negative of the value of (c) are used to indicate direction. For example, delta s When the steering angle is positive, the steering angle is shown to be left in the neutral position of the steering wheel (the steering angle is the angle at which the vehicle is controlled to turn left). Delta s When negative, the steering wheel angle is shown to be on the right in the neutral position (steering wheel angle is the angle that controls the vehicle to turn right). The value of (2) may be positive or negative. />Positive and negative of the value of (c) are used to indicate direction. For example, a->Positive values indicate that the steering wheel is turning to the left. />Negative values indicate that the steering wheel is turning to the right.
In this embodiment, a simple algorithm for calculating the compensation damping torque is provided, so that the compensation damping torque can be calculated quickly, and since the PD control has the characteristic of phase advance, when the steering wheel needs to be corrected, the compensation damping torque calculated according to the PD control algorithm, the steering wheel angle and the steering wheel rotation speed can be used for correcting the steering wheel quickly, thereby improving the hysteresis caused by system table lookup and the like, and improving the running stability of the vehicle.
In yet another embodiment, the method further comprises:
acquiring a hand torque applied to a steering wheel;
determining damping control moment for the steering wheel according to the acquired vehicle speed, the acquired steering wheel rotating speed and the acquired hand moment when the acquired vehicle speed is higher than a speed threshold value;
and determining the target power-assisted torque according to the damping control torque and the basic power-assisted torque.
The hand torque applied to the steering wheel refers to the torque applied to the steering wheel by the driver. The damping control moment is used for improving the stability of the steering wheel at high speed, avoiding the direction from returning to the normal direction and overshooting, and is additionally applied on the basis of basic power-assisted torque. In other words, the target power-assisted torque output by the power-assisted motor can be determined according to the damping control torque and the basic power-assisted torque so as to assist a driver in rotating a steering wheel and controlling the direction of the vehicle. Wherein the damping control torque may be in the opposite direction to the base boost torque.
In this embodiment, when the vehicle is traveling at a high speed (that is, when the vehicle speed is higher than the speed threshold), the damping control torque for the steering wheel is determined according to the vehicle speed, the rotational speed of the steering wheel, and the hand torque applied by the driver, so that the assist motor outputs the target assist torque determined according to the damping control torque and the basic assist torque, the steering wheel is more stable when the vehicle is traveling at a high speed, the occurrence of the condition of returning to the normal state and overshooting is reduced, the occurrence of the condition of the steering wheel being disturbed due to road surface causes is also reduced, and the safety of the vehicle traveling is improved.
In yet another embodiment, determining a damping control moment for a steering wheel based on an obtained vehicle speed, an obtained steering wheel rotational speed, and an obtained hand moment includes:
determining damping coefficient parameters corresponding to the acquired vehicle speed according to a preset second corresponding relation, wherein the second corresponding relation comprises a corresponding relation between the vehicle speed and the damping coefficient parameters, and the damping coefficient parameters comprise a damping moment gain coefficient, a damping moment secondary gain coefficient, a steering wheel moment upper limit value and a steering wheel moment lower limit value;
determining a damping gain coefficient according to the acquired hand torque, a steering wheel torque upper limit value corresponding to the acquired vehicle speed and a steering wheel torque lower limit value corresponding to the acquired vehicle speed;
Determining a damping moment according to the acquired steering wheel rotating speed, a damping moment gain coefficient corresponding to the acquired vehicle speed and a damping moment secondary gain coefficient corresponding to the acquired vehicle speed;
and determining the damping control moment according to the damping moment and the damping gain coefficient.
The second correspondence refers to a preset correspondence between the vehicle speed and the damping coefficient parameter. That is, in the second correspondence, each vehicle speed (or each vehicle speed section) corresponds to a set of damping coefficient parameters. Each set of damping coefficient parameters comprises a damping moment gain coefficient, a damping moment secondary gain coefficient, a steering wheel moment upper limit value and a steering wheel moment lower limit value. Among the damping coefficient parameters, each parameter (damping moment gain coefficient, damping moment secondary gain coefficient, steering wheel moment upper limit value and steering wheel moment lower limit value) is a dimensionless parameter, and can be determined by a test method.
Damping torque is a process variable in determining the damping control torque. In determining the damping torque according to the steering wheel rotation speed, the damping torque gain coefficient corresponding to the vehicle speed and the damping torque secondary gain coefficient corresponding to the vehicle speed, the damping torque gain coefficient may be a coefficient of a steering wheel rotation speed primary term, and the damping torque secondary gain coefficient may be a coefficient of a steering wheel rotation speed secondary term (square term).
The damping control moment may be determined by the damping moment and the damping gain coefficient. In one embodiment, the damping control moment may be determined based on a product of the damping moment and a damping gain factor (in other words, the damping gain factor is an amplification of the damping moment, which is amplified to be the damping control moment).
The steering wheel torque upper limit and the steering wheel torque lower limit are for the hand torque. In one embodiment, in the process of determining the damping gain coefficient according to the hand torque, the upper limit value of the steering wheel torque corresponding to the vehicle speed and the lower limit value of the steering wheel torque corresponding to the vehicle speed, the larger the hand torque applied by the driver on the steering wheel is, the smaller the determined damping gain coefficient is, and the damping gain coefficient is not reduced any more until the hand torque applied by the driver on the steering wheel is larger than the upper limit value of the steering wheel torque; the smaller the hand torque applied by the driver on the steering wheel, the larger the determined damping gain coefficient is, and the damping gain coefficient is not increased any more until the hand torque applied by the driver on the steering wheel is smaller than the lower limit value of the steering wheel torque. Therefore, when a driver applies a larger hand torque on the steering wheel, the driver hopes to greatly adjust the steering wheel angle, and determines a smaller damping gain coefficient and then a smaller damping control torque, so that the driver can rotate the steering wheel more effort-saving; when a driver applies a small hand torque on the steering wheel, the driver is expected to finely adjust the steering wheel angle, a large damping gain coefficient is determined, and then a large damping control torque is determined, so that the driver can more accurately adjust the steering wheel angle to a wanted angle.
In this embodiment, the damping coefficient parameter is determined according to the vehicle speed and the second correspondence, so that the damping control moment for the vehicle speed is calculated for different vehicle speeds, so that the user can obtain similar steady feeling when driving the vehicle at different speeds, and the running-in time with the vehicle is reduced.
In yet another embodiment, the damping coefficient parameter further includes a damping torque limit value, determining a damping torque from the acquired steering wheel rotational speed, a damping torque gain coefficient corresponding to the acquired vehicle speed, and a damping torque secondary gain coefficient corresponding to the acquired vehicle speed, including:
determining an unlimited damping moment according to the acquired steering wheel rotating speed, a damping moment gain coefficient corresponding to the acquired vehicle speed and a damping moment secondary gain coefficient corresponding to the acquired vehicle speed;
and determining the damping moment according to the non-limiting damping moment and the damping moment limit value corresponding to the acquired vehicle speed.
The unlimited damping torque is a process variable in determining the damping torque. The damping torque limit may be used to represent an allowable numerical maximum of the damping torque (i.e., the damping torque may be limited in value to a range less than the damping torque limit).
In this embodiment, an unlimited damping torque is determined according to the obtained steering wheel rotation speed, a damping torque gain coefficient corresponding to the vehicle speed and a damping torque secondary gain coefficient corresponding to the vehicle speed, and then the damping torque is determined according to the unlimited damping torque and a damping torque limit corresponding to the vehicle speed. Therefore, the numerical value of the damping torque can be restrained within the range of the damping torque limit value, unstable steering control caused by overlarge damping control torque can be avoided, and the user experience is improved.
In yet another embodiment, the damping coefficient parameter further includes a steering wheel rotational speed dead zone value, determining an unlimited damping torque from the acquired steering wheel rotational speed, a damping torque gain coefficient corresponding to the acquired vehicle speed, and a damping torque quadratic gain coefficient corresponding to the acquired vehicle speed, comprising:
determining the effective rotating speed of the steering wheel according to the acquired rotating speed of the steering wheel and the dead zone value of the rotating speed of the steering wheel corresponding to the acquired vehicle speed;
and determining the non-limiting damping moment according to the effective rotating speed of the steering wheel, the damping moment gain coefficient corresponding to the acquired vehicle speed and the damping moment secondary gain coefficient corresponding to the acquired vehicle speed.
When the vehicle is traveling at a high speed, a small rotation of the steering wheel may occur due to road surface, or a small rotation of the steering wheel may occur due to a failure of the driver to stably grasp the steering wheel, in which case the steering wheel is rotated at a small speed and a boosting torque of the motor is not desired. Therefore, when the rotation speed of the steering wheel is small, the assist motor may be controlled not to output the assist torque (the effective rotation speed of the steering wheel may be regarded as 0), and the steering wheel rotation speed dead zone value may be regarded as an extreme value of the small rotation speed.
In one embodiment, the value of the steering wheel effective speed may be determined to be 0 when the value of the steering wheel speed is less than the steering wheel speed dead zone value; when the value of the steering wheel speed is greater than the steering wheel speed dead zone value, the effective speed of the steering wheel may be determined as the difference between the value of the steering wheel speed and the steering wheel speed dead zone value.
In the embodiment, the effective rotating speed of the steering wheel is determined according to the dead zone value of the rotating speed of the steering wheel and the rotating speed of the steering wheel, so that when the vehicle runs at a high speed, the smaller rotating speed of the steering wheel can be ignored, unnecessary power-assisted torque is avoided, and the vehicle runs more stably; and, for different vehicle speeds, the dead zone value of the steering wheel is different, and the higher the vehicle speed is, the heavier the "waggling" condition is felt.
In yet another embodiment, determining an effective rotational speed of the steering wheel based on the obtained rotational speed of the steering wheel, the steering wheel rotational speed dead zone value corresponding to the obtained vehicle speed, includes: determining the steering wheel effective rotational speed according to the following formula:
wherein A is 0 N is a dead zone value of the rotating speed of the steering wheel corresponding to the acquired vehicle speed e Is the effective rotational speed of the steering wheel. A is that 0 Is a value greater than 0.And n e The values of (2) may be positive or negative. />And n e Positive and negative of the value of (c) are used to indicate direction. For example, a->And n e Positive values indicate that the steering wheel is turning to the left. />And n e Negative values indicate that the steering wheel is turning to the right.
In this embodiment, a method of determining the effective rotational speed of the steering wheel from the steering wheel rotational speed, the steering wheel rotational speed dead zone value corresponding to the acquired vehicle speed is provided, the method being simple and practical.
In yet another embodiment, determining the damping gain factor from the obtained hand torque, the steering wheel torque upper limit value corresponding to the obtained vehicle speed, and the steering wheel torque lower limit value corresponding to the obtained vehicle speed includes: the damping gain factor is determined according to the following formula:
wherein G is a damping gain coefficient, |T h I is the absolute value of the hand moment, A 3 A is a lower limit value of the steering wheel moment corresponding to the acquired vehicle speed 4 Is the steering wheel torque upper limit value corresponding to the acquired vehicle speed.
A 3 And A 4 All have positive values, A 4 Greater than A 3 ，T h The moment of hand can be negative or positive, T h The positive and negative of the value of (c) may be used to distinguish between directions, e.g., turn positive to the left and negative to the right.
In the embodiment, the damping gain coefficient is determined according to the obtained hand torque, the steering wheel torque upper limit value corresponding to the vehicle speed and the steering wheel torque lower limit value corresponding to the vehicle speed, and when the absolute value of the hand torque is larger than the steering wheel torque upper limit value, the damping gain coefficient is set to be 0, so that when the absolute value of the hand torque is larger than the steering wheel torque upper limit value, the damping control torque is not applied to the steering wheel, the steering wheel angle can be quickly adjusted by a user, and the user experience is improved.
In yet another embodiment, determining an unlimited damping torque from an effective rotational speed of a steering wheel, a damping torque gain coefficient corresponding to an acquired vehicle speed, and a damping torque quadratic gain coefficient corresponding to the acquired vehicle speed includes: determining an unlimited damping moment according to the following formula:
wherein Unl _Trq is an unlimited damping moment, A 1 For the damping moment gain coefficient corresponding to the acquired vehicle speed, A 1q Sign is a sign function, which is a damping moment quadratic gain coefficient corresponding to the acquired vehicle speed.
In one embodiment, at n e When negative, sign (n e ) The value of (2) is equal to-1; at n e When positive, sign (n e ) The value of (2) is equal to 1.
In the embodiment, according to the effective rotating speed of the steering wheel, the damping moment gain coefficient corresponding to the vehicle speed and the damping moment secondary gain coefficient corresponding to the acquired vehicle speed, the non-limiting damping moment is determined, and the determined non-limiting damping moment is related to the effective rotating speed of the steering wheel and the square of the effective rotating speed of the steering wheel, so that the practicability is good.
In yet another embodiment, determining the damping torque from the non-limiting damping torque and a damping torque limit corresponding to the acquired vehicle speed includes:
the damping moment is determined according to the following formula:
wherein l_Trq is damping moment, A 2 Is a damping torque limit corresponding to the acquired vehicle speed. A is that 2 May be positive.
In the embodiment, a calculation formula for determining the damping moment according to the non-limiting damping moment and the damping moment limit value corresponding to the vehicle speed is provided, and the calculation is simple and the practicability is good.
In yet another embodiment, determining the damping control moment from the damping moment and the damping gain coefficient includes:
the ideal damping moment is determined according to the following formula:
Tar_Trq＝G*l_Trq (5)
wherein Tar_Trq is an ideal damping moment;
and carrying out low-pass filtering on the ideal damping moment to obtain a damping control moment.
The ideal damping torque is a process variable in determining the damping control torque. The high-frequency interference signals in the ideal damping moment can be eliminated or reduced through low-pass filtering. In particular, signals having a frequency above a preset frequency threshold may be filtered out.
The embodiment particularly provides a method for determining the damping control moment according to the damping moment and the damping gain coefficient, which is simple and has good practicability, and the ideal damping moment is subjected to low-pass filtering before the damping control moment is determined, so that the target power-assisted torque determined by the damping control moment and the basic power-assisted torque is less in interference, the direction control of a vehicle is smoother, and the driving safety is improved.
Fig. 2 is a flowchart illustrating a vehicle control method according to another exemplary embodiment. As shown in fig. 2, the vehicle control method includes the following steps.
1) And acquiring hand torque, vehicle speed, steering wheel rotating speed and steering wheel rotating angle.
2) And judging whether the vehicle speed is higher than a speed threshold value.
3) In the case where the vehicle speed is lower than the speed threshold value, a table look-up is performed based on the vehicle speed to obtain a proportional coefficient and a differential coefficient (the proportional coefficient and the differential coefficient corresponding to the acquired vehicle speed are determined based on a predetermined first correspondence).
4) And determining the compensation damping moment by using a PD control algorithm according to the steering wheel angle, the steering wheel rotating speed and the proportional coefficient and the differential coefficient corresponding to the acquired vehicle speed.
5) In the case where the vehicle speed is higher than the speed threshold value, the damping coefficient parameter is determined according to the vehicle speed lookup table (the damping coefficient parameter corresponding to the acquired vehicle speed is determined according to the predetermined second correspondence relation).
6) And calculating a damping gain coefficient according to the hand torque, the upper limit value of the steering wheel torque and the lower limit value of the steering wheel torque.
7) And calculating the unlimited damping moment according to the steering wheel rotating speed, the steering wheel rotating speed dead zone value, the damping moment gain coefficient and the damping moment secondary gain coefficient.
8) And determining the damping moment according to the non-limiting damping moment and the damping moment limit value.
9) And determining an ideal damping moment according to the damping gain coefficient and the damping moment.
10 Determining a damping control moment based on the desired damping moment.
11 The target assist torque is determined from the base assist torque and the compensating damping torque determined in step 4) (at low speed) or the damping control torque determined in step 10) (at high speed).
12 Determining a control current to be executed by the assist motor according to a target assist torque to be output by the assist motor.
13 Control the booster motor to execute the control current.
Fig. 3 is a block diagram of a vehicle control apparatus according to an exemplary embodiment. As shown in fig. 3, the vehicle control apparatus 300 includes a first acquisition module 301, a first determination module 302, a second determination module 303, and a control module 304.
The first acquisition module 301 is configured to acquire a vehicle speed, a steering wheel angle, and a steering wheel rotational speed.
The first determination module 302 is configured to determine a compensating damping torque for the steering wheel based on the acquired vehicle speed, the acquired steering wheel angle, the acquired steering wheel speed, and a proportional-derivative PD control algorithm if the acquired vehicle speed is below a preset speed threshold.
The second determination module 303 is configured to determine a target assist torque from the compensating damping torque and a base assist torque for the steering wheel.
The control module 304 is configured to control the steering wheel assist motor according to the target assist torque.
In yet another embodiment, the first determination module 302 further includes a first determination sub-module and a second determination sub-module.
The first determination submodule is configured to determine a proportional coefficient and a differential coefficient corresponding to the acquired vehicle speed according to a predetermined first correspondence relation including a correspondence relation among the vehicle speed, the proportional coefficient and the differential coefficient.
The second determination submodule is configured to determine a compensation damping moment by using a PD control algorithm according to the acquired steering wheel angle, the acquired steering wheel rotating speed, and a proportional coefficient and a differential coefficient corresponding to the acquired vehicle speed.
In yet another embodiment, the second determination submodule is further configured to determine the compensating damping moment according to the following equation:
wherein delta s For the acquired steering wheel angle,for the obtained steering wheel rotation speed, kp is a proportional coefficient corresponding to the obtained vehicle speed, kd is a differential coefficient corresponding to the obtained vehicle speed, and com_trq is the compensation damping torque.
In yet another embodiment, the vehicle control apparatus 300 further includes a second acquisition module, a third determination module, and a fourth determination module.
The second acquisition module is configured to acquire a hand torque applied to the steering wheel.
The third determination module is configured to determine a damping control torque for the steering wheel based on the acquired vehicle speed, the acquired steering wheel rotational speed, the acquired hand torque, if the acquired vehicle speed is above a speed threshold.
The fourth determination module is configured to determine a target assist torque based on the damping control torque and the base assist torque.
In yet another embodiment, the third determination module further comprises a third determination sub-module, a fourth determination sub-module, a fifth determination sub-module, and a sixth determination sub-module.
The third determining submodule is configured to determine damping coefficient parameters corresponding to the acquired vehicle speed according to a preset second corresponding relation, wherein the second corresponding relation comprises a corresponding relation between the vehicle speed and the damping coefficient parameters, and the damping coefficient parameters comprise damping moment gain coefficients, damping moment secondary gain coefficients, steering wheel moment upper limit values and steering wheel moment lower limit values.
The fourth determination submodule is configured to determine a damping gain coefficient according to the acquired hand torque, a steering wheel torque upper limit value corresponding to the acquired vehicle speed, and a steering wheel torque lower limit value corresponding to the acquired vehicle speed.
The fifth determination submodule is configured to determine a damping moment according to the acquired steering wheel rotational speed, a damping moment gain coefficient corresponding to the acquired vehicle speed and a damping moment quadratic gain coefficient corresponding to the acquired vehicle speed.
The sixth determination submodule is configured to determine a damping control moment based on the damping moment and the damping gain coefficient.
In yet another embodiment, the fifth determination sub-module further comprises a seventh determination sub-module and an eighth determination sub-module.
The seventh determination submodule is configured to determine an unlimited value damping moment according to the acquired steering wheel rotating speed, a damping moment gain coefficient corresponding to the acquired vehicle speed and a damping moment secondary gain coefficient corresponding to the acquired vehicle speed.
The eighth determination submodule is configured to determine a damping torque according to an unlimited damping torque and a damping torque limit corresponding to the acquired vehicle speed.
In yet another embodiment, the damping coefficient parameter further includes a steering wheel speed dead band value, and the seventh determination submodule further includes a ninth determination submodule and a tenth determination submodule.
The ninth determination submodule is configured to determine an effective rotation speed of the steering wheel according to the acquired rotation speed of the steering wheel and a dead zone value of the rotation speed of the steering wheel corresponding to the acquired vehicle speed.
The tenth determination submodule is configured to determine an unlimited value damping moment according to the effective rotating speed of the steering wheel, a damping moment gain coefficient corresponding to the acquired vehicle speed and a damping moment secondary gain coefficient corresponding to the acquired vehicle speed.
In yet another embodiment, the ninth determination submodule is further configured to determine the steering wheel effective rotational speed according to the following equation:
wherein A is 0 For the steering wheel rotation speed dead zone value corresponding to the acquired vehicle speed, For the acquired steering wheel speed, n e Is the effective rotating speed of the steering wheel.
In yet another embodiment, the fourth determination submodule is further configured to determine the damping gain coefficient according to the following equation:
wherein G is a damping gain coefficient, |T h I is the absolute value of the hand moment, A 3 A is a lower limit value of the steering wheel moment corresponding to the acquired vehicle speed 4 Is the steering wheel torque upper limit value corresponding to the acquired vehicle speed.
In yet another embodiment, the tenth determination submodule is further configured to determine the non-limiting damping moment according to the following equation:
wherein Unl _Trq is an unlimited damping moment, A 1 To increase damping moment corresponding to acquired vehicle speedBenefit coefficient A 1q Sign is a sign function, which is a damping moment quadratic gain coefficient corresponding to the acquired vehicle speed.
In yet another embodiment, the eighth determination submodule is further configured to determine the damping moment according to the following equation:
wherein l_Trq is damping moment, A 2 Is a damping torque limit corresponding to the acquired vehicle speed.
In yet another embodiment, the sixth determination submodule is further configured to determine the ideal damping moment according to the following equation:
Tar_Trq＝G*l_Trq
wherein Tar_Trq is an ideal damping moment;
And (5) carrying out low-pass filtering on the ideal damping moment to determine the damping control moment.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
Through the technical scheme, when the vehicle is at a low speed, the PD control algorithm is utilized to determine the compensation damping torque for the steering wheel, the power-assisted motor is controlled to output the target power-assisted torque determined according to the basic power-assisted torque and the compensation damping torque, so that the phenomenon that the steering wheel is difficult to return to the neutral position when the vehicle is at the low speed can be improved, the accuracy and the stability of the steering of the vehicle are improved, the user can better control the vehicle to run in a low-speed straight line, and the user experience is improved.
The present disclosure also provides an electronic device, including:
a memory having a computer program stored thereon;
and a processor for executing the computer program in the memory to implement the steps of the vehicle control method described above.
The disclosure also provides a vehicle including a controller that implements the steps of the vehicle control method described above when executed.
Fig. 4 is a block diagram of an electronic device 700, according to an example embodiment. As shown in fig. 4, the electronic device 700 may include: a processor 701, a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input/output (I/O) interface 704, and a communication component 705.
The processor 701 is configured to control the overall operation of the electronic device 700 to perform all or part of the steps of the vehicle control method described above. The memory 702 is used to store various types of data to support operation on the electronic device 700, which may include, for example, instructions for any application or method operating on the electronic device 700, as well as application-related data, such as contact data, messages sent and received, pictures, audio, video, and so forth. The Memory 702 may be implemented by any type or combination of volatile or non-volatile Memory devices, such as static random access Memory (Static Random Access Memory, SRAM for short), electrically erasable programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM for short), erasable programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM for short), programmable Read-Only Memory (Programmable Read-Only Memory, PROM for short), read-Only Memory (ROM for short), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia component 703 can include a screen and an audio component. Wherein the screen may be, for example, a touch screen, the audio component being for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 702 or transmitted through the communication component 705. The audio assembly further comprises at least one speaker for outputting audio signals. The I/O interface 704 provides an interface between the processor 701 and other interface modules, which may be a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, bluetooth, near field communication (Near Field Communication, NFC for short), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or one or a combination of more of them, is not limited herein. The corresponding communication component 705 may thus comprise: wi-Fi module, bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic device 700 may be implemented by one or more application specific integrated circuits (Application Specific Integrated Circuit, abbreviated ASIC), digital signal processor (Digital Signal Processor, abbreviated DSP), digital signal processing device (Digital Signal Processing Device, abbreviated DSPD), programmable logic device (Programmable Logic Device, abbreviated PLD), field programmable gate array (Field Programmable Gate Array, abbreviated FPGA), controller, microcontroller, microprocessor, or other electronic components for performing the vehicle control method described above.
In another exemplary embodiment, a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the vehicle control method described above is also provided. For example, the computer readable storage medium may be the memory 702 including program instructions described above that are executable by the processor 701 of the electronic device 700 to perform the vehicle control method described above.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned vehicle control method when being executed by the programmable apparatus.
The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure, and all the simple modifications belong to the protection scope of the present disclosure.
In addition, the specific features described in the foregoing embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, the present disclosure does not further describe various possible combinations.
Moreover, any combination between the various embodiments of the present disclosure is possible as long as it does not depart from the spirit of the present disclosure, which should also be construed as the disclosure of the present disclosure.
Claims (16)
1. A vehicle control method characterized by comprising:
acquiring a vehicle speed, a steering wheel angle and a steering wheel rotating speed;
under the condition that the acquired vehicle speed is lower than a preset speed threshold value, determining a compensation damping moment for the steering wheel according to the acquired vehicle speed, the acquired steering wheel angle, the acquired steering wheel rotating speed and a proportional differential PD control algorithm;
Determining a target assistance torque according to the compensation damping torque and a basic assistance torque for the steering wheel;
and controlling the power-assisted motor of the steering wheel according to the target power-assisted torque.
2. The method of claim 1, wherein the determining the compensating damping torque for the steering wheel based on the obtained vehicle speed, the obtained steering wheel angle, the obtained steering wheel speed, and the PD control algorithm comprises:
determining a proportional coefficient and a differential coefficient corresponding to the acquired vehicle speed according to a preset first corresponding relation, wherein the first corresponding relation comprises the corresponding relation among the vehicle speed, the proportional coefficient and the differential coefficient;
and determining the compensation damping moment by using a PD control algorithm according to the acquired steering wheel angle, the acquired steering wheel rotating speed, and the proportional coefficient and the differential coefficient corresponding to the acquired vehicle speed.
3. The method of claim 2, wherein determining the compensating damping torque using a PD control algorithm based on the obtained steering wheel angle, the obtained steering wheel speed, and a proportional coefficient and a derivative coefficient corresponding to the obtained vehicle speed, comprises:
Determining the compensating damping moment according to the following formula:
wherein delta s For the acquired steering wheel angle,for the obtained steering wheel rotation speed, kp is a proportional coefficient corresponding to the obtained vehicle speed, kd is a differential coefficient corresponding to the obtained vehicle speed, and com_trq is the compensation damping torque.
4. The method according to claim 1, wherein the method further comprises:
acquiring a hand torque applied to the steering wheel;
determining a damping control moment for the steering wheel according to the acquired vehicle speed, the acquired steering wheel rotating speed and the acquired hand moment under the condition that the acquired vehicle speed is higher than the speed threshold;
and determining the target power-assisted torque according to the damping control torque and the basic power-assisted torque.
5. The method of claim 4, wherein determining the damping control torque for the steering wheel based on the obtained vehicle speed, the obtained steering wheel speed, and the obtained hand torque comprises:
determining damping coefficient parameters corresponding to the acquired vehicle speed according to a preset second corresponding relation, wherein the second corresponding relation comprises a corresponding relation between the vehicle speed and the damping coefficient parameters, and the damping coefficient parameters comprise a damping moment gain coefficient, a damping moment secondary gain coefficient, a steering wheel moment upper limit value and a steering wheel moment lower limit value;
Determining a damping gain coefficient according to the acquired hand torque, a steering wheel torque upper limit value corresponding to the acquired vehicle speed and a steering wheel torque lower limit value corresponding to the acquired vehicle speed;
determining a damping moment according to the acquired steering wheel rotating speed, a damping moment gain coefficient corresponding to the acquired vehicle speed and a damping moment secondary gain coefficient corresponding to the acquired vehicle speed;
and determining the damping control moment according to the damping moment and the damping gain coefficient.
6. The method of claim 5, wherein the damping coefficient parameter further comprises a damping torque limit, the determining a damping torque based on the obtained steering wheel speed, a damping torque gain coefficient corresponding to the obtained vehicle speed, and a damping torque quadratic gain coefficient corresponding to the obtained vehicle speed, comprising:
determining an unlimited damping moment according to the acquired steering wheel rotating speed, a damping moment gain coefficient corresponding to the acquired vehicle speed and a damping moment secondary gain coefficient corresponding to the acquired vehicle speed;
and determining the damping moment according to the non-limiting damping moment and a damping moment limit value corresponding to the acquired vehicle speed.
7. The method of claim 6, wherein the damping coefficient parameters further comprise steering wheel speed dead zone values, the determining an unlimited damping torque based on the obtained steering wheel speed, a damping torque gain coefficient corresponding to the obtained vehicle speed, and a damping torque quadratic gain coefficient corresponding to the obtained vehicle speed, comprising:
determining the effective rotating speed of the steering wheel according to the acquired rotating speed of the steering wheel and the dead zone value of the rotating speed of the steering wheel corresponding to the acquired vehicle speed;
and determining the unlimited damping moment according to the effective rotating speed of the steering wheel, the damping moment gain coefficient corresponding to the acquired vehicle speed and the damping moment secondary gain coefficient corresponding to the acquired vehicle speed.
8. The method of claim 7, wherein determining the effective rotational speed of the steering wheel based on the obtained rotational speed of the steering wheel, the steering wheel rotational speed dead zone value corresponding to the obtained vehicle speed, comprises: determining the effective rotational speed of the steering wheel according to the following formula:
wherein A is 0 For the steering wheel rotation speed dead zone value corresponding to the acquired vehicle speed,for the acquired steering wheel speed, n e Is the effective rotational speed of the steering wheel.
9. The method of claim 8, wherein determining the damping gain factor from the obtained hand torque, the upper steering wheel torque limit corresponding to the obtained vehicle speed, and the lower steering wheel torque limit corresponding to the obtained vehicle speed comprises: the damping gain factor is determined according to the following formula:
wherein G is the damping gain coefficient, h is the absolute value of the hand moment, A 3 A is a lower limit value of the steering wheel moment corresponding to the acquired vehicle speed 4 Is the steering wheel torque upper limit value corresponding to the acquired vehicle speed.
10. The method of claim 9, wherein determining the unlimited damping torque from an effective rotational speed of the steering wheel, a damping torque gain factor corresponding to the acquired vehicle speed, and a damping torque quadratic gain factor corresponding to the acquired vehicle speed comprises: determining the non-limiting damping moment according to the following formula:
wherein Unl _Trq is the unlimited damping moment, A 1 For the damping moment gain coefficient corresponding to the acquired vehicle speed, A 1q Sign is a sign function, which is a damping moment quadratic gain coefficient corresponding to the acquired vehicle speed.
11. The method of claim 10, wherein said determining said damping torque from said non-limiting damping torque and a damping torque limit corresponding to an acquired vehicle speed comprises:
The damping moment is determined according to the following formula:
wherein l_Trq is the damping moment, A 2 Is a damping torque limit corresponding to the acquired vehicle speed.
12. The method of claim 11, wherein said determining said damping control moment from said damping moment and said damping gain factor comprises:
the ideal damping moment is determined according to the following formula:
Tar_Trq＝G*l_Trq
wherein tar_trq is the ideal damping moment;
and carrying out low-pass filtering on the ideal damping moment to obtain the damping control moment.
13. A vehicle control apparatus characterized by comprising:
a first acquisition module configured to acquire a vehicle speed, a steering wheel angle, and a steering wheel rotational speed;
the first determining module is configured to determine a compensation damping moment for the steering wheel according to the acquired vehicle speed, the acquired steering wheel angle, the acquired steering wheel rotating speed and a proportional differential PD control algorithm under the condition that the acquired vehicle speed is lower than a preset speed threshold;
a second determination module configured to determine a target assist torque from the compensating damping torque and a base assist torque for the steering wheel;
a control module configured to control a booster motor of the steering wheel in accordance with the target booster torque.
14. The apparatus of claim 13, wherein the apparatus further comprises:
a second acquisition module configured to acquire a hand torque applied to the steering wheel;
a third determining module configured to determine a damping control torque for the steering wheel based on the acquired vehicle speed, the acquired steering wheel rotational speed, the acquired hand torque, if the acquired vehicle speed is higher than the speed threshold;
a fourth determination module configured to determine the target assist torque based on the damping control torque and the base assist torque.
15. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1-12.
16. A vehicle comprising a controller that when executed performs the steps of the method of any one of claims 1-12.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210613469.7A CN117184214A (en) | 2022-05-31 | 2022-05-31 | Vehicle control method and device, electronic equipment and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210613469.7A CN117184214A (en) | 2022-05-31 | 2022-05-31 | Vehicle control method and device, electronic equipment and vehicle |
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