CN108438044B - Tire taper force compensation control method and device, steering system and vehicle - Google Patents
Tire taper force compensation control method and device, steering system and vehicle Download PDFInfo
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- CN108438044B CN108438044B CN201810103530.7A CN201810103530A CN108438044B CN 108438044 B CN108438044 B CN 108438044B CN 201810103530 A CN201810103530 A CN 201810103530A CN 108438044 B CN108438044 B CN 108438044B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
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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
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Abstract
The invention discloses a tire taper force compensation control method and a control device, an electric power steering system and a vehicle, wherein the tire taper force compensation control method comprises the following steps: acquiring a taper force value of each tire of the vehicle; calculating a composite taper force according to the taper force value of each tire; and calculating and storing the taper force compensation torque according to the composite taper force. Through the compensation control of the tire taper force, the influence of the tire taper force on the vehicle deviation can be counteracted, and the driving performance and the comfort of the vehicle are improved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a tire taper force compensation control method, a tire taper force compensation control device, an electric power steering system and a vehicle.
Background
There are many factors that affect the running deviation of the vehicle, and among them, the influence of the tire is one of the main factors. Because the tire is a complex rubber product which is produced by a series of processes of compounding, molding and vulcanizing a plurality of materials such as rubber, steel wires, cord fabrics and the like with different formulas, various errors and defects are inevitable in the manufacturing process of the tire, and parameters of the tire are also changed after the tire is worn.
The tire is always accompanied by a conical lateral force acting on it during rolling. The tapered lateral force causes it to deviate from the original linear motion even with a new tire, which is the tapering effect of the tire. The conicity effect is caused by the non-uniform rigidity of the tire, and when the tire is manufactured, the tire tread or the belt layer deviates from the geometric center of the tire due to defects in the process, so that the section of the tire is asymmetric. The existence of the taper effect influences the deviation of the vehicle, and the driving performance and the comfort of the vehicle are reduced.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention needs to provide a tire taper force compensation control method, which can cancel the influence of the tire taper force on the deviation of the vehicle and improve the driving performance and the comfort of the vehicle.
The invention also provides a tire taper force compensation control device, an electric power steering system comprising the control device and a vehicle.
In order to solve the above problem, a tire taper force compensation control method according to an embodiment of the first aspect of the present invention includes: acquiring a taper force value of each tire of the vehicle; calculating a composite taper force according to the taper force value of each tire; and calculating and storing the taper force compensation torque according to the composite taper force.
According to the tire taper force compensation control method provided by the embodiment of the invention, the influence of the tire taper effect on the deviation of the vehicle is considered, and the taper force compensation torque is obtained based on the tire taper force so as to provide the taper force compensation assistance when the vehicle runs, so that the influence of the tire taper force on the deviation of the vehicle can be counteracted, and the driving safety and comfort of the vehicle are improved.
In some embodiments of the present invention, the tire taper force compensation control method further comprises: collecting vehicle speed information; and correcting the taper force compensation torque according to the vehicle speed information, so that graded tire taper force compensation control can be realized for different vehicle speeds.
In some embodiments of the invention, the compound taper force is calculated according to the following formula:
wherein X is the composite taper force, n is the number of tires, XnThe taper force value of the nth tire is obtained.
In some embodiments of the invention, the taper force compensation torque is obtained according to the following formula: and M is KX, wherein M is the taper force compensation torque, and K is a compensation coefficient.
In some embodiments of the invention, modifying the taper force compensation torque based on the vehicle speed information comprises: when the vehicle speed is greater than a first preset vehicle speed value, the taper force compensation torque is M; or when the vehicle speed is less than the first preset vehicle speed value and greater than a second preset vehicle speed value, the taper force compensation torque is corrected into a first taper force compensation torque, and the first taper force compensation torque is less than M; or when the vehicle speed is less than or equal to the second preset vehicle speed value, the taper force compensation torque is corrected into a second taper force compensation torque, and the second taper force compensation torque is less than the first taper force compensation torque.
In some embodiments of the present invention, the tire taper force compensation control method further comprises: and canceling the execution of the tire taper force compensation control according to the input instruction, or updating the taper force value of the tire according to the input instruction. Thus, it is possible to accommodate replacement and repair of the tire.
In order to solve the above problem, a tire taper force compensation control apparatus according to an embodiment of a second aspect of the present invention includes: the acquiring module is used for acquiring the taper force value of each tire of the vehicle; the first calculation module is used for calculating the composite taper force according to the taper force value of each tire; the second calculation module is used for calculating the taper force compensation torque according to the composite taper force; and the storage module is used for storing the taper force compensation torque.
According to the tire taper force compensation control device provided by the embodiment of the invention, the taper force compensation torque is provided according to the taper force value of each tire, the main lateral force parameter which influences the deviation of the vehicle, namely the tire taper force, is compensated, the influence of the tire taper force on the deviation of the vehicle can be cancelled, and the driving safety and the driving comfort of the vehicle are improved.
In some embodiments of the present invention, the tire taper force compensation control apparatus further comprises: the acquisition module is used for acquiring vehicle speed information; and the correction module is used for correcting the taper force compensation torque according to the vehicle speed information. Thereby realizing graded tire taper force compensation control aiming at different vehicle speeds
In some embodiments of the invention, the first calculation module calculates the compound taper force according to the formula:
wherein X is the composite taper force, n is the number of tires, XnThe taper force value of the nth tire is obtained.
In some embodiments of the invention, the second calculation module obtains the taper force compensation torque according to the following formula: and M is KX, wherein M is the taper force compensation torque, and K is a compensation coefficient.
In some embodiments of the present invention, the correction module is configured to, when a vehicle speed is greater than a first preset vehicle speed value, adjust the taper force compensation torque to M; or when the vehicle speed is less than the first preset vehicle speed value and greater than a second preset vehicle speed value, the taper force compensation torque is corrected into a first taper force compensation torque, and the first taper force compensation torque is less than M; or when the vehicle speed is less than or equal to the second preset vehicle speed value, the taper force compensation torque is corrected into a second taper force compensation torque, and the second taper force compensation torque is less than the first taper force compensation torque.
In some embodiments of the present invention, the tire taper force compensation control apparatus further comprises: the cancellation module is used for cancelling and executing the tire taper force compensation control according to the input instruction; and the updating module is used for updating the taper force value of the tire according to the input instruction. Thus, it is possible to accommodate replacement and repair of the tire.
In some embodiments of the present invention, a non-transitory computer readable storage medium is further provided, on which a computer program is stored, wherein the computer program is executed to implement the tire taper force compensation control method.
Based on the tire taper force compensation control device of the above aspect embodiment, the electric power steering system of the third aspect embodiment of the present invention includes the tire taper force compensation control device.
According to the electric power steering system provided by the embodiment of the invention, by adopting the tire taper force compensation control device in the embodiment of the aspect, the influence of the tire taper force on the deviation of the vehicle can be eliminated, and the driving performance and the comfort of the vehicle are improved.
Based on the electric power steering system of the embodiment of the aspect described above, the vehicle of the fourth embodiment of the invention includes the electric power steering system described above.
According to the vehicle provided by the embodiment of the invention, the influence of the tire taper force on the deviation can be eliminated by adopting the electric power steering system, and the safety and the comfort are improved.
Drawings
FIG. 1 is a flow chart of a tire taper force compensation control method according to an embodiment of the present invention;
FIG. 2 is a flow chart of a tire taper force compensation control method according to one embodiment of the present invention;
FIG. 3 is a block diagram of a tire taper force compensation control apparatus according to an embodiment of the present invention;
FIG. 4 is a block diagram of a tire taper force compensation control apparatus according to one embodiment of the present invention;
FIG. 5 is a schematic signal flow diagram illustrating the operation of a tire taper force compensation control apparatus according to an embodiment of the present invention;
FIG. 6 is a block diagram of a tire taper force compensation control apparatus according to one embodiment of the present invention;
FIG. 7 is a block diagram of an electric power steering system according to an embodiment of the present invention;
fig. 8 is a block diagram of a vehicle according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Generally, the running deviation of the vehicle is mainly influenced by four-wheel positioning parameters, tire parameters, unqualified parts and the like. Due to numerous and complex influencing factors, an Electric Power Steering (EPS) controller of the vehicle does not control the influencing factors of the deviation of the whole vehicle. In the embodiment of the invention, main lateral force parameters, namely tire taper force, which influence the deviation of the vehicle are compensated by using the EPS, so that the influence of the tire taper force on the deviation of the vehicle is eliminated. A tire taper force compensation control method proposed according to an embodiment of the first aspect of the present invention will be described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a tire taper force compensation control method according to an embodiment of the present invention, and as shown in fig. 1, the tire taper force compensation control method according to the embodiment of the present invention includes:
and S1, acquiring the taper force value of each tire of the vehicle.
For example, before the entire vehicle is brought off-line, the taper force value of each tire of the vehicle is input to a control device of an electric power steering system of the vehicle. To better eliminate the effects of tire conicity, the conicity of the provider tire may be practically managed throughout the manufacturing line, requiring a conicity ≦ 50 | N (N), which is stored after manufacturing measurements in the manufacturing line, for example by two-dimensional codes or other means. And when the tire is assembled on the whole vehicle, the tire taper force value is collected, and the information of the tire taper force is input and stored when the EPS line is calibrated.
And S2, calculating the composite taper force according to the taper force value of each tire.
Specifically, the conicity force of each tire jointly affects the deviation of the vehicle from the straight line direction, and in some embodiments of the invention, the sum of the conicity force values of each tire is used as the composite conicity force, although other feasible methods can be adopted to calculate the composite conicity force. For example, the compound taper force may be calculated according to the following formula:
wherein X is the composite taper force, n is the number of tires, XnThe taper force value of the nth tire is obtained.
As an example, the composite taper force is calculated for the taper force values obtained for the four tires of the vehicle: x ═ X1+X2+X3+X4Wherein X is1For the left front tire taper force value, X2For the right front tire taper force value, X3For left-hand rear tyre taper force values, X4And the value is the right rear tire taper force.
And S3, calculating and storing the taper force compensation torque according to the composite taper force.
In some embodiments of the invention, the taper force compensation torque is obtained according to the following formula:
m ═ KX, formula (2)
Wherein M is the taper force compensation torque, and K is the compensation coefficient.
Specifically, the EPS determines and stores the tire taper force compensation torque as above during calibration, and outputs a current corresponding to the taper force compensation torque during operation to provide compensation assistance acting in the opposite direction of the tire taper force, so that the influence of the tire taper force on vehicle deviation can be counteracted.
According to the tire taper force compensation control method provided by the embodiment of the invention, the influence of the tire taper effect on the deviation of the vehicle is considered, and the taper force compensation torque is obtained based on the tire taper force so as to provide the taper force compensation assistance when the vehicle runs, so that the influence of the tire taper force on the deviation of the vehicle can be counteracted, and the driving safety and comfort of the vehicle are improved.
Further, as the deviation perception is related to the vehicle speed, actual taper force compensation strategies under different vehicle speeds are set for saving energy. In an embodiment of the present invention, as shown in fig. 2, the tire taper force compensation control method further includes:
and S4, collecting vehicle speed information.
Specifically, when the vehicle runs, the vehicle speed information CAN be acquired through the vehicle speed sensor, and the vehicle speed information is transmitted to the EPS control device of the vehicle through the CAN bus.
And S5, correcting the taper force compensation torque according to the vehicle speed information.
Specifically, while driving, the EPS corrects the stored tire taper force compensation torque according to the vehicle speed, and generally, the tire taper effect becomes more significant as the vehicle speed is higher, whereas the tire taper effect becomes smaller as the vehicle speed is lower. And outputting the compensation assistance corresponding to the corrected taper force compensation torque, thereby being capable of offsetting the influence of the tire taper force on the deviation of the vehicle.
In some embodiments of the invention, when the vehicle speed is greater than a first preset vehicle speed value, the taper force compensation torque is M; or when the vehicle speed is less than a first preset vehicle speed value and greater than a second preset vehicle speed value, the taper force compensation torque is corrected into a first taper force compensation torque, and the first taper force compensation torque is less than M; or when the vehicle speed is less than or equal to a second preset vehicle speed value, the taper force compensation torque is corrected into a second taper force compensation torque, and the second taper force compensation torque is less than the first taper force compensation torque. Therefore, the graded compensation control of the tire taper force can be realized according to the vehicle speed, and the taper force action of the tire can be more accurately cancelled.
As a specific example, when the vehicle speed is equal to or greater than 100km/h (kilometers per hour), for example, the actual taper force compensation torque is equal to M; or when the vehicle speed is more than 30km/h and 100km/h, the actual taper force compensation torque is 95% M; or when the vehicle speed is less than or equal to 30km/h, the actual conical force compensation torque is 85% M. And different taper force compensation control strategies are adopted for different vehicle speeds.
In some embodiments of the present invention, the execution of the tire taper force compensation control may be cancelled according to the input command, or the taper force value of the tire may be updated according to the input command. Specifically, when the tire is repaired and replaced on the whole vehicle, for the condition that the taper force value of a new tire cannot be identified, an instruction can be manually input to select the EPS of the vehicle to cancel the tire taper force compensation control, namely the compensation control process is not carried out during driving; and inputting the taper force value of the new tire which can be identified after replacement, and calibrating the taper force compensation of the tire again by the EPS if the parameters of the tire which is not replaced are not changed, namely, obtaining the taper force compensation torque again according to the process and storing the compensation torque, thereby providing the best performance for the whole vehicle.
In summary, the tire taper force compensation control method provided by the embodiment of the invention can compensate the main lateral force parameter which affects the vehicle deviation, namely the tire taper force, and cancel the influence of the tire taper force on the vehicle deviation. And the taper force compensation torque can be corrected according to different vehicle speeds, grading compensation control is carried out, and the influence of the tire taper force can be more accurately counteracted. And when the whole vehicle is maintained and the tires are replaced, two compensation strategies are provided and are controlled according to specific conditions.
The whole vehicle driving performance and comfort can be improved by compensating and controlling the tire taper force.
In some embodiments of the present invention, a non-transitory computer readable storage medium is also presented, on which a computer program is stored, which when executed implements the tire taper force compensation control method of the first aspect of embodiments.
A tire taper force compensation control apparatus according to an embodiment of the present invention will be described below with reference to the accompanying drawings.
Fig. 3 is a block diagram of a tire taper force compensation control apparatus according to an embodiment of the present invention, and as shown in fig. 3, the tire taper force compensation control apparatus 100 according to an embodiment of the present invention includes an obtaining module 10, a first calculating module 20, a second calculating module 30, and a saving module 40.
The obtaining module 10 is used for obtaining a taper force value of each tire of the vehicle; the first calculation module 20 is used for calculating a composite taper force according to the taper force value of each tire; the second calculation module 30 is configured to calculate a taper force compensation torque according to the composite taper force; the saving module 40 is used for saving the conical force compensation torque. Furthermore, the control device 100 outputs a current corresponding to the taper force compensation torque during operation to provide the taper force compensation assisting force, so that the influence of the tire taper force on the vehicle deviation can be eliminated.
According to the tire taper force compensation control device 100 provided by the embodiment of the invention, the taper force compensation torque is provided according to the taper force value of each tire, the main lateral force parameter which influences the deviation of the vehicle, namely the tire taper force, is compensated, the influence of the tire taper force on the deviation of the vehicle can be cancelled, and the driving safety and the driving comfort of the vehicle are improved.
In some embodiments of the present invention, the first calculation module 20 calculates the compound taper force according to the following formula:
In some embodiments of the present invention, the second calculation module 30 obtains the taper force compensation torque according to the following equation: and M is KX, wherein M is the taper force compensation torque, and K is the compensation coefficient.
Since the off tracking sensing is related to the vehicle speed, in some embodiments of the present invention, as shown in fig. 4, the tire taper force compensation control apparatus 100 of the embodiment of the present invention further includes an acquisition module 50 and a correction module 60. The acquisition module 50 is used for acquiring vehicle speed information; the correction module 60 is configured to correct the taper force compensation torque according to the vehicle speed information.
Specifically, the correction module 60 is configured to, when the vehicle speed is greater than a first preset vehicle speed value, set the taper force compensation torque to M; or when the vehicle speed is less than a first preset vehicle speed value and greater than a second preset vehicle speed value, the taper force compensation torque is corrected into a first taper force compensation torque, and the first taper force compensation torque is less than M; or when the vehicle speed is less than or equal to a second preset vehicle speed value, the taper force compensation torque is corrected into a second taper force compensation torque, and the second taper force compensation torque is less than the first taper force compensation torque. Therefore, the influence of the tire taper force can be more accurately compensated by carrying out graded compensation control on different vehicle speeds.
As an example, the operation of the tire taper force compensation control apparatus 100 according to the embodiment of the present invention will be described with reference to fig. 5. The control device 100 judges whether to start according to the ignition signal of the vehicle, calculates the composite taper force according to the taper force value of each tire, calculates the taper force compensation torque according to the composite taper force and stores the compensation torque, and corrects the taper force compensation torque according to the vehicle speed signal when working, for example, when the vehicle speed is more than or equal to 100km/h (kilometer/hour), the actual taper force compensation torque is equal to M; or when the vehicle speed is more than 30km/h and 100km/h, the actual taper force compensation torque is 95% M; or when the vehicle speed is less than or equal to 30km/h, the actual taper force compensation torque is 85% M, and the current corresponding to the actual taper force compensation torque is output to provide the corresponding taper force compensation assisting force to offset the influence of the tire taper force. Therefore, different taper force compensation control strategies are adopted for different vehicle speeds, and the influence of the tire taper force on the deviation can be better counteracted.
In some embodiments of the present invention, as shown in fig. 6, the tire conicity force compensation control apparatus 100 of the present embodiment further comprises a cancellation module 70 and an update module 80 for tire replacement and maintenance. The cancellation module 70 is configured to cancel execution of the tire taper force compensation control according to the input instruction; the updating module 80 is configured to update the taper force value of the tire according to the input command. Specifically, when the tire is replaced, for the tire with the taper force being unrecognizable, the cancellation module 70 may close the tire taper force compensation control, that is, the tire taper force compensation control apparatus 100 according to the embodiment of the present invention does not respond; and a new taper force value can be input for a new tire which can be identified after replacement, parameters are updated through the updating module 80, and the control device 100 recalibrates the tire taper force compensation to provide the best performance for the whole vehicle.
Based on the tire taper force compensation control apparatus according to the embodiment of the above aspect, an electric power steering system proposed according to an embodiment of a third aspect of the present invention is described below with reference to the drawings.
As shown in fig. 7, the electric power steering system 1000 according to the embodiment of the present invention includes the tire taper force compensation control apparatus 100 according to the embodiment of the present invention, and of course, includes other necessary structures, which are not described in detail herein. The specific operation process of the tire taper force compensation control device 100 refers to the description of the above embodiments, and is not repeated herein.
According to the electric power steering system 1000 of the embodiment of the invention, by adopting the tire taper force compensation control device 100 of the embodiment of the aspect, the influence of the tire taper force on the deviation of the vehicle can be eliminated, and the driving performance and the comfort of the vehicle can be improved.
Fig. 8 is a block diagram of a vehicle according to an embodiment of the present invention, and as shown in fig. 8, a vehicle 10000 according to an embodiment of the present invention includes an electric power steering system 1000 according to an embodiment of the above aspect, by using the electric power steering system 1000, it is possible to cancel the influence of the tire taper force on the off tracking, and improve safety and comfort.
It should be noted that in the description of this specification, any process or method description in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and that the scope of the preferred embodiments of the present invention includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (13)
1. A tire taper force compensation control method is characterized by comprising the following steps:
acquiring a taper force value of each tire of the vehicle;
calculating a composite taper force according to the taper force value of each tire;
calculating and storing the compensation torque of the taper force according to the composite taper force;
the tire taper force compensation control method further comprises the following steps:
collecting vehicle speed information;
and correcting the taper force compensation torque according to the vehicle speed information.
2. The tire taper force compensation control method according to claim 1, wherein said composite taper force is calculated according to the following formula:
3. The tire taper force compensation control method according to claim 2, wherein said taper force compensation torque is obtained according to the following formula:
and M is KX, wherein M is the taper force compensation torque, and K is a compensation coefficient.
4. The tire taper force compensation control method according to claim 3, wherein correcting the taper force compensation torque according to the vehicle speed information includes:
when the vehicle speed is greater than a first preset vehicle speed value, the taper force compensation torque is M;
or when the vehicle speed is less than the first preset vehicle speed value and greater than a second preset vehicle speed value, the taper force compensation torque is corrected into a first taper force compensation torque, and the first taper force compensation torque is less than M;
or when the vehicle speed is less than or equal to the second preset vehicle speed value, the taper force compensation torque is corrected into a second taper force compensation torque, and the second taper force compensation torque is less than the first taper force compensation torque.
5. The tire taper force compensation control method according to any one of claims 1 to 4, further comprising:
and canceling the execution of the tire taper force compensation control according to the input instruction, or updating the taper force value of the tire according to the input instruction.
6. A tire taper force compensation control device, characterized in that, tire taper force compensation control device includes:
the acquiring module is used for acquiring the taper force value of each tire of the vehicle;
the first calculation module is used for calculating the composite taper force according to the taper force value of each tire;
the second calculation module is used for calculating the taper force compensation torque according to the composite taper force;
the storage module is used for storing the taper force compensation torque;
the acquisition module is used for acquiring vehicle speed information;
and the correction module is used for correcting the taper force compensation torque according to the vehicle speed information.
7. The tire taper force compensation control apparatus of claim 6, wherein the first calculation module calculates the compound taper force according to the following formula:
8. The tire taper force compensation control apparatus according to claim 7, wherein said second calculation module obtains said taper force compensation torque according to the following formula:
and M is KX, wherein M is the taper force compensation torque, and K is a compensation coefficient.
9. The tire taper force compensation control apparatus of claim 8, wherein said correction module is adapted to,
when the vehicle speed is greater than a first preset vehicle speed value, the taper force compensation torque is M;
or when the vehicle speed is less than the first preset vehicle speed value and greater than a second preset vehicle speed value, the taper force compensation torque is corrected into a first taper force compensation torque, and the first taper force compensation torque is less than M;
or when the vehicle speed is less than or equal to the second preset vehicle speed value, the taper force compensation torque is corrected into a second taper force compensation torque, and the second taper force compensation torque is less than the first taper force compensation torque.
10. The tire taper force compensation control device according to any one of claims 6 to 9, further comprising:
the cancellation module is used for cancelling and executing the tire taper force compensation control according to the input instruction;
and the updating module is used for updating the taper force value of the tire according to the input instruction.
11. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed implements the tire taper force compensation control method according to any one of claims 1-5.
12. An electric power steering system comprising the tire taper force compensation control apparatus according to any one of claims 6 to 10.
13. A vehicle characterized by comprising an electric power steering system according to claim 12.
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| CN201810103530.7A CN108438044B (en) | 2018-02-01 | 2018-02-01 | Tire taper force compensation control method and device, steering system and vehicle |
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| CN201810103530.7A CN108438044B (en) | 2018-02-01 | 2018-02-01 | Tire taper force compensation control method and device, steering system and vehicle |
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|---|---|---|---|---|
| JPH09207842A (en) * | 1996-02-07 | 1997-08-12 | Bridgestone Corp | Loading method of tire on four wheel vehicle |
| JP4094498B2 (en) * | 2003-06-27 | 2008-06-04 | 新日本製鐵株式会社 | Deep drawing high strength cold-rolled steel sheet and method for producing the same |
| CN101574979B (en) * | 2009-06-11 | 2012-01-25 | 重庆大学 | Electric motor car differential steeling control method based on slip rate control |
| US9168924B2 (en) * | 2012-03-26 | 2015-10-27 | GM Global Technology Operations LLC | System diagnosis in autonomous driving |
| CN107054448B (en) * | 2016-12-28 | 2019-03-19 | 海特汽车科技（苏州）有限公司 | A kind of steering system friction compensation method based on torque signals |
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2018
- 2018-02-01 CN CN201810103530.7A patent/CN108438044B/en active Active
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