CN115366984B - Torque steering compensation method, device, vehicle and storage medium - Google Patents

Abstract

The invention belongs to the technical field of vehicles, and relates to a torque steering compensation method, comprising the following steps: obtaining the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel; according to the road adhesion coefficient of the left wheel, the right The road adhesion coefficient of the wheel outputs the torque steer compensation value. The invention also provides a torque steering compensation device, a vehicle and a storage medium. The torque steering compensation method, device, vehicle and storage medium of the present invention can output the torque steering compensation value according to the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel, and can compensate for working conditions with different road adhesion coefficients , further improving the use range of torque steering compensation, thereby further enhancing the driving experience.

Description

Torque steering compensation method, device, vehicle and storage medium

technical field

The invention belongs to the technical field of vehicles, and in particular relates to a torque steering compensation method, device, vehicle and storage medium.

Background technique

Vehicles have become an indispensable means of transportation for people due to their more and more perfect functions. Although there are many types of vehicles, their structures are similar. Among them, Electric Power Steering (EPS) is a power steering system that directly relies on the motor to provide auxiliary torque. Compared with the traditional hydraulic power steering system HPS (Hydraulic PowerSteering), EPS has many advantages. As shown in Figure 1, EPS is composed of a steering wheel 1, a torque sensor 2, a steering column 3, a reduction mechanism 4, an intermediate shaft 5, a steering gear 6, a tie rod 7, a steering wheel 8, a steering knuckle arm 9, and a pinion 10. , a steering motor 11 , an electronic control unit (Electronic Control Unit, ECU) 12 , and a power input connector 13 . Wherein, the steering wheel 1, the steering column 3, the intermediate shaft 5, the steering gear 6, the steering tie rod 7, the steering wheel 8, the steering knuckle arm 9, and the pinion 10 form a traditional mechanical steering system. Specifically, the power supply of the whole vehicle supplies power to the EPS through the power input connector 13 , including a power-on enable signal harness, a normal power positive wire harness, and a normal power negative wire harness. The torque sensor 2 is used to detect the driver's manipulation torque. The steering motor 11 can be installed on the steering column or the steering gear, and provides the driver with an assist torque through the reduction mechanism 4 . The torque control module of the electronic control unit 12 receives the torque sensor signal and the motor position sensor signal, calculates the corresponding assist torque, and outputs the corresponding target torque command to the motor control module according to the calculated assist torque, so that the motor control module outputs a corresponding The current drives the steering motor 11 to work.

As shown in Figure 2, when the existing vehicle accelerates rapidly or at full throttle, after the engine torque is output through the differential, due to the different lengths of the left and right output shafts, the torque is transmitted to the left and right steering wheels with inconsistent driving forces, which makes Steering wheel turns to one side.

For the above problems, those skilled in the art have been seeking solutions.

The foregoing description is provided to provide general background information and does not necessarily constitute prior art.

Contents of the invention

The technical problem solved by the present invention is to provide a torque steering compensation method, a torque steering compensation device, a vehicle and a computer-readable storage medium, which can compensate for working conditions of different road surface adhesion coefficients, and further improve the use of torque steering compensation range, thereby further enhancing the driving experience.

The present invention solves its technical problem and adopts following technical scheme to realize:

The present invention provides a torque steering compensation method, comprising the steps of: obtaining the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel; according to the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel Output torque steering compensation value.

Preferably, the step of outputting the torque steering compensation value according to the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel includes: obtaining the ratio of the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel A difference value; according to the product of the difference value and a reference value, a first gain coefficient is obtained; according to the first gain coefficient and the current vehicle speed, a first torque steering compensation torque is obtained.

Preferably, the step of obtaining the first torque steering compensation torque according to the first gain coefficient and the current vehicle speed includes: obtaining the engine output torque, and obtaining the original torque steering compensation torque according to the engine output torque and the current vehicle speed Obtaining a correction amount according to the current vehicle speed and the first gain coefficient; correcting the original torque steering compensation torque by using the correction amount to obtain the first torque steering compensation torque.

Preferably, the step of outputting the torque steering compensation value according to the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel further includes: acquiring a steering wheel torque signal; Two gain coefficients; multiplying the second gain coefficient by the first torque steering compensation torque to obtain a final torque steering compensation torque; outputting the final torque steering compensation torque as a torque steering compensation value.

Preferably, before the step of obtaining the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel, it includes: obtaining the engine torque signal, the steering wheel angle signal and the steering wheel torque signal; When the torque signal meets the preset condition, it enters the torque steering compensation mode.

The present invention also provides a torque steering compensation device, including a processor and a memory: the processor is used to execute the computer program stored in the memory to achieve the steps of the torque steering compensation method described above.

The present invention also provides a vehicle, including the above-mentioned torque steering compensation device.

Preferably, the vehicle further includes: a basic power assist module. The basic power assist module is connected with the torque steering compensation device, and is used for receiving the torque steering compensation value, so as to output basic power assist information according to the torque steering compensation value and the steering wheel torque signal.

Preferably, the vehicle further includes: a motor control module; the motor control module is connected to the basic assist module, and is configured to output a motor control instruction according to the basic assist information.

The present invention also provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned torque steering compensation method are realized.

The torque steering compensation method, device, vehicle and storage medium of the present invention can output the torque steering compensation value according to the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel, and can compensate for working conditions with different road adhesion coefficients , further improving the use range of torque steering compensation, thereby further enhancing the driving experience.

The above description is only an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, it can be implemented according to the contents of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable , the following preferred embodiments will be described in detail in conjunction with the accompanying drawings.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a schematic structural diagram of an existing EPS system;

Fig. 2 is a schematic diagram of the formation principle of torque steering;

FIG. 3 is a schematic flowchart of a torque steering compensation method provided by the first embodiment of the present invention;

FIG. 4 is a schematic diagram of the principle of obtaining the first gain coefficient in the torque steering compensation method shown in FIG. 3 according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of the relationship between the input and output of the calibration Map1 shown in FIG. 4 provided by an embodiment of the present invention.

6 is a schematic diagram of the principle of obtaining the first torque steering compensation torque according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of the relationship between input and output of the calibration Map2 shown in FIG. 6 provided by an embodiment of the present invention.

FIG. 8 is a schematic diagram of the relationship between input and output of the calibration Map3 shown in FIG. 6 provided by an embodiment of the present invention.

Fig. 9 is a schematic flowchart of a torque steering compensation method provided by the second embodiment of the present invention.

FIG. 10 is a schematic diagram of the principle of step S96 shown in FIG. 9 provided by an embodiment of the present invention.

FIG. 11 is a schematic diagram of the relationship between input and output of the calibration Map4 shown in FIG. 10 provided by an embodiment of the present invention.

Fig. 12 is a schematic diagram of some modules of a vehicle provided by an embodiment of the present invention.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

first embodiment

Fig. 3 is a schematic flowchart of a torque steering compensation method provided by the first embodiment of the present invention. As shown in Figure 3, the torque steering compensation method provided by this embodiment includes the following steps:

Step S31: Obtain the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel;

Step S32: Outputting a torque steering compensation value according to the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel.

Wherein, when the vehicle is a front-drive vehicle, the left wheel is the left front wheel, and the right wheel is the right front wheel. When the vehicle is a multi-wheel drive vehicle such as a four-wheel drive vehicle, the left wheel includes a left front wheel and a left rear wheel, and the right wheel includes a right front wheel and a right rear wheel.

In an embodiment, the road surface adhesion coefficient may be obtained, but not limited to, by performing image recognition on real-time image information corresponding to the wheels. Specifically, the real-time image information corresponding to the wheels may be acquired through a camera installed on the vehicle, but not limited to.

In one embodiment, step S32: Outputting the torque steering compensation value according to the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel, including:

Obtain the difference between the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel;

Obtain a first gain coefficient according to the product of the difference value and the reference value;

According to the first gain coefficient and the current vehicle speed, the first torque steering compensation torque is obtained.

In one embodiment, according to the product of the difference value and the reference value, the step of obtaining the first gain coefficient is shown in Figure 4, including:

The difference between the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel is low-pass filtered through the low-pass filter LPF to filter out the noise, and then the filtered difference is obtained, and then the filtered difference is passed through the absolute value The function Abs takes the absolute value, and the filtered difference is obtained by taking the sign function Sgn to obtain the sign of the difference, and the result of multiplying the absolute value and the reference value Refe is used as the input of the calibration Map1, and then the output of the calibration Map1 and The difference signs are multiplied to obtain the first gain coefficient Gain1. Specifically, the calibration Map1 may be, but not limited to, preset by the user or the system, as shown in FIG. 5 , which is a schematic diagram of the relationship between input and output of the calibration Map1 according to an embodiment of the present invention.

In one embodiment, the step of obtaining the first torque steering compensation torque according to the first gain coefficient and the current vehicle speed may include but not limited to:

Obtain the engine output torque, and obtain the original torque steering compensation torque according to the engine output torque and the current vehicle speed;

Acquiring the correction amount according to the current vehicle speed and the first gain coefficient;

The original torque steering compensation torque is corrected by the correction amount to obtain the first torque steering compensation torque.

Specifically, please refer to FIG. 6. FIG. 6 is a schematic diagram of the principle of obtaining the first torque steering compensation torque according to an embodiment of the present invention. As shown in FIG. Steering compensation torque, the current vehicle speed and the first gain coefficient Gain1 are used as the input of the calibration Map3, and after the correction amount is obtained, the first torque steering compensation torque is obtained by superimposing the correction amount and the original torque steering compensation torque.

In addition, in an embodiment, the torque steering compensation method further includes outputting a first torque steering compensation torque when the ON/OFF switch is in a conducting state. Specifically, the ON/OFF switch can be turned on when the engine torque signal, the steering wheel angle signal and the steering wheel torque signal meet the preset conditions, and the enable signal Enable is received, and the engine torque signal, the steering wheel angle signal and the steering wheel torque signal When the preset condition is met, the exit signal Disable is received and the terminal is terminated.

Calibration Map2 and calibration Map3 may be, but not limited to, preset by the user or the system. FIG. 7 is a schematic diagram of the relationship between input and output of the calibration Map2 shown in FIG. 6 provided by an embodiment of the present invention. FIG. 8 is a schematic diagram of the relationship between input and output of the calibration Map3 shown in FIG. 6 provided by an embodiment of the present invention.

In this embodiment, the correction amount is obtained according to the current vehicle speed and the first gain coefficient, and the original torque steering compensation torque is corrected by the correction amount to obtain the first torque steering compensation torque, and the first torque steering compensation torque is used as the torque steering compensation The value is output, so it can accurately compensate for the working conditions of different road adhesion coefficients, and further accurately improve the use range of torque steering compensation, thereby further improving the driving experience.

second embodiment

Fig. 9 is a schematic flowchart of a torque steering compensation method provided by the second embodiment of the present invention. As shown in Figure 9, the torque steering compensation method provided in this embodiment includes the following steps:

Step S91: Obtain the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel;

Step S92: Obtain the difference between the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel;

Step S93: Obtain the first gain coefficient according to the product of the difference value and the reference value;

Step S94: Obtain the first torque steering compensation torque according to the first gain coefficient and the current vehicle speed;

Step S95: Obtain the steering wheel torque signal;

Step S96: Obtain the second gain coefficient according to the hand feeling style setting signal and the steering wheel torque signal;

Step S97: multiplying the second gain coefficient by the first torque steering compensation torque to obtain the final torque steering compensation torque;

Step S98: Outputting the final torque steering compensation torque as a torque steering compensation value.

Wherein, the acquisition of the first gain coefficient and the acquisition of the second gain coefficient are not limited to the above sequence, and the second gain coefficient may be obtained first and then the first gain coefficient, or the first gain coefficient and the second gain coefficient may be obtained at the same time, etc., and in addition The numbers of all the above steps are not used to limit the sequence.

Specifically, as shown in FIG. 10, step S96: obtaining the second gain coefficient according to the handle style setting signal and the steering wheel torque signal includes performing low-pass filtering on the steering wheel torque signal to perform noise processing, and converting the low-pass filtered steering wheel torque The signal and feel style setting signal is used as the input of the calibration Map4 to obtain the second gain coefficient Gain2. Among them, the calibration Map4 can be preset by the user or the system, but not limited to, as shown in Figure 11, when the steering wheel torque signal is greater than the preset value, the second gain coefficient Gain2 will decrease as the steering wheel torque signal becomes larger. The magnitude of the slope of is determined by the feel style setting signal. Wherein, the feel style setting signal may include, but is not limited to, sports, standard and comfort.

In this embodiment, the second gain coefficient is obtained according to the feel style setting signal and the steering wheel torque signal, and the second gain coefficient is multiplied by the first torque steering compensation torque to obtain the final torque steering compensation torque, that is, the torque steering compensation value. While accurately compensating for the working conditions of different road adhesion coefficients, it improves the driver's hand feeling experience.

The present invention also provides a torque steering compensation device, which at least includes: a processor and a memory, wherein the processor is used to execute the computer program stored in the memory to perform the steps of the above torque steering compensation method.

Wherein, the memory may be a volatile memory or a non-volatile memory, and may also include both volatile and non-volatile memory. Wherein, the non-volatile memory can be a read-only memory (ROM, Read Only Memory), a programmable read-only memory (PROM, Programmable Read-Only Memory), an erasable programmable read-only memory (EPROM, Erasable Programmable Read-Only Memory), Only Memory), Electrically Erasable Programmable Read-Only Memory (EEPROM, Electrically Erasable Programmable Read-Only Memory), Magnetic Random Access Memory (FRAM, ferromagnetic random access memory), Flash Memory (Flash Memory), Magnetic Surface Memory , CD, or CD-ROM (CD-ROM, Compact Disc Read-Only Memory); the magnetic surface storage can be disk storage or tape storage. The volatile memory may be random access memory (RAM, Random Access Memory), which is used as an external cache. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM, Static Random Access Memory), Synchronous Static Random Access Memory (SSRAM, Synchronous Static Random Access Memory), Dynamic Random Access Memory Memory (DRAM, Dynamic Random Access Memory), Synchronous Dynamic Random Access Memory (SDRAM, Synchronous Dynamic Random Access Memory), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM, Double Data Rate Synchronous Dynamic Random Access Memory), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM, Enhanced Synchronous Dynamic Random Access Memory), Synchronous Link Dynamic Random Access Memory (SLDRAM, SyncLink Dynamic Random Access Memory), Direct Memory Bus Random Access Memory (DRRAM, Direct Rambus Random Access Memory).

The present invention also provides a vehicle, including the above-mentioned torque steering compensation device.

As shown in FIG. 12 , in one embodiment, a vehicle includes a torque steer compensation device. Specifically, the torque steering compensation device includes a different road surface coefficient judging part, a TSC enabling judging part, a TSC output value calibrating part, a TSC exit judging part, and a TSC feel improving part. Specifically, the different road surface coefficient determination unit is used to obtain the first gain coefficient Gain according to the difference between the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel. The TSC output value calibration unit obtains the first torque steering compensation torque according to the first gain coefficient and the current vehicle speed, and outputs the first torque steering compensation torque when receiving the enabling signal Enable output by the TSC enabling judgment unit, and receives the TSC The exit signal Disable output by the exit judging unit does not output the first torque steering compensation torque. The TSC feel improvement part outputs the second gain coefficient Gain according to the feel style setting signal and the steering wheel torque signal, so that the torque steering compensation device outputs the final torque steering compensation torque, that is, torque steering, according to the product of the second gain coefficient and the first torque steering compensation torque compensation value.

In one embodiment, the vehicle further includes: a basic power assist module. The basic assist module is connected with the torque steering compensation device, and is used to receive the torque steering compensation value, so as to output the basic assist information according to the torque steering compensation value and the steering wheel torque signal.

In one embodiment, the vehicle further includes: a centering module, a damping module, and a high-frequency gain module.

In one embodiment, the vehicle further includes: a motor control module. The motor control module is connected with the basic power assist module, and is used for outputting motor control commands according to the basic power assist information. In one embodiment, the motor control module is also connected to the centering module, the damping module, and the high-frequency gain module, and is used to generate motor control commands according to the outputs of the basic booster module, the centering module, the damping module, and the high-frequency gain module.

The present invention also provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, the steps of the torque steering compensation method as described in the first embodiment are realized.

In one embodiment, the computer-readable storage medium provided by this embodiment may include any entity or device or recording medium capable of carrying computer program codes, such as ROM, RAM, magnetic disk, optical disk, flash memory, and the like.

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

It should be noted that, in this document, the term "comprising", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the statement "comprising a..." does not exclude the presence of other identical elements in the process, method, article, or device that includes the element. In addition, different implementations of the present application Components, features, and elements with the same name in the example may have the same meaning, or may have different meanings, and the specific meaning shall be determined based on the explanation in the specific embodiment or further combined with the context in the specific embodiment. In this article, unless otherwise specified, the meanings of "plurality" and "several" are two or more.

It should be understood that although the various steps in the flow chart in the embodiment of the present application are displayed sequentially as indicated by the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figure may include multiple sub-steps or multiple stages, these sub-steps or stages are not necessarily executed at the same time, but may be executed at different times, and the execution order is not necessarily sequential Instead, it may be performed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the The steps of the above method embodiments are included. The foregoing storage medium includes: various media capable of storing program codes such as ROM, RAM, magnetic disk or optical disk.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (9)

1. A torque steering compensation method, characterized in that, comprising the steps: Obtain the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel; Outputting a torque steering compensation value according to the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel; Wherein, the step of outputting the torque steering compensation value according to the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel includes: Obtain the difference between the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel; Acquiring a first gain coefficient according to the product of the difference and a reference value; According to the first gain coefficient and the current vehicle speed, a first torque steering compensation torque is obtained. 2. The torque steering compensation method according to claim 1, wherein the step of obtaining the first torque steering compensation torque according to the first gain coefficient and the current vehicle speed comprises: Obtaining the engine output torque, and obtaining the original torque steering compensation torque according to the engine output torque and the current vehicle speed; obtaining a correction amount according to the current vehicle speed and the first gain coefficient; The original torque steering compensation torque is corrected by the correction amount to obtain the first torque steering compensation torque. 3. The torque steering compensation method according to claim 1 or 2, wherein the step of outputting the torque steering compensation value according to the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel further comprises: Obtain the steering wheel torque signal; obtaining a second gain coefficient according to the feel style setting signal and the steering wheel torque signal; multiplying the second gain coefficient by the first torque steering compensation torque to obtain a final torque steering compensation torque; The final torque steering compensation torque is output as a torque steering compensation value. 4. The torque steering compensation method according to claim 1, wherein, before the step of obtaining the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel, the steps include: Obtain engine torque signal, steering wheel angle signal and steering wheel torque signal; When the engine torque signal, the steering wheel angle signal and the steering wheel torque signal meet the preset conditions, the torque steering compensation mode is entered. 5. A torque steering compensation device, comprising a processor and a memory: The processor is used to execute the computer program stored in the memory to realize the steps of the torque steer compensation method according to any one of claims 1 to 4. 6. A vehicle, characterized by comprising the torque steer compensation device according to claim 5. 7. The vehicle according to claim 6, further comprising: a basic booster module; The basic power assist module is connected to the torque steering compensation device, and is used for receiving the torque steering compensation value, so as to output basic power assist information according to the torque steering compensation value and the steering wheel torque signal. 8. The vehicle according to claim 7, further comprising: a motor control module; The motor control module is connected to the basic assist module, and is used to output a motor control instruction according to the basic assist information. 9. A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the torque according to any one of claims 1 to 4 is realized Steps to the compensation method.