CN118082968A - Information fusion-based steering road feel simulation calculation method and device and vehicle - Google Patents
Information fusion-based steering road feel simulation calculation method and device and vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
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- 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
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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Abstract
The invention relates to the technical field of intelligent driving, in particular to a method and a device for simulating and calculating steering road feel based on information fusion and a vehicle, wherein vehicle component operation information of the vehicle in the driving process is obtained, vehicle component operation parameters comprise vehicle operation speed information, rack displacement information, steering wheel information, steering torque information and motor rotation speed information, road surface attachment coefficient, boosting moment, vehicle characteristic compensation value and motor characteristic compensation value in the driving process are determined according to the vehicle component operation information in the driving process, and road feel simulation feedback force value in the driving process is determined according to the road surface attachment coefficient, the vehicle characteristic compensation value and the motor characteristic compensation value in the driving process. The road surface condition felt by the driver in the driving process, namely 'road feel', is realized, and the driving safety is improved.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a steering road feel simulation calculation method and device based on information fusion and a vehicle.
Background
Due to the rapid development of artificial intelligence technology and computer technology, the automobile industry technology is updated rapidly and iteratively, the traditional automobile is developed towards the intelligent driving direction, and the steering system is a key ring in the intelligent driving system. On the one hand, the steering system steers according to the operation of a driver on a steering wheel in the running process of the vehicle, and the running direction of the vehicle is changed in real time; on the other hand, the steering system transmits the feedback force of the tires on the ground to the steering wheel in the driving process, and transmits the feedback force to a driver in the form of steering wheel moment, namely, road feel, so that the driver is helped to obtain feedback information transmitted by an automobile and a road in the driving process, and further, the driving operation is corrected. The advantages and disadvantages of the steering system directly affect the safety of the automobile running, the steering comfort of the driver, and the like.
At present, an electric power steering system (Electric Power Steering, EPS) is widely used due to cost reduction, and an output torque is actively controlled by a power-assisted motor according to the difference of a vehicle speed and a steering wheel or a steering torque to realize a steering function, so that a driver obtains good control. However, in the EPS system, the steering wheel is connected to the steering wheel through a mechanical component, and the steering wheel are both bound by a mechanical structure, so that the steering system cannot be freely designed, and therefore, the actual control effect is limited.
The drive-By-wire steering system (Steer-By-WIRE SYSTEM, SBW) structurally abandons a traditional steering mode of mechanical connection, cancels a steering intermediate shaft, does not have mechanical constraint between a steering wheel and steering wheels, realizes the function of directly controlling a steering executing mechanism on the premise of not influencing a steering wheel assembly, can easily complete variable transmission ratio design, decoupling of steering wheel force transmission and angle transmission and the like, and can better integrate an active safety device into the steering system to improve the driving safety; meanwhile, the steering-by-wire system adopts a modularized idea in function realization, and various sensors complete information interaction through a bus network, so that the development of electric, integrated and intelligent automobiles is facilitated.
However, since the steer-by-wire system cancels the mechanical structure between the steering wheel and the steering wheel, the feedback force of the road surface to the tire cannot be directly transmitted to the steering wheel, and the driver cannot feel the condition of the road surface, i.e., the "road feel", during the driving, resulting in a reduction in driving safety. In view of driving safety and operability, the road feel simulation calculation feedback value is an essential component function of the steer-by-wire system, and an information fusion-based steering road feel simulation calculation method is developed for this purpose.
Disclosure of Invention
The invention aims to provide a steering road feel simulation calculation method, a device and a vehicle based on information fusion, which solve the problem that the driving safety is reduced because the steering wheel and the steering wheel are cancelled by a steer-by-wire system, the feedback force of a road surface to a tire cannot be directly transmitted to the steering wheel, and a driver cannot feel the condition of the road surface in the driving process, namely, the road feel simulation feedback force value, namely, the road feel, cannot be obtained.
In a first aspect, the present invention provides a steering feel simulation calculation method based on information fusion, which is applied to a steer-by-wire system using a rack-and-pinion steering gear as a steering mechanism, comprising;
Acquiring vehicle component operation information of a vehicle in the running process, wherein the vehicle component operation parameters comprise vehicle operation speed information, rack displacement information, steering wheel information, steering torque information and motor rotation speed information;
determining a road adhesion coefficient, a boosting moment, a vehicle characteristic compensation value and a motor characteristic compensation value in the running process of the vehicle according to the running information of the vehicle parts of the vehicle in the running process of the vehicle;
And determining a road feel simulation feedback force value in the running process of the vehicle according to the road adhesion coefficient, the vehicle characteristic compensation value and the motor characteristic compensation value in the running process of the vehicle.
Further, determining a road adhesion coefficient, a boosting torque, a vehicle characteristic compensation value and a motor characteristic compensation value during running of the vehicle, including;
performing rack force filtering noise reduction on the rack displacement information to obtain rack displacement information after rack force filtering noise reduction;
and determining and obtaining main moment in the feedback force according to the rack displacement information after the rack force filtering and noise reduction and the vehicle running speed information.
Further, determining a road adhesion coefficient, a boosting torque, a vehicle characteristic compensation value and a motor characteristic compensation value during running of the vehicle, including;
The steering wheel information comprises steering wheel angle information and steering wheel angular velocity, and the power assisting moment is determined according to the steering wheel information comprising the steering wheel angle information and the steering wheel angular velocity.
Further, determining a road adhesion coefficient, a boosting torque, a vehicle characteristic compensation value and a motor characteristic compensation value during running of the vehicle, including;
Determining preprocessing moment data according to the main moment and the assisting moment in the feedback force;
Substituting the preprocessing moment data into a preset unscented Kalman filter to obtain a road adhesion coefficient in the running process of the vehicle.
Further, it also includes;
Substituting the road adhesion coefficient into a gain function of a preset road adhesion coefficient in the running process of the vehicle to calculate, and obtaining the torque after gain processing.
Further, determining a road adhesion coefficient, a boosting torque, a vehicle characteristic compensation value and a motor characteristic compensation value during running of the vehicle, including;
The vehicle characteristic compensation value comprises damping control torque, active correcting torque and correcting speed torque;
determining steering wheel angles and steering wheel rotational speeds according to the steering torque, the motor rotational speeds and the steering wheel angles;
Substituting the steering wheel angle and the steering wheel rotating speed into a preset damping control torque model, and calculating to obtain damping control torque;
calculating the steering wheel angle and the vehicle running speed information to obtain an active correcting compensation torque, and performing amplitude limiting and gain processing on the active correcting compensation torque to obtain an active correcting torque;
The steering angle and the steering wheel steering angle are used for judging the steering state of the vehicle, namely the steering wheel is turned out or is corrected, the steering speed of the vehicle is judged through the steering speed and the steering wheel steering speed, the steering wheel angular speed required by the corresponding steering wheel correction is calculated through the judged steering angle, steering speed and vehicle speed, the steering wheel correction angular speed is used as a target, the required correction speed compensation torque is obtained, and the obtained correction speed compensation torque is subjected to amplitude limiting and gain adjustment, so that the final required correction speed compensation torque is obtained.
Further, determining a road adhesion coefficient, a boosting torque, a vehicle characteristic compensation value and a motor characteristic compensation value in the running process of the vehicle, and further comprising;
the motor characteristic compensation comprises motor loss compensation and motor inertia compensation;
inputting the motor rotation speed into a torque compensation calculation model to obtain corresponding compensation torque, and adjusting amplitude limit and gain of the compensation torque to obtain required motor loss compensation torque;
And performing low-pass filtering processing on the input motor rotating speed, adopting a 1-order IIR filter, performing approximate differentiation on a motor speed signal subjected to low-pass filtering to calculate a motor angular acceleration signal, taking the motor angular acceleration signal as an input motor inertia compensation model for calculation, adopting a 1-order IIR digital filter for phase compensation to obtain a corresponding torque result, performing phase forward compensation on the corresponding torque result, calculating a control gain according to the vehicle speed, multiplying the motor angular acceleration signal, performing corresponding amplitude limiting processing, and obtaining the final motor inertia compensation.
In a second aspect, the present invention provides a steer-by-wire road feel simulation device based on multi-information perception fusion, the device comprising;
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring vehicle part operation information of a vehicle in the running process, and the vehicle part operation parameters comprise vehicle operation speed information, rack displacement information, steering wheel information, steering torque information and motor rotation speed information;
The determining module is used for determining road adhesion coefficient, boosting moment, vehicle characteristic compensation value and motor characteristic compensation value in the running process of the vehicle according to the running information of the vehicle component in the running process of the vehicle;
And determining a road feel simulation feedback force value in the running process of the vehicle according to the road adhesion coefficient, the vehicle characteristic compensation value and the motor characteristic compensation value in the running process of the vehicle.
In a third aspect, the present invention provides a vehicle comprising;
A memory for storing executable program code;
And the processor is used for calling and running the executable program codes from the memory so that the vehicle executes the information fusion-based steering road feel simulation calculation method.
The beneficial effects of the invention are as follows: the invention provides a steering road feel simulation calculation method, a device and a vehicle based on information fusion, which have the beneficial effects that compared with the prior art, the invention has the following advantages:
according to the invention, the control strategy of the traditional electric power steering system is analyzed, and the power-assisted moment formula of the SBW system is designed, so that the obtained power-assisted moment is more in line with the control habit of modern drivers, and the drivers are helped to obtain more accurate feedback values and more familiar road feel when driving.
The invention obtains more accurate main feedback moment by observing the displacement of the rack. The invention designs damping control torque compensation to avoid the problem of steering wheel 'waft' when the vehicle runs at high speed. The invention designs the active return torque and the return speed torque, improves the return performance of the steering wheel and the steering performance near the middle point during high-speed running. The invention reduces the torque loss compensation of the motor of the SBW system. The invention designs a motor inertia compensation strategy, reduces inertia response of a speed reducing mechanism of a power-assisted motor of the SBW system, and improves quick steering response capability.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a flowchart of a method for simulating and calculating steering feel based on information fusion according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments of the present invention and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. The following describes in detail the technical solutions provided by the embodiments of the present invention with reference to the accompanying drawings.
Referring to fig. 1, the invention relates to a road feel simulation calculation method, a road feel simulation calculation device and a vehicle based on multi-information perception fusion, which relate to steer-by-wire. The steering-by-wire system can be accurately reflected, and the feedback force of the road surface to the steering wheel can be accurately reflected when the vehicle turns. The method can help the driver to judge the running state of the vehicle and improve the running safety of the vehicle.
The road feel simulation calculation method for multi-information perception fusion is mainly realized by the following technical scheme:
The road feel simulation calculation method based on the multi-information sensing fusion is suitable for a steer-by-wire system taking a rack-and-pinion steering gear as a steering mechanism.
The road feel simulation calculation method for the multi-information perception fusion mainly comprises the following steps: the method comprises the following four parts of observation of rack force displacement, calculation of power assisting moment, compensation of vehicle characteristics and compensation of motor characteristics.
The invention provides a steering road feel simulation calculation method based on information fusion, which is applied to a steer-by-wire system taking a rack-and-pinion steering gear as a steering mechanism, and comprises the following steps of;
In step S101, vehicle component operation information of a vehicle during running is obtained, where the vehicle component operation parameters include vehicle operation speed information, rack displacement information, steering wheel information, steering torque information, and motor rotation speed information;
In step S102, determining a road adhesion coefficient, a boosting moment, a vehicle characteristic compensation value and a motor characteristic compensation value during the running process of the vehicle according to the running information of the vehicle components during the running process of the vehicle;
In step S103, a road feel simulation feedback force value during running of the vehicle is determined based on the road adhesion coefficient, the vehicle characteristic compensation value and the motor characteristic compensation value during running of the vehicle
In particular, since the coupling forces between the wheels and the ground can be indirectly reflected by the rack forces, the rack forces also contain all useful information about the vehicle and the road conditions. Therefore, the invention calculates the main moment in the feedback force through the displacement of the rack and the vehicle speed.
In particular, the rack displacement information contains not only useful information, but also a lot of disturbance information such as vibrations, friction signals, etc., which are also transmitted directly to the steering torque required for the steering wheel by the main torque. Therefore, rack force filtering needs to be performed before main moment is calculated, interference signals such as vibration and friction are filtered, and a driver is helped to better grasp the states of a road and a vehicle.
Specifically, the rack filter is formed by weighting and parallel connection of low-pass, band-pass and band-stop filters, wherein the low-pass, band-pass and band-stop filters are respectively formed by continuous time transfer functionsDescribed as shown in equations (1) - (3).The filter gains are respectively the filter gains, so that the effect of reducing the corresponding component filter can be enhanced.
；(1)
；(2)
(3)
In the method, in the process of the invention,Characteristic frequencies of the low-pass, band-pass and band-stop filters are respectively represented; Indicating the operating frequency bands of the band pass filter and the band reject filter.
Specifically, calculation of the assist torque is required. The invention analyzes the control strategy of the traditional electric power steering system to obtain that the designed power-assisted moment generally changes along with the change of the speed of the vehicle and the steering of the steering wheel, thereby the designed power-assisted momentAs shown in formula (4).
(4)
In the method, in the process of the invention,The steering wheel rotation angle gain and the speed gain are respectively empirical values; /(I)The vehicle speed is the vehicle speed; /(I)Is the steering angle of the steering wheel;
Specifically, the condition of the road changes in real time, particularly the adhesion coefficient of the road surface, while the vehicle is running. The adhesion coefficient of the road surface affects the slip ratio of the tire to the road surface, the acceleration performance of the vehicle, the steering stability of the vehicle, and the like. Therefore, the road adhesion coefficient has a certain influence on the calculation of the feedback force in the SBW system.
Therefore, the invention calculates a gain of the calculated main moment and the calculated power-assisted moment according to the adhesion coefficients of different road surfaces when the vehicle runs, adjusts the feedback force to a certain extent, and helps a driver to feel the real-time condition of the road and the running state of the vehicle more clearly when driving the vehicle.
Specifically, the invention estimates the adhesion coefficient of the road in the running state of the vehicle through unscented Kalman filtering. And estimating the road adhesion coefficient by using unscented Kalman filtering, and establishing a corresponding state equation and an observation equation. From the automobile dynamics equation, it can be seen that:
(5)
(6)
(7)
(8)
In the method, in the process of the invention, And/>The longitudinal force and the lateral force of the tire are calculated by a magic tire model; /(I)And/>Longitudinal acceleration and lateral acceleration of the vehicle, respectively; /(I)Refers to the yaw rate of the vehicle.
Establishing a state space equation:
(9)
Observation equation:
(10)
In the method, in the process of the invention, Is an observed state matrix element with respect to yaw acceleration; /(I)、/>、/>Representing the longitudinal force of the front and rear wheels of a motor vehicle,/>、/>、/>Representing the lateral force of the front and rear wheels of the automobile;
Specifically, the invention estimates the adhesion coefficient of the current road through unscented Kalman filtering, and designs a gain function related to the road adhesion coefficient. The main moment is subtracted from the calculated power assisting moment through the text, and then the calculated power assisting moment is multiplied by the gain function of the road attachment coefficient to obtain the corresponding feedback moment. The gain function related to the road attachment coefficient designed by the invention is as follows:
(11)
(12)
In the method, in the process of the invention, The main moment is obtained through the displacement of the rack; /(I)Is a power-assisted moment; /(I)Is a coefficient function and is an empirical value; /(I)Representing an attachment coefficient of the unscented Kalman filter estimation; /(I)Representing the torque after gain processing.
Specifically, the present invention compensates vehicle characteristics in order to enable a driver to more accurately recognize a vehicle state by steering and to adjust electric power based on a steering angle, a steering speed, and a vehicle speed. The vehicle characteristic compensation mainly comprises damping control torque compensation, active positive return torque compensation and positive return speed torque compensation.
Specifically, the vehicle characteristic compensation module of the invention firstly processes and calculates three information amounts of steering torque, motor rotation speed and steering angle to obtain steering wheel rotation angle and steering wheel rotation speed (SW steering angle and SW steering speed).
Specifically, the steering wheel is too light when the automobile runs at a high speed, the feeling of "wagging" is easy to occur, the phenomenon of overshoot is easy to occur when the steering wheel is returned, and safety accidents are easy to occur.
Therefore, the invention designs a damping control torque compensation to solve the problems, so that a driver can obtain clearer road feel when the automobile runs at a high speed, and the phenomenon of back-up overshoot of the steering wheel is restrained. The damping control torque of the present invention is shown in equation (13).
(13)
In the method, in the process of the invention,Representing damping control torque; /(I)Representing SW steering angle; ; /(I)Representing a vehicle speed function, it can be designed to:
(14)
In the method, in the process of the invention, Is a damping coefficient; /(I)To adjust the gain; /(I)Is the critical vehicle speed.
Specifically, in order to improve the alignment characteristic of the steering wheel and the hysteresis band and torque reaction near the midpoint, the invention designs the active alignment compensation torque, calculates the required active alignment compensation torque through the input steering angle and the vehicle speed, carries out amplitude limiting treatment and gain adjustment, and finally obtains the active alignment torque. The invention obtains the corresponding torque in the corresponding correction characteristic torque model according to the input steering angle, adjusts the torque according to the vehicle speed, carries out amplitude limiting treatment on the obtained value, and finally multiplies the corresponding adjustment gain to carry out the output of the active correction torque.
Specifically, the invention designs a return speed compensation torque for improving the return performance of a steering wheel during low-speed running and the steering performance near the middle point during high-speed running.
Firstly, judging the steering state of the vehicle through the steering angle and the SW steering angle, namely whether the steering wheel turns out or returns to the normal state; then judging the steering speed of the vehicle through the steering speed and the SW steering speed; and then calculating the steering wheel angular speed required by the corresponding steering wheel alignment through the determined steering angle, steering speed and vehicle speed, and obtaining the required alignment speed compensation torque through a PID control method by taking the steering wheel alignment angular speed as a target. Then, the gain of the response corresponding to the steering torque, steering angle, vehicle speed and steering condition (turning out or turning back) is obtained by looking up a table through a designed gain curve pair, so that the return speed compensation torque is adjusted; finally, the obtained torque is subjected to amplitude limiting and gain adjustment, and finally the required return speed compensation torque is obtained.
Specifically, the present invention designs motor characteristic compensation in order to achieve easier steering wheel control and to control the influence of external factors affecting the steering wheel. The motor characteristic compensation of the invention mainly comprises two aspects of motor loss compensation and motor inertia compensation.
Specifically, due to friction and motor magnetic force, even if current passes through the motor, the current is sometimes not converted into torque. The torque at this time is called torque loss. Since motor torque is only generated when a torque indication exceeding the torque loss is given, there is a case where control fails when the given torque indication does not reach the loss torque. Therefore, the invention compensates the torque loss of the motor and improves the response when the torque instruction is smaller. Firstly, inputting the rotating speed of a motor into a torque compensation calculation model to obtain corresponding compensation torque; then, as the torque compensation model has noise when the motor rotating speed is 0 point, in order to prevent shaking, the torque compensation model needs to be subjected to low-pass filtering treatment so as to reduce the noise; and after low-pass filtering treatment, regulating amplitude limiting and gain of the obtained compensation torque to finally obtain the required motor loss compensation torque. The low-pass filtering of the invention adopts a 1-order IIR filter, and the difference equation of the filter is as follows:
(15)
Specifically, in order to reduce the inertia response of a speed reducing mechanism of an auxiliary motor of an SBW system and improve the quick steering response capability, the invention designs a motor inertia compensation. Firstly, in order to reduce high-frequency noise of a motor speed signal, carrying out low-pass filtering processing on the input motor speed, wherein a 1-order IIR filter is adopted; secondly, performing approximate differentiation on the motor speed signal after low-pass filtering to calculate a motor angular acceleration signal; and then, taking the motor angular acceleration signal as an input motor inertia compensation model to calculate, and adopting a 1-order IIR digital filter for phase compensation to obtain a corresponding torque result. And then, performing phase forward compensation on the result, calculating a control gain according to the vehicle speed, multiplying the control gain by a motor angular acceleration signal, and performing corresponding amplitude limiting processing to obtain final motor inertia compensation.
In a second aspect, the present invention provides a steer-by-wire road feel simulation device based on multi-information perception fusion, the device comprising;
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring vehicle part operation information of a vehicle in the running process, and the vehicle part operation parameters comprise vehicle operation speed information, rack displacement information, steering wheel information, steering torque information and motor rotation speed information;
The determining module is used for determining road adhesion coefficient, boosting moment, vehicle characteristic compensation value and motor characteristic compensation value in the running process of the vehicle according to the running information of the vehicle component in the running process of the vehicle;
And determining a road feel simulation feedback force value in the running process of the vehicle according to the road adhesion coefficient, the vehicle characteristic compensation value and the motor characteristic compensation value in the running process of the vehicle.
In a third aspect, the present invention provides a vehicle comprising;
A memory for storing executable program code;
And the processor is used for calling and running the executable program codes from the memory so that the vehicle executes the information fusion-based steering road feel simulation calculation method.
It will be apparent to those skilled in the art that the techniques of embodiments of the present invention may be implemented by means of control software plus a necessary general purpose hardware platform. Based on such understanding, the technical solutions in the embodiments of the present invention may be embodied in essence or contributing to the prior art in the form of a software product, which may be stored in a storage medium, such as a vehicle-mounted computer, an internet cloud server, a hard disk, a ROM/RAM, a magnetic disk, an optical disk, etc., and include several instructions for causing a computer device (which may be a vehicle-mounted computer, a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments of the present invention. The embodiments of the present invention described above do not limit the scope of the present invention.
Claims (9)
1. The information fusion-based steering road feel simulation calculation method is characterized by comprising the following steps of;
Acquiring vehicle component operation information of a vehicle in the running process, wherein the vehicle component operation parameters comprise vehicle operation speed information, rack displacement information, steering wheel information, steering torque information and motor rotation speed information;
determining a road adhesion coefficient, a boosting moment, a vehicle characteristic compensation value and a motor characteristic compensation value in the running process of the vehicle according to the running information of the vehicle parts of the vehicle in the running process of the vehicle;
And determining a road feel simulation feedback force value in the running process of the vehicle according to the road adhesion coefficient, the vehicle characteristic compensation value and the motor characteristic compensation value in the running process of the vehicle.
2. The information fusion-based steering feel simulation calculation method according to claim 1, wherein determining a road adhesion coefficient, a boosting torque, a vehicle characteristic compensation value, and a motor characteristic compensation value during driving of a vehicle includes;
performing rack force filtering noise reduction on the rack displacement information to obtain rack displacement information after rack force filtering noise reduction;
and determining and obtaining main moment in the feedback force according to the rack displacement information after the rack force filtering and noise reduction and the vehicle running speed information.
3. The information fusion-based steering feel simulation calculation method according to claim 2, further comprising;
The steering wheel information comprises steering wheel angle information and steering wheel angular speed, and the power-assisted moment is determined.
4. The information fusion-based steering feel simulation calculation method according to claim 3, further comprising;
Determining preprocessing moment data according to the main moment and the assisting moment in the feedback force;
Substituting the preprocessing moment data into a preset unscented Kalman filter to obtain a road adhesion coefficient in the running process of the vehicle.
5. The information fusion-based steering feel simulation calculation method according to claim 4, further comprising;
Substituting the road adhesion coefficient into a gain function of a preset road adhesion coefficient in the running process of the vehicle to calculate, and obtaining the torque after gain processing.
6. The information fusion-based steering feel simulation calculation method according to claim 5, further comprising;
The vehicle characteristic compensation value comprises damping control torque, active correcting torque and correcting speed torque;
determining steering wheel angles and steering wheel rotational speeds according to the steering torque, the motor rotational speeds and the steering wheel angles;
Substituting the steering wheel angle and the steering wheel rotating speed into a preset damping control torque model, and calculating to obtain damping control torque;
calculating the steering wheel angle and the vehicle running speed information to obtain an active correcting compensation torque, and performing amplitude limiting and gain processing on the active correcting compensation torque to obtain an active correcting torque;
The steering angle and the steering wheel steering angle are used for judging the steering state of the vehicle, namely the steering wheel is turned out or is corrected, the steering speed of the vehicle is judged through the steering speed and the steering wheel steering speed, the steering wheel angular speed required by the corresponding steering wheel correction is calculated through the judged steering angle, steering speed and vehicle speed, the steering wheel correction angular speed is used as a target, the required correction speed compensation torque is obtained, and the obtained correction speed compensation torque is subjected to amplitude limiting and gain adjustment, so that the final required correction speed compensation torque is obtained.
7. The information fusion-based steering feel simulation calculation method according to claim 6, further comprising;
the motor characteristic compensation comprises motor loss compensation and motor inertia compensation;
inputting the motor rotation speed into a torque compensation calculation model to obtain corresponding compensation torque, and adjusting amplitude limit and gain of the compensation torque to obtain required motor loss compensation torque;
And performing low-pass filtering processing on the input motor rotating speed, adopting a 1-order IIR filter, performing approximate differentiation on a motor speed signal subjected to low-pass filtering to calculate a motor angular acceleration signal, taking the motor angular acceleration signal as an input motor inertia compensation model for calculation, adopting a 1-order IIR digital filter for phase compensation to obtain a corresponding torque result, performing phase forward compensation on the corresponding torque result, calculating a control gain according to the vehicle speed, multiplying the motor angular acceleration signal, performing corresponding amplitude limiting processing, and obtaining the final motor inertia compensation.
8. An information fusion-based steering feel simulation computing device, wherein the device comprises;
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring vehicle part operation information of a vehicle in the running process, and the vehicle part operation parameters comprise vehicle operation speed information, rack displacement information, steering wheel information, steering torque information and motor rotation speed information;
The determining module is used for determining road adhesion coefficient, boosting moment, vehicle characteristic compensation value and motor characteristic compensation value in the running process of the vehicle according to the running information of the vehicle component in the running process of the vehicle;
And determining a road feel simulation feedback force value in the running process of the vehicle according to the road adhesion coefficient, the vehicle characteristic compensation value and the motor characteristic compensation value in the running process of the vehicle.
9. A vehicle, characterized in that the vehicle comprises;
A memory for storing executable program code;
a processor for calling and running the executable program code from the memory, causing the vehicle to perform the method of any one of claims 1 to 7.
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| CN118651303A (en) * | 2024-08-20 | 2024-09-17 | 豫北转向系统(新乡)股份有限公司 | A method for enhancing auxiliary road feeling based on acceleration signal |
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| JP2020185819A (en) * | 2019-05-10 | 2020-11-19 | 日本精工株式会社 | Steering device for vehicle |
| CN111661137A (en) * | 2020-06-15 | 2020-09-15 | 中国第一汽车股份有限公司 | Remote driving road feel simulation method, device and system and storage medium |
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Denomination of invention: A method, device, and vehicle for simulating steering road sensation based on information fusion Granted publication date: 20240712 Pledgee: Bank of China Limited Nanjing Chengdong Branch Pledgor: Nanjing Qiyue Intelligent Control Technology Co.,Ltd. Registration number: Y2024980042848 |