EPS torque sensor zero torque deviation self-learning and correcting method and system and vehicle

Abstract

The invention discloses an EPS torque sensor zero torque deviation self-learning and correcting method and system and a vehicle. The EPS torque sensor zero torque deviation self-learning and correcting system comprises an electric power steering system, a steering wheel angle sensor and a braking electric control unit. The electric power steering system comprises a torque sensor and a torque zero position self-learning module which are used for judging the achievement condition of a self-learning condition, correcting a torque zero position and outputting a torque signal; the steering wheel angle sensor outputs a steering wheel angle effective signal, a steering wheel angle position signal and a steering wheel rotating speed signal, and the torque zero position self-learning module judges the position state and the rotating state of a steering wheel according to the signals output by the steering wheel angle sensor; the torque sensor is used for outputting a steering wheel steering torque signal; the braking electronic control unit outputs a vehicle speed effective signal and a vehicle speed signal, and the torque zero position self-learning module judges the vehicle running state according to the signal output by the torque zero position self-learning module. According to the invention, the zero torque deviation self-learning and correction of the torque sensor are realized.

Description

Technical field [0001] The present invention belongs to the field of electric power steering system control technology, and there is a specific method, system, and vehicle, a zero torque deviation from an EPS torque sensor zero torque. Background technique [0002] With the continuous development of the automotive industry and the continuous improvement of the automatic driving level, EPS has gradually replaced the traditional hydraulic power steering system, which has become a standard accessory of the passenger car boost steering system. The precise degree of torque signal output from the EPS torque sensor plays a critical role in which the basic steering manifestation, automatic driving (torque control scheme) control, the torque zero is the key to the accuracy of torque signal. However, when the vehicle is affected by the vehicle, the torque is often not zero when the vehicle is straight (the direction of the steering wheel corner position). This phenomenon will cause the dri...

AI Technical Summary

Problems solved by technology

However, due to the influence of the external environment of the vehicle, the torque is often not zero when the vehicle is going straight (the steering wheel angle is at zero position), this phenomenon will cause the driver's left and right steering force to be uneven, and the control of automatic driving (torque control scheme) is not accurate. , affecting the driver's driving and autonomous driving experience

[0003] For example, the patent document CN107128357A discloses an electric power steering system with torque angle self-learning and centering function. Under the condition of a specific ignition sequence combination (such as multiple ignition cycles, the interval between ignition operations, etc.), trigger the start of the EPS controller alignment program module, and collect the corresponding sensor signals to automatically perform alignment calibration; at the same time, the self-learning The calibration method is a one-time specific operation calibration, which cannot continuously correct the torque deviation caused by the use environment during the driver's daily use of the car, so as to ensure that the EPS torque output is closer to the EPS software requirements

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