A vehicle steering control method, device, device and storage medium
A steering control and vehicle technology, which is applied in the direction of automatic steering control components, vehicle components, steering mechanisms, etc., can solve the problems of asymmetrical left and right torque of the steering system, increase workload and complexity, and affect the normal driving of the vehicle, etc., to achieve improved stability Sexuality and comfort, improvement of left and right asymmetry, and improvement of precision
Active Publication Date: 2022-07-26
CHINA AUTOMOTIVE INNOVATION CORP
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Problems solved by technology
[0003] However, on the one hand, this method increases the workload and complexity of the calibration. On the other hand, in the actual production and use of the vehicle, the steering system will have left and right torque asymmetry, which has a large tolerance for design and manufacturing. After the mass production of the steering system, it is impossible to reduce the left and right asymmetry of the steering system one by one, so that the steering force required to control the vehicle to turn left and turn right is inconsistent, thus affecting the normal driving of the vehicle
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[0030] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present application.
[0031] It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that data so used may be interchanged under appropriate circumstances so that the embodiments of the application described herein can be practiced i...
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The present application discloses a vehicle steering control method, device, device and storage medium. The method includes: acquiring driving condition data of a target vehicle and torque symmetry of a steering system of the target vehicle; determining steering based on the driving condition data The initial assist torque of multiple assist modules in the system; based on the driving condition data, torque symmetry and the weight factor of each assist module, determine the compensation gain of each assist module; based on the compensation gain of each assist module, the initial assist torque Proportional control is performed to obtain the assist torque of each assist module; based on the assist torque of multiple assist modules, the steering of the target vehicle is controlled. The solution provided by this application can compensate and correct multiple power assist modules of the steering system based on the torque symmetry of the steering system, so as to improve the left-right asymmetry of the steering system, thereby ensuring the consistency of the steering force when the vehicle is turning left and right, and improving the steering control of the vehicle accuracy and safety of the vehicle.
Description
technical field [0001] The present application relates to the technical field of vehicle steering, and in particular, to a vehicle steering control method, device, device, and storage medium. Background technique [0002] The application of Electric Power Steering (EPS) is gradually becoming the mainstream of automotive steering system technology. EPS can provide steering assistance to the driver according to the steering wheel torque, steering angle, vehicle speed and road conditions. The traditional EPS function algorithm design is based on the assumption that the steering system is left and right symmetrical. For the left and right steering function, the same set of calibration data is used, and only the sign is used to identify the left and right of the steering. At the same time, in the calibration process, by repeatedly adjusting this set of calibration data, try to make up for the difference between the left and right. [0003] However, on the one hand, this method ...
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IPC IPC(8): B62D5/04B62D6/00B62D101/00B62D113/00B62D119/00B62D117/00B62D137/00
CPCB62D5/0463B62D6/00
Inventor 李丰军周剑光繆鹏虎
Owner CHINA AUTOMOTIVE INNOVATION CORP