Automobile steering torque control method, system, equipment and medium

Abstract

The invention belongs to the technical field of automobiles, and particularly discloses an automobile steering torque control method which comprises the following steps: acquiring a vehicle state, and acquiring a steering wheel steering angular rate, a steering wheel steering angle, a vehicle speed and a conventional required torque of a vehicle when determining that the vehicle is in a preset steering working condition based on the vehicle state, according to the steering angle of the steering wheel and the vehicle speed, first correction is carried out on the conventional demand torque to obtain first correction torque, according to the steering angle rate of the steering wheel and the vehicle speed, second correction is carried out on the conventional demand torque to obtain second correction torque, and based on the first correction torque and the second correction torque, the first correction torque and the second correction torque are obtained. And when the third correction torque is within the preset safety torque range, the third correction torque is optimized according to the preset comfort constraint condition, and the steering control correction torque is obtained, so that the vehicle steers based on the steering control correction torque. According to the method, the steering angle and the steering angle rate of the steering wheel are dynamically recognized in real time, the torque is accurately corrected according to the vehicle speed, the stability of the vehicle in the steering process can be remarkably improved, the dynamic adjustment can ensure that the vehicle can keep a stable driving state at various speeds and steering angles, and the driving stability of the vehicle is improved. Therefore, the driving safety and comfort are improved.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to an automobile steering torque control method, system, equipment and medium. Background Art

[0002] With the advantages of energy saving and environmental protection, the development of new energy vehicles has received more and more attention. During the steering process of new energy vehicles, due to the changes in the dynamic characteristics of the vehicle, the driver needs to constantly adjust the operation to keep the vehicle stable. Traditional control methods may not be able to respond quickly to small changes in the steering wheel, resulting in unstable steering or slow response of the vehicle. Although existing technologies such as Mazda GVC can optimize the vehicle posture by changing the engine driving torque, its response speed and accuracy are limited. The feature of the present invention is that it improves the naturalness and responsiveness of driving by accurately collecting the steering angle and the steering angle change rate, and accurately and quickly controlling it based on different vehicle speeds.

[0003] Chinese patent number CN117842181A discloses a method, system, device and medium for controlling vehicle steering, and proposes to determine whether to activate the target steering function according to the vehicle's state information; when the target steering function is activated, determine the outer rear wheel and the inner rear wheel according to the steering of the steering wheel; determine the positive target torque of the front axle according to the front wheel speed, and determine the reverse target torque of the rear axle according to the inner rear wheel speed; control the front axle drive motor to output the positive target torque, and control the rear axle drive motor to output the reverse target torque, and according to the outer rear wheel speed, brake the outer rear wheel through the braking system to assist the vehicle in steering. It aims to reduce the vehicle's turning radius to reduce the difficulty of steering the vehicle in a small radius steering scenario, but improve the natural driving feel based on precise and rapid control of different vehicle speeds, which is impossible for the driver to operate.

[0004] Chinese patent number CN117885806A discloses a torque compensation method and device based on steering wheel steering information, wherein the method performs filtering processing on the current steering angle in the current steering wheel steering information at the current moment to obtain the filtered steering angle; determines the steering angle sign, the first steering angular velocity and the first steering angular acceleration according to the filtered steering angle; determines the target steering wheel steering information according to the steering angle sign, the first steering angular velocity and the first steering angular acceleration; wherein the target steering wheel steering information includes the target steering angular velocity and the target steering angular acceleration; performs torque compensation on the electronic hydraulic power steering system according to the target steering wheel steering information to obtain the torque compensation value of the electronic hydraulic power steering system. The present invention improves the accuracy of the subsequent torque compensation value, thereby improving the torque compensation effect of the electronic hydraulic power steering system. However, it cannot improve the natural driving feel based on the precise and rapid control of different vehicle speeds, and cannot dynamically adjust the driving torque at different vehicle speeds.

[0005] Therefore, in view of the above-mentioned defects, the applicant proposes a method, system, device and medium for controlling automobile steering torque. Summary of the invention

[0006] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a method, system, device and medium for controlling automobile steering torque, which is used to solve the problem that the prior art cannot respond quickly to slight changes in the steering wheel, resulting in unstable steering or slow response of the vehicle. By actively changing the driving torque in advance when turning, comprehensive control of longitudinal acceleration is achieved, the four-wheel ground load is optimized, and stable and easy-to-control driving performance is achieved for users when turning.

[0007] To achieve the above-mentioned object and other related objects, the present invention provides a method for controlling a steering torque of an automobile, comprising:

[0008] Get vehicle status;

[0009] When it is determined that the vehicle is in a preset steering condition based on the vehicle state, obtaining a steering wheel steering angle rate, a steering wheel steering angle, a vehicle speed, and a conventional required torque of the vehicle;

[0010] According to the steering wheel steering angle and the vehicle speed, the conventional required torque is first corrected to obtain a first corrected torque:

[0011] performing a second correction on the conventional required torque according to the steering wheel steering angle rate and the vehicle speed to obtain a second corrected torque;

[0012] Based on the first correction torque and the second correction torque, a third correction torque is obtained. When the third correction torque is within a preset safety torque range, the third correction torque is optimized according to a preset comfort constraint condition to obtain a steering control correction torque so that the vehicle steers based on the steering control correction torque.

[0013] The advantage of adopting the above technical solution is that this method accurately collects the steering angle and the steering angle change rate, dynamically adjusts the driving torque at different vehicle speeds, optimizes the vehicle's longitudinal acceleration control, makes the vehicle more stable when turning, reduces the risk of vehicle loss of control caused by steering, and thus improves driving safety.

[0014] Optionally, after acquiring the steering wheel steering angle rate, the steering wheel steering angle, the vehicle speed, and the normal required torque of the vehicle, the method further includes:

[0015] When the vehicle speed is greater than or equal to the preset steering speed corresponding to the forward gear, and the steering wheel steering angle is greater than or equal to the preset steering angle threshold, and the steering wheel steering angle rate is greater than or equal to the preset steering angle rate threshold, and the conventional required torque is greater than or equal to the preset required torque threshold, determine to perform the first correction and the second correction on the conventional required torque.

[0016] Optionally, when making the first correction, a preliminary correction is made to the required torque according to the steering angle of the steering wheel:

[0017] Wherein: driver demand torque after steering angle correction = BASE driver torque demand * x%;

[0018] x% = (two-bit calibratable map based on vehicle speed & steering angle).

[0019] Optionally, when performing the second correction, the required torque is initially corrected according to the steering wheel angular rate:

[0020] Wherein, the driver demand torque after steering angle rate correction = BASE driver torque demand * Y%;

[0021] Y% = (one-dimensional calibratable curve value based on the steering angle change rate).

[0022] Optionally, obtaining a third correction torque based on the first correction torque and the second correction torque includes:

[0023] A smaller operation is performed on the first correction torque and the second correction torque, and the correction torque obtained by the smaller operation is used as the third correction torque.

[0024] Optionally, before obtaining the steering wheel steering angle rate, steering wheel steering angle, vehicle speed, and normal required torque of the vehicle, the steering condition is activated when the following conditions are met;

[0025] The vehicle is in a drivable state and has been engaged in a forward gear;

[0026] The vehicle speed reaches the calibrated value;

[0027] At the same time, the steering wheel angle also needs to reach a preset calibration value or the steering wheel angle rate needs to be greater than a preset calibration threshold;

[0028] The driver's required torque variation range must be greater than the preset calibration threshold, and the driver's required torque itself must also be greater than the preset calibration threshold.

[0029] Optionally, the vehicle steers based on the steering control correction torque, and then further comprises:

[0030] Get exit module setting information;

[0031] When the exit module setting information matches the preset exit information, the vehicle steering torque control is exited.

[0032] Optionally, a vehicle steering torque control system is characterized by comprising:

[0033] An information acquisition module, used to acquire a steering wheel steering angle rate, a steering wheel steering angle, a vehicle speed, and a conventional required torque of the vehicle;

[0034] The first correction module is used to perform a first correction on the conventional required torque according to the steering wheel steering angle and the vehicle speed to obtain a first corrected torque:

[0035] A second correction module, configured to perform a second correction on the conventional required torque according to the steering wheel steering angle rate and the vehicle speed to obtain a second corrected torque;

[0036] A steering control module is used to obtain a third correction torque based on the first correction torque and the second correction torque. When the third correction torque is within a preset safety torque range, the third correction torque is optimized according to a preset comfort constraint condition to obtain a steering control correction torque so that the vehicle can steer based on the steering control correction torque.

[0037] Optionally, an electronic device comprises: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the above method.

[0038] Optionally, a computer-readable storage medium stores a computer program executable by an electronic device, and when the computer program runs on the electronic device, the electronic device executes the steps of the above method.

[0039] As described above, the automobile steering torque control method, system, device and medium proposed by the present invention have the following beneficial effects:

[0040] (1) This method accurately collects the steering angle and steering angle change rate, dynamically adjusts the driving torque at different vehicle speeds, and optimizes the vehicle's longitudinal acceleration control, making the vehicle more stable when turning, reducing the risk of vehicle loss of control caused by steering, and thus improving driving safety.

[0041] (2) Compared with traditional torque control methods, this technology can respond to torque changes caused by steering in a very short time, with more precise and accurate control, avoiding unnecessary acceleration or deceleration during driving, making the driving experience more natural and smooth.

[0042] (3) By precisely controlling torque, unnecessary power waste is reduced, energy efficiency is improved, and the endurance of new energy vehicles is enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 Shown is an electrical diagram of a dynamic torque control system based on a steering angle in one embodiment of the present invention;

[0044] Figure 2 Shown is a diagram of a dynamic torque control system based on steering angle in one embodiment of the present invention;

[0045] Figure 3 Shown is a functional diagram of a dynamic torque control system based on steering angle in one embodiment of the present invention. DETAILED DESCRIPTION

[0046] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0047] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0048] like Figures 1 to 3 As shown, the present invention proposes a method, system, device and medium for controlling automobile steering torque, which are applied in the automobile field.

[0049] In an exemplary embodiment, a vehicle steering torque control method includes:

[0050] Get vehicle status;

[0051] When it is determined that the vehicle is in a preset steering condition based on the vehicle state, obtaining a steering wheel steering angle rate, a steering wheel steering angle, a vehicle speed, and a conventional required torque of the vehicle;

[0052] According to the steering wheel steering angle and the vehicle speed, the conventional required torque is first corrected to obtain a first corrected torque:

[0053] performing a second correction on the conventional required torque according to the steering wheel steering angle rate and the vehicle speed to obtain a second corrected torque;

[0054] Based on the first correction torque and the second correction torque, a third correction torque is obtained. When the third correction torque is within a preset safety torque range, the third correction torque is optimized according to a preset comfort constraint condition to obtain a steering control correction torque so that the vehicle steers based on the steering control correction torque.

[0055] The advantage of adopting the above technical solution is that by dynamically identifying the steering angle and steering angle rate of the steering wheel in real time and accurately correcting the torque according to the vehicle speed, the stability of the vehicle during the steering process can be significantly improved. This dynamic adjustment can ensure that the vehicle can maintain a stable driving state at various speeds and steering angles, thereby improving driving safety and comfort.

[0056] Exemplarily, after acquiring the steering wheel steering angle rate, the steering wheel steering angle, the vehicle speed, and the normal required torque of the vehicle, the method further includes:

[0057] When the vehicle speed is greater than or equal to the preset steering speed corresponding to the forward gear, and the steering wheel steering angle is greater than or equal to the preset steering angle threshold, and the steering wheel steering angle rate is greater than or equal to the preset steering angle rate threshold, and the conventional required torque is greater than or equal to the preset required torque threshold, determine to perform the first correction and the second correction on the conventional required torque.

[0058] Exemplarily, after acquiring the steering wheel steering angle rate, the steering wheel steering angle, the vehicle speed, and the normal required torque of the vehicle, the method further includes:

[0059] When the vehicle speed is greater than or equal to the preset steering speed corresponding to the forward gear, and the steering wheel steering angle is greater than or equal to the preset steering angle threshold, and the steering wheel steering angle rate is greater than or equal to the preset steering angle rate threshold, and the conventional required torque is greater than or equal to the preset required torque threshold, determine to perform the first correction and the second correction on the conventional required torque.

[0060] Exemplarily, when performing the first correction, the required torque is initially corrected according to the steering angle of the steering wheel:

[0061] Wherein: driver demand torque after steering angle correction = BASE driver torque demand * x%;

[0062] x% = (two-bit calibratable map based on vehicle speed & steering angle).

[0063] In this formula, "BASE driver torque request" refers to the torque value requested by the driver through the accelerator pedal or other input device without any specific conditions (such as a specific vehicle speed or steering angle). This value represents the driver's basic power demand without considering the current state of the vehicle (such as acceleration, deceleration, turning, etc.).

[0064] Then, by introducing a two-dimensional calibratable map based on vehicle speed and steering angle, the system can adjust the basic torque demand according to the current vehicle state. This map contains the corresponding x% (adjustment coefficient) under different combinations of vehicle speed and steering angle, which is used to calculate the corrected driver demand torque.

[0065] Exemplarily, when performing the second correction, the required torque is initially corrected according to the angular rate of the steering wheel:

[0066] Wherein, the driver demand torque after steering angle rate correction = BASE driver torque demand * Y%;

[0067] Y% = (one-dimensional calibratable curve value based on the steering angle change rate).

[0068] It should also be noted that the "curve value" refers to a value obtained through calibration or adjustment, which is determined based on the steering angle change rate (i.e., steering angle velocity). This "curve" is usually a one-dimensional lookup table (LUT) or a mathematical function, which defines the Y% correction coefficient corresponding to different steering angle change rates.

[0069] Specifically, this "curve" or lookup table will output a corresponding Y% value based on the input steering angle change rate (which may be a range or a specific value) through interpolation or direct lookup. This Y% value is then used to modify the original driver torque request (BASE driver torque request) to reflect the different torque outputs that the driver may require at different steering speeds.

[0070] Exemplarily, obtaining a third correction torque based on the first correction torque and the second correction torque includes:

[0071] A smaller operation is performed on the first correction torque and the second correction torque, and the correction torque obtained by the smaller operation is used as the third correction torque;

[0072] It is further explained that, based on the first correction torque and the second correction torque, after obtaining the first correction torque and the second correction torque, the VCU will perform a smaller operation to calculate the driving demand torque. After the smaller operation, the VCU will compare the functional safety with the calibrable upper and lower safety limits when the function is activated, and finally calculate the steering control correction torque that needs to be corrected under the steering condition.

[0073] It should also be noted that after obtaining the first correction torque and the second correction torque, the VCU will perform a smaller operation, that is, select the smaller one of the two as the final correction torque. The purpose of this operation is to avoid the adverse effect of excessive correction torque on vehicle driving.

[0074] It is further explained that after determining the final correction torque, the VCU will also compare the upper and lower safety limits that can be calibrated when the function is activated based on the requirements of functional safety. This is to ensure that the correction torque value fluctuates within a safe range and prevent safety accidents caused by excessive or insufficient correction torque;

[0075] Finally, the VCU will calculate the steering control correction torque required under the steering condition based on the correction torque obtained in the above steps and the original driving demand torque. This correction torque will be used to control the vehicle's steering system to achieve the expected steering behavior.

[0076] Exemplarily, the steering control correction torque calculates an initial value based on the vehicle speed steering angle and the steering angle change rate, and the initial value is an original demand rough calibration value under the condition of activation of the function, and the rough calibration value needs to consider the functional safety under the activation of the function;

[0077] Therefore, a calibrable fixed upper limit value and a fixed lower limit value are set, and a safe and acceptable limit value is calibrated according to the actual vehicle performance. If the limit value is exceeded, the driver's required torque output value takes the corresponding upper and lower limit values.

[0078] Exemplarily, before obtaining the steering wheel steering angle rate, steering wheel steering angle, vehicle speed, and normal required torque of the vehicle, the steering condition is activated when the following conditions are met;

[0079] The vehicle is in a drivable state and has been engaged in a forward gear;

[0080] The vehicle speed reaches the calibrated value;

[0081] At the same time, the steering wheel angle also needs to reach a preset calibration value or the steering wheel angle rate needs to be greater than a preset calibration threshold;

[0082] The driver's required torque variation range must be greater than the preset calibration threshold, and the driver's required torque itself must also be greater than the preset calibration threshold.

[0083] It should also be noted that the vehicle speed needs to reach a preset calibration value, and the steering wheel angle also needs to reach a preset calibration value or the steering wheel angle rate needs to be greater than a preset calibration threshold. These conditions ensure that the torque correction function can intervene in time during the vehicle's driving, especially when performing steering operations.

[0084] The driver's required torque variation range must be greater than the preset calibration threshold, and the driver's required torque itself must also be greater than the preset calibration threshold;

[0085] Among them, the calibration value is determined and adjusted individually according to the characteristics of the vehicle model and user needs.

[0086] It is further explained that the driver's required torque variation range must be greater than the preset calibration threshold, and the driver's required torque itself must also be greater than the preset calibration threshold. This is to determine the driver's driving intention and provide additional torque support or correction when necessary.

[0087] It should also be noted that once all the above conditions are met, the torque correction function will be activated and the vehicle will be in a steering condition. This function mainly works by dynamically identifying the steering angle and its rate of change in real time, and then judging and adjusting the driver's required torque based on the strategy. This adjustment is achieved through the vehicle controller (VCU), which comprehensively considers the driver's operations (such as the accelerator pedal, brake pedal, shift switch, steering wheel, etc.) and other safety torque requests from the vehicle end, and finally calculates the torque request of the new energy drive motor.

[0088] Exemplarily, the vehicle performs steering based on the steering control correction torque, and then further includes:

[0089] Get exit module setting information;

[0090] When the exit module setting information matches the preset exit information, the vehicle steering torque control is exited.

[0091] It should also be noted that the exit module setting information includes:

[0092] There is a brake signal set. When the vehicle receives a brake signal, it indicates that the driver is performing a braking operation. At this time, the torque correction function needs to be exited immediately to ensure that the vehicle can decelerate or stop according to the driver's intention;

[0093] There is a TCS (traction control system) activation setting. The TCS system is used to prevent wheel slip when the vehicle starts or accelerates. When TCS is activated, it means that there may be a risk of wheel slip. At this time, the torque correction function needs to be exited to avoid adverse effects on vehicle stability;

[0094] There is an ABS (anti-lock braking system) activation position. The ABS system is used to prevent the wheels from locking during emergency braking to ensure the vehicle's directional controllability. When the ABS is activated, it indicates that the vehicle is undergoing emergency braking. At this time, the torque correction function needs to be exited to ensure that the braking effect is not disturbed;

[0095] There is VDC (Vehicle Dynamic Control System) activated;

[0096] There is ADBF (active differential braking system) activated;

[0097] There is ESP (Electronic Stability Program) activated;

[0098] With AEB (Automatic Emergency Braking System) activated;

[0099] ADAS (Advanced Driver Assistance System) is activated;

[0100] VDC, ADBF, ESP, AEB, and ADAS are all designed to improve the safety and stability of the vehicle. When any of them is activated, it indicates that the vehicle may be in an unstable state or there is a safety risk. At this time, the torque correction function needs to be exited to avoid further impact on vehicle stability.

[0101] Further explanation is that if the threshold of steering angle or driver demand torque falls below the preset activation condition, the torque correction function will also automatically exit. This is to ensure that torque correction is only carried out when necessary, avoiding unnecessary intervention.

[0102] It should also be noted that the system has clear activation and exit conditions, as well as calculation and filtering models for steering correction torque. These functions ensure the stability and reliability of the system under different working conditions.

[0103] Exemplarily, it also includes an intelligent detection function that can safely detect the longitudinal acceleration of the vehicle under steering conditions and make corrections in a timely manner.

[0104] Exemplarily, the steering torque filtering and guaranteeing function is realized through a filtering model. The steering torque after filtering realizes the driver's required torque and is finally corrected and converted to the vehicle-side required torque. After considering the vehicle safety arbitration, the required torque gradient control is performed on the motor-side. The final arbitration output is based on the motor torque request of the steering condition based on the steering angle, and the longitudinal acceleration is dynamically and real-time corrected to accurately ensure the longitudinal acceleration stability control of the steering condition.

[0105] Exemplarily, a vehicle steering torque control system is also disclosed, comprising:

[0106] An information acquisition module, used to acquire a steering wheel steering angle rate, a steering wheel steering angle, a vehicle speed, and a conventional required torque of the vehicle;

[0107] The first correction module is used to perform a first correction on the conventional required torque according to the steering wheel steering angle and the vehicle speed to obtain a first corrected torque:

[0108] A second correction module, configured to perform a second correction on the conventional required torque according to the steering wheel steering angle rate and the vehicle speed to obtain a second corrected torque;

[0109] A steering control module is used to obtain a third correction torque based on the first correction torque and the second correction torque. When the third correction torque is within a preset safety torque range, the third correction torque is optimized according to a preset comfort constraint condition to obtain a steering control correction torque so that the vehicle can steer based on the steering control correction torque.

[0110] Exemplarily, an electronic device includes: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the above method.

[0111] Exemplarily, a computer-readable storage medium stores a computer program executable by an electronic device, and when the computer program runs on the electronic device, the electronic device executes the steps of the above method.

[0112] Exemplarily, a vehicle is also disclosed, specifically comprising:

[0113] An electronic device, used to implement the above method;

[0114] A processor, the processor running a program, when the program is running, performing the steps of the above method on the data output from the electronic device;

[0115] The storage medium is used to store a program, and when the program is run, the steps of the above method are executed for the data output from the electronic device.

[0116] In summary, the automobile steering torque control method using this solution has the following advantages:

[0117] (1) This method accurately collects the steering angle and steering angle change rate, dynamically adjusts the driving torque at different vehicle speeds, optimizes the vehicle's longitudinal acceleration control, makes the vehicle more stable when turning, reduces the risk of vehicle loss of control caused by steering, and thus improves driving safety.

[0118] (2) Compared with traditional torque control methods, this technology can respond to torque changes caused by steering in a very short time, with more precise and accurate control, avoiding unnecessary acceleration or deceleration during driving, making the driving experience more natural and smooth.

[0119] (3) By precisely controlling torque, unnecessary power waste is reduced, energy efficiency is improved, and the endurance of new energy vehicles is enhanced.

[0120] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

[0121] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A method for controlling a vehicle steering torque, characterized in that: include: Get vehicle status; When it is determined that the vehicle is in a preset steering condition based on the vehicle state, obtaining a steering wheel steering angle rate, a steering wheel steering angle, a vehicle speed, and a conventional required torque of the vehicle; According to the steering wheel steering angle and the vehicle speed, the conventional required torque is first corrected to obtain a first corrected torque: performing a second correction on the conventional required torque according to the steering wheel steering angle rate and the vehicle speed to obtain a second corrected torque; Based on the first correction torque and the second correction torque, a third correction torque is obtained. When the third correction torque is within a preset safety torque range, the third correction torque is optimized according to a preset comfort constraint condition to obtain a steering control correction torque so that the vehicle steers based on the steering control correction torque.

2. The method for controlling the steering torque of an automobile according to claim 1, characterized in that: After obtaining the steering wheel steering angle rate, steering wheel steering angle, vehicle speed, and normal required torque of the vehicle, the method further includes: When the vehicle speed is greater than or equal to the preset steering speed corresponding to the forward gear, and the steering wheel steering angle is greater than or equal to the preset steering angle threshold, and the steering wheel steering angle rate is greater than or equal to the preset steering angle rate threshold, and the conventional required torque is greater than or equal to the preset required torque threshold, determine to perform the first correction and the second correction on the conventional required torque.

3. The method for controlling the steering torque of an automobile according to claim 2, characterized in that: When making the first revision, Make a preliminary correction to the required torque according to the steering angle of the steering wheel: Wherein: driver demand torque after steering angle correction = BASE driver torque demand * x%; x% = (two-bit calibratable map based on vehicle speed & steering angle).

4. The method for controlling the steering torque of an automobile according to claim 3, characterized in that: When the second revision was made, Make a preliminary correction to the required torque based on the steering wheel angular rate: Wherein, the driver demand torque after steering angle rate correction = BASE driver torque demand * Y%; Y% = (one-dimensional calibratable curve value based on the steering angle change rate).

5. The method for controlling the steering torque of an automobile according to claim 1, characterized in that: The obtaining of a third correction torque based on the first correction torque and the second correction torque comprises: A smaller operation is performed on the first correction torque and the second correction torque, and the correction torque obtained by the smaller operation is used as the third correction torque.

6. The method for controlling the steering torque of an automobile according to claim 5, characterized in that: Before obtaining the steering wheel steering angle rate, steering wheel steering angle, vehicle speed, and normal required torque of the vehicle, the steering condition is activated when the following conditions are met; The vehicle is in a drivable state and has been engaged in a forward gear; The vehicle speed reaches the calibrated value; At the same time, the steering wheel angle also needs to reach a preset calibration value or the steering wheel angle rate needs to be greater than a preset calibration threshold; The driver's required torque variation range must be greater than the preset calibration threshold, and the driver's required torque itself must also be greater than the preset calibration threshold.

7. The vehicle steering torque control method according to claim 1, characterized in that: The vehicle is steered based on the steering control correction torque, and then further comprising: Get exit module setting information; When the exit module setting information matches the preset exit information, the vehicle steering torque control is exited.

8. An automobile steering torque control system, characterized in that: include: An information acquisition module, used to acquire a steering wheel steering angle rate, a steering wheel steering angle, a vehicle speed, and a conventional required torque of the vehicle; The first correction module is used to perform a first correction on the conventional required torque according to the steering wheel steering angle and the vehicle speed to obtain a first corrected torque: A second correction module, configured to perform a second correction on the conventional required torque according to the steering wheel steering angle rate and the vehicle speed to obtain a second corrected torque; A steering control module is used to obtain a third correction torque based on the first correction torque and the second correction torque. When the third correction torque is within a preset safety torque range, the third correction torque is optimized according to a preset comfort constraint condition to obtain a steering control correction torque so that the vehicle can steer based on the steering control correction torque.

9. An electronic device, characterized in that: include: A processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the method described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: It stores a computer program executable by an electronic device, and when the computer program runs on the electronic device, the electronic device executes the steps of the method described in any one of claims 1 to 7.

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