Torque feedback control method, vehicle and storage medium

Abstract

The invention provides a torque feedback control method, a vehicle and a storage medium. The method comprises the steps that the yaw control quantity and PID control parameters of the vehicle are determined; inputting the yaw control quantity and the PID control parameters into a PID controller so as to carry out PID control on the actual yaw velocity of the vehicle, and outputting feedback yaw torque; and performing torque distribution on left and right wheels of the vehicle according to the feedback yaw torque. According to the invention, PID feedback control can be carried out on the actual yaw velocity of the vehicle according to the yaw control quantity of the vehicle, and correction of the actual yaw torque is realized, so that closed-loop correction can be carried out on the control result under the condition that the driving environment has relatively large disturbance or the calculation result has deviation, the control accuracy is improved, the control efficiency is improved, and the control cost is reduced. And therefore, the stability and safety of the vehicle driving state and the driver maneuverability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a torque feedback control method, a vehicle and a storage medium. Background Art

[0002] With the development of modern electric vehicle technology, multi-motor architecture models have gradually become the mainstream research direction. Since the motor is easy to control and has a fast response speed, various vehicle control strategies can be developed based on electric vehicles to improve vehicle stability, vehicle flexibility, and driving pleasure. Among them, independent motor control has become a mainstream research direction.

[0003] At present, most vehicles equipped with independent motor control, i.e. single-axle dual-motor vehicles, adopt the left and right torque distribution method based on target yaw control. In the motor torque distribution control based on target yaw, combined with the driving conditions, the torque difference generated by the dual motors is used to add yaw torque to the vehicle, and the actual yaw of the current vehicle is corrected and compensated to make the vehicle reach the calculated target yaw, correct the vehicle state, and improve vehicle performance.

[0004] However, in actual applications, when the vehicle performs feedforward control based on the target yaw, the control result may not reach the expected value or may be over-controlled due to large disturbances in the driving environment, deviations in the calculation results, or changing driving conditions. The control accuracy of correcting the control result is low, resulting in poor vehicle driving agility and stability. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0006] To this end, an object of the present invention is to propose a torque feedback control method, which can perform PID feedback control on the actual yaw torque of the vehicle according to the yaw control amount of the vehicle, so as to realize the correction of the actual yaw torque, so as to perform closed-loop correction on the control result when there is a large disturbance in the driving environment or the calculation result is biased, thereby improving the control accuracy and control efficiency, thereby facilitating improving the stability, safety and driver operability of the vehicle's driving state.

[0007] To this end, a second object of the present invention is to provide a torque feedback control device.

[0008] To this end, a third object of the present invention is to provide a vehicle.

[0009] To this end, a fourth object of the present invention is to provide a computer-readable storage medium.

[0010] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a torque feedback control method, which includes: determining the yaw control amount and PID control parameters of the vehicle; inputting the yaw control amount and the PID control parameters into a PID controller to perform PID control on the actual yaw angular velocity of the vehicle, and outputting a feedback yaw torque; and distributing torque to the left and right wheels of the vehicle according to the feedback yaw torque.

[0011] According to the torque feedback control method of the embodiment of the present invention, the driving state of the vehicle is monitored in real time by the relevant sensors or controllers on the vehicle to obtain the driving data of the vehicle, the yaw control amount and PID control parameters of the vehicle are determined according to the relevant driving data of the vehicle, the yaw control amount and the PID control parameters are input into the PID controller, the PID controller performs PID control on the actual yaw angular velocity of the vehicle according to the yaw control amount and the PID control parameters, and outputs the feedback yaw torque, so as to distribute the torque to the left wheel and the right wheel of the vehicle respectively according to the feedback yaw torque, so as to correct the yaw state of the vehicle itself. Therefore, the present invention can perform PID feedback control on the actual yaw angular velocity of the vehicle according to the yaw control amount of the vehicle, realize the correction of the actual yaw torque, so that the control result can be closed-loop corrected when there is a large disturbance in the driving environment or the calculation result is biased, thereby improving the control accuracy and the control efficiency, thereby facilitating the improvement of the stability, safety and driver maneuverability of the vehicle driving state.

[0012] In some embodiments, determining the yaw control amount of the vehicle includes: acquiring a target yaw angular velocity and an actual yaw angular velocity of the vehicle; and using a difference between the target yaw angular velocity and the actual yaw angular velocity as the yaw control amount.

[0013] In some embodiments, obtaining the actual yaw angular velocity includes: obtaining the actual yaw angular velocity through an inertial sensor.

[0014] In some embodiments, obtaining a target yaw rate of the vehicle includes: obtaining the target yaw rate from a vehicle controller, wherein the target yaw rate is calculated by the vehicle controller.

[0015] In some embodiments, the PID control parameters include: proportional gain, integral gain and differential gain, and determining the PID control parameters includes: obtaining the vehicle speed and lateral acceleration of the vehicle; determining the proportional gain, integral gain and differential gain of the PID controller based on the vehicle speed and lateral acceleration of the vehicle.

[0016] In some embodiments, the proportional gain of the PID controller is determined according to the vehicle speed and lateral acceleration, including: according to the vehicle speed, querying a target vehicle speed-proportional gain correspondence calibration table to obtain a first proportional gain corresponding to the vehicle speed; according to the lateral acceleration, querying a target lateral acceleration-proportional gain correspondence calibration table to obtain a second proportional gain corresponding to the lateral acceleration; and taking the product of the first proportional gain and the second proportional gain as the proportional gain corresponding to the vehicle speed and lateral acceleration.

[0017] In some embodiments, before querying the target vehicle speed-proportional gain correspondence calibration table to obtain the first proportional gain corresponding to the vehicle speed, and querying the target lateral acceleration-proportional gain correspondence calibration table to obtain the second proportional gain corresponding to the lateral acceleration, it also includes: determining the road friction coefficient level of the vehicle's current driving road; selecting the target vehicle speed-proportional gain correspondence calibration table and the target lateral acceleration-proportional gain correspondence calibration table corresponding to the road friction coefficient level from a database, wherein different road friction coefficient levels correspond to different target vehicle speed-proportional gain correspondence calibration tables and different target lateral acceleration-proportional gain correspondence calibration tables.

[0018] In some embodiments, the integral gain of the PID controller is determined according to the vehicle speed and lateral acceleration, including: according to the vehicle speed, querying a target vehicle speed-integral gain correspondence calibration table to obtain a first integral gain corresponding to the vehicle speed; according to the lateral acceleration, querying a target lateral acceleration-integral gain correspondence calibration table to obtain a second integral gain corresponding to the lateral acceleration; and taking the product of the first integral gain and the second integral gain as the integral gain corresponding to the vehicle speed and lateral acceleration.

[0019] In some embodiments, before querying the target vehicle speed-integral gain correspondence calibration table to obtain the first integral gain corresponding to the vehicle speed, and querying the target lateral acceleration-integral gain correspondence calibration table to obtain the second integral gain corresponding to the lateral acceleration, it also includes: determining the road friction coefficient level of the vehicle's current driving road; selecting the target vehicle speed-integral gain correspondence calibration table and the target lateral acceleration-integral gain correspondence calibration table corresponding to the road friction coefficient level from a database, wherein different road friction coefficient levels correspond to different target vehicle speed-integral gain correspondence calibration tables and different target lateral acceleration-integral gain correspondence calibration tables.

[0020] In some embodiments, the differential gain of the PID controller is determined according to the vehicle speed and lateral acceleration of the vehicle, including: according to the vehicle speed, querying a target vehicle speed-differential gain correspondence calibration table to obtain a first differential gain corresponding to the vehicle speed; according to the lateral acceleration, querying a target lateral acceleration-differential gain correspondence calibration table to obtain a second differential gain corresponding to the lateral acceleration; and taking the product of the first differential gain and the second differential gain as the differential gain corresponding to the vehicle speed and lateral acceleration.

[0021] In some embodiments, before querying the target vehicle speed-differential gain correspondence calibration table to obtain the first differential gain corresponding to the vehicle speed, and querying the target lateral acceleration-differential gain correspondence calibration table to obtain the second differential gain corresponding to the lateral acceleration, it also includes: determining the road friction coefficient level of the road on which the vehicle is currently traveling; selecting the target vehicle speed-differential gain correspondence calibration table and the target lateral acceleration-differential gain correspondence calibration table corresponding to the road friction coefficient level from a database, wherein different road friction coefficient levels correspond to different target vehicle speed-differential gain correspondence calibration tables and different target lateral acceleration-differential gain correspondence calibration tables.

[0022] In some embodiments, after outputting the feedback yaw torque, it also includes: obtaining an anti-saturation control amount; inputting the output feedback yaw torque and the anti-saturation control amount into the PID controller to perform anti-saturation feedback control on the feedback yaw torque, and outputting a corrected feedback yaw torque; and distributing torque to the left and right wheels of the vehicle according to the corrected feedback yaw torque.

[0023] In some embodiments, obtaining an anti-saturation control amount includes: obtaining an actual yaw torque and a target yaw torque of the vehicle; and using a difference between the actual yaw torque and the target yaw torque as the anti-saturation control amount.

[0024] In some embodiments, the actual yaw torque of the vehicle is obtained by the following calculation formula, which includes:

[0025]

[0026] Among them, M z，ss is the actual yaw torque, T rr is the output torque of the right rear motor of the vehicle, T rl is the output torque of the left rear motor of the vehicle, i rr is the speed ratio of the right rear axle of the vehicle, i rl is the speed ratio of the left rear axle of the vehicle, R rr is the dynamic radius of the right rear wheel of the vehicle, R rl is the dynamic radius of the left rear wheel of the vehicle, tw The track width of the vehicle's rear axle.

[0027] In order to achieve the above-mentioned purpose, an embodiment of the second aspect of the present invention proposes a torque feedback control device, which includes: a determination module, used to determine the yaw control amount and PID control parameters of the vehicle; a PID controller, used to receive the yaw control amount and the PID control parameters to perform PID control on the actual yaw angular velocity of the vehicle and output feedback yaw torque; a control module, used to distribute torque to the left and right wheels of the vehicle according to the feedback yaw torque.

[0028] According to the torque feedback control device of the embodiment of the present invention, the driving state of the vehicle is monitored in real time by the relevant sensors or controllers on the vehicle to obtain the driving data of the vehicle, the yaw control amount and PID control parameters of the vehicle are determined according to the relevant driving data of the vehicle, the yaw control amount and the PID control parameters are input into the PID controller, the PID controller performs PID control on the actual yaw angular velocity of the vehicle according to the yaw control amount and the PID control parameters, and outputs the feedback yaw torque, so as to distribute the torque to the left wheel and the right wheel of the vehicle respectively according to the feedback yaw torque, so as to correct the yaw state of the vehicle itself. Therefore, the present invention can perform PID feedback control on the actual yaw angular velocity of the vehicle according to the yaw control amount of the vehicle, realize the correction of the actual yaw torque, so that the control result can be closed-loop corrected when there is a large disturbance in the driving environment or the calculation result is biased, thereby improving the control accuracy and the control efficiency, thereby facilitating the improvement of the stability, safety and driver maneuverability of the vehicle driving state.

[0029] In order to achieve the above-mentioned purpose, an embodiment of the third aspect of the present invention proposes a vehicle, which includes: a torque feedback control device as described in the above-mentioned embodiment; or, the vehicle includes: a processor, a memory, and a torque feedback control program stored in the memory and executable on the processor, and the torque feedback control program implements the torque feedback control method as described in the above-mentioned embodiment when executed by the processor.

[0030] According to the vehicle of the embodiment of the present invention, the driving state of the vehicle is monitored in real time by the relevant sensors or controllers on the vehicle to obtain the driving data of the vehicle, the yaw control amount and PID control parameters of the vehicle are determined according to the relevant driving data of the vehicle, the yaw control amount and the PID control parameters are input into the PID controller, the PID controller performs PID control on the actual yaw angular velocity of the vehicle according to the yaw control amount and the PID control parameters, and outputs the feedback yaw torque, so as to distribute the torque to the left wheel and the right wheel of the vehicle respectively according to the feedback yaw torque, so as to correct the yaw state of the vehicle itself. Therefore, the present invention can perform PID feedback control on the actual yaw angular velocity of the vehicle according to the yaw control amount of the vehicle, realize the correction of the actual yaw torque, so that the control result can be closed-loop corrected in the case of large disturbance in the driving environment or deviation in the calculation result, thereby improving the control accuracy and the control efficiency, thereby facilitating the improvement of the stability, safety and driver maneuverability of the driving state of the vehicle.

[0031] In order to achieve the above-mentioned purpose, an embodiment of the fourth aspect of the present invention proposes a computer-readable storage medium, on which a torque feedback control program is stored. When the torque feedback control program is executed by a processor, the torque feedback control method as described in the above-mentioned embodiment is implemented.

[0032] According to the computer-readable storage medium of the embodiment of the present invention, when the torque feedback control program stored thereon is executed by the processor, the driving state of the vehicle can be monitored in real time to obtain the driving data of the vehicle, the yaw control amount and PID control parameters of the vehicle are determined according to the relevant driving data of the vehicle, the yaw control amount and the PID control parameters are input into the PID controller, the PID controller performs PID control on the actual yaw angular velocity of the vehicle according to the yaw control amount and the PID control parameters, and outputs the feedback yaw torque, so as to distribute the torque to the left wheel and the right wheel of the vehicle respectively according to the feedback yaw torque, so as to correct the yaw state of the vehicle itself. Therefore, the present invention can perform PID feedback control on the actual yaw angular velocity of the vehicle according to the yaw control amount of the vehicle, realize the correction of the actual yaw torque, so that the control result can be closed-loop corrected when there is a large disturbance in the driving environment or the calculation result is biased, thereby improving the control accuracy and the control efficiency, thereby facilitating the improvement of the stability, safety and driver maneuverability of the vehicle driving state.

[0033] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0035] Figure 1 is a flow chart of a torque feedback control method according to an embodiment of the present invention;

[0036] Figure 2 is a block diagram of a PID controller according to an embodiment of the present invention;

[0037] Figure 3 is a flow chart of a torque feedback control method according to another embodiment of the present invention;

[0038] Figure 4 is a structural block diagram of a torque feedback control device according to an embodiment of the present invention;

[0039] Figure 5 is a structural block diagram of a vehicle according to an embodiment of the present invention;

[0040] Figure 6 is a structural block diagram of a vehicle according to another embodiment of the present invention.

[0041] Reference numerals: torque feedback control device 2 ; determination module 21 ; PID controller 22 ; control module 23 ; vehicle 3 ; processor 100 ; memory 101 ; torque feedback control program 102 . DETAILED DESCRIPTION

[0042] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0043] The following is combined with Figure 1-Figure 6 The torque feedback control method and device, vehicle and storage medium of the embodiments of the present invention are described in detail.

[0044] Let's first combine Figure 1-Figure 3 The torque feedback control method according to the embodiment of the present invention is described with examples.

[0045] like Figure 1 As shown, the torque feedback control method of the embodiment of the present invention at least includes steps S1 to S3.

[0046] Step S1, determining the yaw control amount and PID (Proportional-Integral-Derivative) control parameters of the vehicle.

[0047] The yaw control amount of the vehicle is the control input of the PID controller, and the yaw control amount is determined based on the target yaw rate and the actual yaw rate of the vehicle. The PID control parameters include proportional gain, integral gain and differential gain. It is understood that the above parameters will change according to the different motion states of each wheel of the vehicle.

[0048] In an embodiment, Figure 2 As shown, it is a block diagram of a PID controller according to an embodiment of the present invention. The driving state of the vehicle can be monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle, such as the target yaw rate and actual yaw rate of the vehicle, as well as the vehicle speed and lateral acceleration of the vehicle, can be obtained. The yaw control amount of the vehicle can be calculated according to the target yaw rate and actual yaw rate of the vehicle, and the PID control parameters of the PID controller can be determined according to the vehicle speed and lateral acceleration. The actual yaw rate of the vehicle can be PID controlled according to the yaw control amount and the PID control parameters, thereby achieving real-time correction and compensation of the actual yaw rate of the vehicle, so that the actual yaw rate reaches the target yaw rate.

[0049] Step S2, inputting the yaw control amount and the PID control parameter into the PID controller to perform PID control on the actual yaw angular velocity of the vehicle, and outputting a feedback yaw torque.

[0050] Among them, the feedback yaw torque is the motor torque after correction and compensation, that is, the yaw torque obtained by the PID controller according to the yaw control amount and the PID control parameters. By performing real-time PID control on the actual yaw angular velocity of the vehicle according to the yaw control amount and the PID control parameters, it is ensured that the feedback yaw torque required by the vehicle at different times of driving is not too large or too small, thereby providing data support for the reasonable distribution of the left and right wheel torques of the vehicle. Therefore, the left and right wheel torques can be reasonably distributed under different circumstances, realizing the vehicle's momentary monitoring of itself and the adaptive distribution of the left and right wheel torques, so that the vehicle itself moves in the expected yaw state, ensuring the stability and safety of the vehicle state and the driver's maneuverability.

[0051] In an embodiment, Figure 2 As shown, after the yaw control amount and PID control parameters of the vehicle are determined, the yaw control amount and the PID control parameters are input into the PID controller. After receiving the yaw control amount and the PID control parameters, the PID controller performs PID control on the actual yaw angular velocity of the vehicle according to the yaw control amount and the PID control parameters to improve the control efficiency and accuracy, and outputs a feedback yaw torque so as to perform targeted torque distribution on the left and right wheels of the vehicle according to the feedback yaw torque.

[0052] Step S3: Distribute torque to the left and right wheels of the vehicle according to the feedback yaw torque.

[0053] In an embodiment, Figure 2 As shown, after obtaining the feedback yaw torque, torque is distributed to the left and right wheels of the vehicle respectively according to the feedback yaw torque to correct the vehicle's own yaw state. When there is a large disturbance in the driving environment, the calculation result is biased, or the driving conditions are constantly changing, the control result is corrected in real time to ensure the accuracy of the control, thereby improving the stability, safety and driver maneuverability of the vehicle state.

[0054] The vehicle in the embodiment of the present invention may include three motors or four motors. A three-motor vehicle is a vehicle in which one axle is provided with two motors, which are respectively used to drive the left and right wheels corresponding to the axle, and the other axle is provided with one motor, which is used to drive the left and right wheels corresponding to the axle. A three-motor vehicle includes, for example: a rear axle with two motors and a front axle with a single motor, or a front axle with two motors and a rear axle with a single motor. In other words, the vehicle has three motors, one motor is provided on the front axle for driving the front axle alone, and the other two motors are provided on the rear axle for driving the left and right wheels of the rear axle; or one motor is provided on the rear axle for driving the rear axle alone, and the other two motors are provided on the front axle for driving the left and right wheels of the front axle. A four-motor vehicle is a vehicle in which four motors are provided, each of which drives one wheel respectively, that is, the front axle is provided with two motors to drive the two wheels of the front axle respectively, and the rear axle is provided with two motors to drive the two wheels of the rear axle respectively, thereby realizing independent control of the motors to improve the response speed of the vehicle and make the vehicle more flexible, so that the ground adhesion can be fully utilized and slip control can be realized, which is conducive to improving the power and stability of the vehicle.

[0055] According to the torque feedback control method of the embodiment of the present invention, the driving state of the vehicle is monitored in real time by the relevant sensors or controllers on the vehicle to obtain the driving data of the vehicle, the yaw control amount and PID control parameters of the vehicle are determined according to the relevant driving data of the vehicle, the yaw control amount and the PID control parameters are input into the PID controller, the PID controller performs PID control on the actual yaw angular velocity of the vehicle according to the yaw control amount and the PID control parameters, and outputs the feedback yaw torque, so as to distribute the torque to the left wheel and the right wheel of the vehicle respectively according to the feedback yaw torque, so as to correct the yaw state of the vehicle itself. Therefore, the present invention can perform PID feedback control on the actual yaw angular velocity of the vehicle according to the yaw control amount of the vehicle, realize the correction of the actual yaw torque, so that the control result can be closed-loop corrected when there is a large disturbance in the driving environment or the calculation result is biased, thereby improving the control accuracy and the control efficiency, thereby facilitating the improvement of the stability, safety and driver maneuverability of the vehicle driving state.

[0056] In some embodiments, determining the yaw control amount of the vehicle includes: obtaining a target yaw angular velocity and an actual yaw angular velocity of the vehicle; and using a difference between the target yaw angular velocity and the actual yaw angular velocity as the yaw control amount.

[0057] In an embodiment, after obtaining the target yaw rate and the actual yaw rate of the vehicle, the difference between the target yaw rate and the actual yaw rate is calculated, and the difference between the target yaw rate and the actual yaw rate is used as the yaw control amount, so that the actual yaw rate of the vehicle can be corrected and compensated in real time according to the yaw control amount, thereby improving the stability, safety and driver controllability of the vehicle state.

[0058] In some embodiments, obtaining the actual yaw angular velocity includes: obtaining the actual yaw angular velocity through an inertial sensor.

[0059] In an embodiment, the driving state of the vehicle can be monitored in real time through relevant sensors on the vehicle, such as IMU (Inertial Measurement Unit), and the driving data of the vehicle can be obtained, such as the actual yaw angular velocity of the vehicle, so as to determine the yaw control amount according to the actual yaw angular velocity and the target yaw angular velocity.

[0060] In some embodiments, obtaining a target yaw rate of the vehicle includes: obtaining the target yaw rate from a vehicle controller, wherein the target yaw rate is calculated by the vehicle controller.

[0061] In an embodiment, after the vehicle controller calculates the target yaw angular velocity, the yaw control amount is determined based on the calculated target yaw angular velocity and the actual yaw angular velocity obtained by the inertial sensor, so as to correct and compensate the actual yaw angular velocity of the vehicle in real time according to the yaw control amount, thereby improving the stability, safety and driver maneuverability of the vehicle state.

[0062] In some embodiments, the PID control parameters include: proportional gain, integral gain and differential gain, and determining the PID control parameters includes: obtaining the vehicle speed and lateral acceleration; determining the proportional gain, integral gain and differential gain of the PID controller based on the vehicle speed and lateral acceleration.

[0063] In an embodiment, the driving state of the vehicle can be monitored in real time through relevant sensors on the vehicle, and the driving data of the vehicle, such as the vehicle speed and lateral acceleration, can be obtained. The vehicle controller determines the proportional gain of the PID controller, for example, denoted as kp, the integral gain, for example, denoted as ki, and the differential gain, for example, denoted as kd, according to the vehicle speed and lateral acceleration, so as to determine the PID control parameters based on the above information.

[0064] In some embodiments, the proportional gain of the PID controller is determined according to the vehicle speed and lateral acceleration, including: according to the vehicle speed, querying the target vehicle speed-proportional gain correspondence calibration table to obtain a first proportional gain corresponding to the vehicle speed; according to the lateral acceleration, querying the target lateral acceleration-proportional gain correspondence calibration table to obtain a second proportional gain corresponding to the lateral acceleration; and taking the product of the first proportional gain and the second proportional gain as the proportional gain corresponding to the vehicle speed and lateral acceleration.

[0065] In an embodiment, after the vehicle controller obtains the vehicle speed, it queries the target vehicle speed-proportional gain correspondence calibration table according to the vehicle speed to obtain a first proportional gain corresponding to the vehicle speed; after the vehicle controller obtains the vehicle lateral acceleration, it queries the target lateral acceleration-proportional gain correspondence calibration table according to the lateral acceleration to obtain a second proportional gain corresponding to the lateral acceleration; the product of the first proportional gain and the second proportional gain is calculated, and the product of the first proportional gain and the second proportional gain is used as the proportional gain kp corresponding to the vehicle speed and lateral acceleration, so as to reduce the feedback gain when the lateral acceleration is high.

[0066] In some embodiments, before querying the target vehicle speed-proportional gain correspondence calibration table to obtain a first proportional gain corresponding to the vehicle speed, and querying the target lateral acceleration-proportional gain correspondence calibration table to obtain a second proportional gain corresponding to the lateral acceleration, it also includes: determining the road friction coefficient level of the road on which the vehicle is currently traveling; selecting the target vehicle speed-proportional gain correspondence calibration table and the target lateral acceleration-proportional gain correspondence calibration table corresponding to the road friction coefficient level from the database, wherein different road friction coefficient levels correspond to different target vehicle speed-proportional gain correspondence calibration tables and different target lateral acceleration-proportional gain correspondence calibration tables.

[0067] In an embodiment, before querying the target vehicle speed-proportional gain correspondence calibration table to obtain the first proportional gain corresponding to the vehicle speed, and querying the target lateral acceleration-proportional gain correspondence calibration table to obtain the second proportional gain corresponding to the lateral acceleration, the driving state of the vehicle can be monitored in real time through relevant sensors on the vehicle, and the driving data of the vehicle can be obtained, such as obtaining the road friction coefficient level of the road surface on which the vehicle is currently driving, and selecting the target vehicle speed-proportional gain correspondence calibration table and the target lateral acceleration-proportional gain correspondence calibration table corresponding to the road friction coefficient level of the road surface on which the vehicle is currently driving from the database, wherein different road friction coefficient levels correspond to different target vehicle speed-proportional gain correspondence calibration tables and different target lateral acceleration-proportional gain correspondence calibration tables, so as to determine the corresponding target vehicle speed and target lateral acceleration of the vehicle according to the road surfaces with different friction coefficient levels, thereby determining the PID control parameters corresponding to the vehicle speed and lateral acceleration, and by determining the road friction coefficient level of the road surface on which the vehicle is currently driving, the accuracy of PID control can be improved.

[0068] In a specific embodiment, the road friction coefficient level can be calculated based on the longitudinal acceleration and lateral acceleration of the vehicle. For example: Among them, μ is the friction coefficient level of the road surface, a x is the longitudinal acceleration, a y is the lateral acceleration.

[0069] In some embodiments, the integral gain of the PID controller is determined according to the vehicle speed and lateral acceleration, including: according to the vehicle speed, querying the target vehicle speed-integral gain correspondence calibration table to obtain a first integral gain corresponding to the vehicle speed; according to the lateral acceleration, querying the target lateral acceleration-integral gain correspondence calibration table to obtain a second integral gain corresponding to the lateral acceleration; and taking the product of the first integral gain and the second integral gain as the integral gain corresponding to the vehicle speed and lateral acceleration.

[0070] In an embodiment, after the vehicle controller obtains the vehicle speed, it queries the target vehicle speed-integral gain correspondence calibration table according to the vehicle speed to obtain a first integral gain corresponding to the vehicle speed; after the vehicle controller obtains the vehicle lateral acceleration, it queries the target lateral acceleration-integral gain correspondence calibration table according to the lateral acceleration to obtain a second integral gain corresponding to the lateral acceleration; the product of the first integral gain and the second integral gain is calculated, and the product of the first integral gain and the second integral gain is used as the integral gain ki corresponding to the vehicle speed and lateral acceleration, so as to reduce the feedback gain when the lateral acceleration is high.

[0071] In some embodiments, before querying the target vehicle speed-integral gain correspondence calibration table to obtain the first integral gain corresponding to the vehicle speed, and querying the target lateral acceleration-integral gain correspondence calibration table to obtain the second integral gain corresponding to the lateral acceleration, it also includes: determining the road friction coefficient level of the road on which the vehicle is currently traveling; selecting the target vehicle speed-integral gain correspondence calibration table and the target lateral acceleration-integral gain correspondence calibration table corresponding to the road friction coefficient level from the database, wherein different road friction coefficient levels correspond to different target vehicle speed-integral gain correspondence calibration tables and different target lateral acceleration-integral gain correspondence calibration tables.

[0072] In an embodiment, before querying the target vehicle speed-integral gain correspondence calibration table to obtain the first integral gain corresponding to the vehicle speed, and querying the target lateral acceleration-integral gain correspondence calibration table to obtain the second integral gain corresponding to the lateral acceleration, the road friction coefficient level of the vehicle's current driving surface is also obtained, and the target vehicle speed-integral gain correspondence calibration table and the target lateral acceleration-integral gain correspondence calibration table corresponding to the road friction coefficient level of the vehicle's current driving surface are selected from the database, wherein different road friction coefficient levels correspond to different target vehicle speed-integral gain correspondence calibration tables and different target lateral acceleration-integral gain correspondence calibration tables, so as to determine the corresponding target vehicle speed and target lateral acceleration of the vehicle according to the road surfaces with different friction coefficient levels, thereby determining the PID control parameters corresponding to the vehicle speed and lateral acceleration, and by determining the road friction coefficient level of the vehicle's current driving surface, the accuracy of PID control can be improved.

[0073] In a specific embodiment, the road friction coefficient level can be calculated based on the longitudinal acceleration and lateral acceleration of the vehicle. For example: Among them, μ is the friction coefficient level of the road surface, a x is the longitudinal acceleration, a y is the lateral acceleration.

[0074] In some embodiments, the differential gain of the PID controller is determined according to the vehicle speed and lateral acceleration, including: according to the vehicle speed, querying the target vehicle speed-differential gain correspondence calibration table to obtain a first differential gain corresponding to the vehicle speed; according to the lateral acceleration, querying the target lateral acceleration-differential gain correspondence calibration table to obtain a second differential gain corresponding to the lateral acceleration; and taking the product of the first differential gain and the second differential gain as the differential gain corresponding to the vehicle speed and lateral acceleration.

[0075] In an embodiment, after the vehicle controller obtains the vehicle speed, it queries the target vehicle speed-differential gain correspondence calibration table according to the vehicle speed to obtain a first differential gain corresponding to the vehicle speed; after the vehicle controller obtains the vehicle lateral acceleration, it queries the target lateral acceleration-differential gain correspondence calibration table according to the lateral acceleration to obtain a second differential gain corresponding to the lateral acceleration; the product of the first differential gain and the second differential gain is calculated, and the product of the first differential gain and the second differential gain is used as the differential gain kd corresponding to the vehicle speed and lateral acceleration, so as to reduce the feedback gain when the lateral acceleration is high.

[0076] In some embodiments, before querying the target vehicle speed-differential gain correspondence calibration table to obtain the first differential gain corresponding to the vehicle speed, and querying the target lateral acceleration-differential gain correspondence calibration table to obtain the second differential gain corresponding to the lateral acceleration, it also includes: determining the road friction coefficient level of the road on which the vehicle is currently traveling; selecting the target vehicle speed-differential gain correspondence calibration table and the target lateral acceleration-differential gain correspondence calibration table corresponding to the road friction coefficient level from the database, wherein different road friction coefficient levels correspond to different target vehicle speed-differential gain correspondence calibration tables and different target lateral acceleration-differential gain correspondence calibration tables.

[0077] In an embodiment, before querying the target vehicle speed-differential gain correspondence calibration table to obtain the first differential gain corresponding to the vehicle speed, and querying the target lateral acceleration-differential gain correspondence calibration table to obtain the second differential gain corresponding to the lateral acceleration, the driving state of the vehicle can be monitored in real time through relevant sensors on the vehicle, and the driving data of the vehicle can be obtained, such as obtaining the road friction coefficient level of the road surface on which the vehicle is currently driving, and selecting the target vehicle speed-differential gain correspondence calibration table and the target lateral acceleration-differential gain correspondence calibration table corresponding to the road friction coefficient level of the road surface on which the vehicle is currently driving from the database, wherein different road friction coefficient levels correspond to different target vehicle speed-differential gain correspondence calibration tables and different target lateral acceleration-differential gain correspondence calibration tables, so as to determine the corresponding target vehicle speed and target lateral acceleration of the vehicle according to the road surfaces with different friction coefficient levels, thereby determining the PID control parameters corresponding to the vehicle speed and lateral acceleration, and by determining the road friction coefficient level of the road surface on which the vehicle is currently driving, the accuracy of PID control can be improved.

[0078] In a specific embodiment, the road friction coefficient level can be calculated based on the longitudinal acceleration and lateral acceleration of the vehicle. For example: Among them, μ is the friction coefficient level of the road surface, a x is the longitudinal acceleration, a y is the lateral acceleration.

[0079] In some embodiments, after outputting the feedback yaw torque, it also includes: obtaining an anti-saturation control amount; inputting the output feedback yaw torque and the anti-saturation control amount into a PID controller to perform anti-saturation feedback control on the feedback yaw torque, and outputting a corrected feedback yaw torque; and distributing torque to the left and right wheels of the vehicle according to the corrected feedback yaw torque.

[0080] In an embodiment, Figure 2 As shown, after the feedback yaw torque is output, the anti-saturation control amount is obtained, and the output feedback yaw torque and the anti-saturation control amount are input into the PID controller together to perform anti-saturation feedback control on the feedback yaw torque, and the corrected feedback yaw torque is output. According to the corrected feedback yaw torque, torque is distributed to the left and right wheels of the vehicle respectively to correct the yaw state of the vehicle itself. When there is a large disturbance in the driving environment, the calculation result is biased, or the driving conditions are constantly changing, the control result is corrected in real time. By obtaining the anti-saturation control amount, the PID controller has an integral anti-saturation function, which can improve the anti-interference ability of the algorithm and the accuracy under long-term operation.

[0081] In some embodiments, obtaining an anti-saturation control amount includes: obtaining an actual yaw torque and a target yaw torque of the vehicle; and using a difference between the actual yaw torque and the target yaw torque as the anti-saturation control amount.

[0082] In the embodiment, the actual yaw torque of the vehicle is obtained, for example, denoted as M z，ss , and the target yaw torque is denoted as M z，ff , calculate the actual yaw torque M of the vehicle z，ss and the target yaw torque M z，ff The difference between the actual yaw torque M of the vehicle z，ss and the target yaw torque M z，ff The difference is used as the anti-saturation control quantity.

[0083] By calculating the anti-saturation control amount, the PID controller can make real-time corrections and compensations for the actual yaw rate of the vehicle according to the anti-saturation control amount, preventing large errors from causing the integral controller in the PID controller to produce excessive accumulation, thereby improving the accuracy of PID control.

[0084] In some embodiments, the actual yaw torque of the vehicle is obtained by the following calculation formula, which includes:

[0085]

[0086] Among them, M z，ss is the actual yaw torque, T rr is the output torque of the right rear motor of the vehicle, T rl is the output torque of the left rear motor of the vehicle, i rris the speed ratio of the right rear axle of the vehicle, i rl is the speed ratio of the left rear axle of the vehicle, R rr is the dynamic radius of the right rear wheel of the vehicle, R rl is the dynamic radius of the left rear wheel of the vehicle, t w The track width of the vehicle's rear axle.

[0087] In an embodiment, the driving state of the vehicle can be monitored in real time through relevant sensors on the vehicle, and the driving data of the vehicle can be obtained, such as obtaining the output torque T of the right rear motor of the vehicle. rr , the output torque T of the vehicle's left rear motor rl , vehicle right rear axle speed ratio i rr , vehicle left rear axle speed ratio i rl , the dynamic radius R of the right rear wheel of the vehicle rr , the dynamic radius R of the vehicle's left rear wheel rl , vehicle rear axle track t w The vehicle controller calculates the actual yaw torque M according to the above parameters obtained. z，ss , actual yaw torque M z，ss The calculation formula is as follows:

[0088]

[0089] Therefore, the calculation formula of the anti-saturation control amount is as follows:

[0090]

[0091] In some embodiments, before performing anti-saturation feedback control on the feedback yaw torque, it also includes: determining an anti-saturation factor and an anti-saturation mode according to a target yaw angular velocity and a preset calibration amount; and performing anti-saturation feedback control on the feedback yaw torque based on the anti-saturation factor and the anti-saturation mode.

[0092] In an embodiment, Figure 2 As shown, before the anti-saturation feedback control is performed on the feedback yaw torque, the anti-saturation factor and the anti-saturation mode are determined according to the target yaw angular velocity and the preset calibration quantity, wherein the anti-saturation factor is directly given by the preset calibration quantity, and the anti-saturation mode is determined by the magnitude relationship between the target yaw angular velocity and the preset calibration quantity. The anti-saturation mode will select the calculation method by looking up the table in the PID controller, such as including but not limited to integral separation and integral limit weakening. Outside the PID controller, the anti-saturation mode will determine the selection of the anti-saturation factor.

[0093] For example, the target yaw rate is denoted as r ref , k bres and k bsth All are preset calibration quantities that can be modified; if

[0094] The target yaw rate satisfies the following equation: At this time, the integral anti-saturation mode will be set to anti-saturation feedback suppression. That is, when the saturation state is reached, negative feedback is added to the integral term to make it exit saturation quickly. The anti-saturation parameter will be set to k b =k i / k p .

[0095] Reference below Figure 3 The torque feedback control method according to the embodiment of the present invention is described with examples.

[0096] like Figure 3 As shown, the torque feedback control of the embodiment of the present invention at least includes steps S11 to S29.

[0097] Step S11, obtaining the actual yaw angular velocity through an inertial sensor.

[0098] Step S12, obtaining the target yaw angular velocity from the vehicle controller.

[0099] In step S13, the difference between the target yaw angular velocity and the actual yaw angular velocity is used as the yaw control variable.

[0100] Step S14, determining the road friction coefficient level of the road the vehicle is currently traveling on.

[0101] Step S15, selecting a target vehicle speed-proportional gain correspondence calibration table and a target lateral acceleration-proportional gain correspondence calibration table corresponding to the road friction coefficient level from the database, wherein different road friction coefficient levels correspond to different target vehicle speed-proportional gain correspondence calibration tables and different target lateral acceleration-proportional gain correspondence calibration tables.

[0102] Step S16, obtaining the vehicle speed and lateral acceleration.

[0103] Step S17, according to the vehicle speed, query the target vehicle speed-proportional gain correspondence calibration table to obtain the first proportional gain corresponding to the vehicle speed; according to the lateral acceleration, query the target lateral acceleration-proportional gain correspondence calibration table to obtain the second proportional gain corresponding to the lateral acceleration; and use the product of the first proportional gain and the second proportional gain as the proportional gain corresponding to the vehicle speed and the lateral acceleration.

[0104] Step S18, determining the road friction coefficient level of the road the vehicle is currently traveling on.

[0105] Step S19, select a target vehicle speed-integral gain correspondence calibration table and a target lateral acceleration-integral gain correspondence calibration table corresponding to the road friction coefficient level from the database, wherein different road friction coefficient levels correspond to different target vehicle speed-integral gain correspondence calibration tables and different target lateral acceleration-integral gain correspondence calibration tables.

[0106] Step S20, obtaining the vehicle speed and lateral acceleration.

[0107] Step S21, according to the vehicle speed, query the target vehicle speed-integral gain correspondence calibration table to obtain the first integral gain corresponding to the vehicle speed; according to the lateral acceleration, query the target lateral acceleration-integral gain correspondence calibration table to obtain the second integral gain corresponding to the lateral acceleration; and use the product of the first integral gain and the second integral gain as the integral gain corresponding to the vehicle speed and the lateral acceleration.

[0108] Step S22, determining the road friction coefficient level of the road the vehicle is currently traveling on.

[0109] Step S23, select a target vehicle speed-differential gain correspondence calibration table and a target lateral acceleration-differential gain correspondence calibration table corresponding to the road friction coefficient level from the database, wherein different road friction coefficient levels correspond to different target vehicle speed-differential gain correspondence calibration tables and different target lateral acceleration-differential gain correspondence calibration tables.

[0110] Step S24, obtaining the vehicle speed and lateral acceleration.

[0111] Step S25, according to the vehicle speed, query the target vehicle speed-differential gain correspondence calibration table to obtain the first differential gain corresponding to the vehicle speed; according to the lateral acceleration, query the target lateral acceleration-differential gain correspondence calibration table to obtain the second differential gain corresponding to the lateral acceleration; and use the product of the first differential gain and the second differential gain as the differential gain corresponding to the vehicle speed and the lateral acceleration.

[0112] Step S26, inputting the yaw control amount and the PID control parameter into the PID controller to perform PID control on the yaw control amount, and outputting a feedback yaw torque.

[0113] Step S27, obtaining the actual yaw torque and the target yaw torque of the vehicle, and taking the difference between the actual yaw torque and the target yaw torque as the anti-saturation control amount.

[0114] Step S28: determining an anti-saturation factor and an anti-saturation mode according to the target yaw angular velocity and a preset calibration amount, and performing anti-saturation feedback control on the feedback yaw torque based on the anti-saturation factor and the anti-saturation mode.

[0115] Step S29, input the output feedback yaw torque and anti-saturation control amount into the PID controller to perform anti-saturation feedback control on the feedback yaw torque, output the corrected feedback yaw torque, and distribute torque to the left and right wheels of the vehicle according to the corrected feedback yaw torque.

[0116] According to the torque feedback control method of the embodiment of the present invention, the driving state of the vehicle is monitored in real time by the relevant sensors or controllers on the vehicle to obtain the driving data of the vehicle, the yaw control amount and PID control parameters of the vehicle are determined according to the relevant driving data of the vehicle, the yaw control amount and the PID control parameters are input into the PID controller, the PID controller performs PID control on the actual yaw angular velocity of the vehicle according to the yaw control amount and the PID control parameters, and outputs the feedback yaw torque, so as to distribute the torque to the left wheel and the right wheel of the vehicle respectively according to the feedback yaw torque, so as to correct the yaw state of the vehicle itself. Therefore, the present invention can perform PID feedback control on the actual yaw angular velocity of the vehicle according to the yaw control amount of the vehicle, realize the correction of the actual yaw torque, so that the control result can be closed-loop corrected when there is a large disturbance in the driving environment or the calculation result is biased, thereby improving the control accuracy and the control efficiency, thereby facilitating the improvement of the stability, safety and driver maneuverability of the vehicle driving state.

[0117] Reference below Figure 4 The torque feedback control device 2 according to the embodiment of the present invention is described.

[0118] like Figure 4 As shown, the torque feedback control device 2 of the embodiment of the present invention includes: a determination module 21, a PID controller 22 and a control module 23, wherein:

[0119] The determination module 21 is used to determine the yaw control amount and PID control parameters of the vehicle; the PID controller 22 is used to receive the yaw control amount and PID control parameters to perform PID control on the yaw control amount and output feedback yaw torque; the control module 23 is used to distribute torque to the left and right wheels of the vehicle according to the feedback yaw torque.

[0120] In an embodiment, the determination module 21 can monitor the driving state of the vehicle in real time through relevant sensors or controllers on the vehicle, and obtain the driving data of the vehicle, such as the target yaw rate and actual yaw rate of the vehicle, as well as the vehicle speed and lateral acceleration. The vehicle controller can calculate the yaw control amount of the vehicle according to the target yaw rate and actual yaw rate of the vehicle, and determine the PID control parameters of the PID controller according to the vehicle speed and lateral acceleration, so that the PID controller performs PID control on the actual yaw rate of the vehicle according to the yaw control amount and the PID control parameters, and corrects and compensates the actual yaw rate of the vehicle in real time, so that the actual yaw rate reaches the target yaw rate, wherein the yaw control amount of the vehicle is the control input of the PID controller, and the yaw control amount is determined based on the target yaw rate and actual yaw rate of the vehicle. The PID control parameters include proportional gain, integral gain and differential gain. It can be understood that the above parameters will change according to the different motion states of each wheel of the vehicle.

[0121] After receiving the yaw control amount and the PID control parameters, the PID controller 22 performs PID control on the actual yaw angular velocity of the vehicle according to the yaw control amount and the PID control parameters to improve control efficiency and accuracy, and outputs a feedback yaw torque so as to perform targeted torque distribution on the left and right wheels of the vehicle according to the feedback yaw torque, wherein the feedback yaw torque is the motor torque after correction and compensation, that is, the yaw torque obtained by the PID controller according to the yaw control amount and the PID control parameters. By performing real-time PID control on the actual yaw angular velocity of the vehicle according to the yaw control amount and the PID control parameters, it is ensured that the feedback yaw torque required by the vehicle at different times of driving is not too large or too small, thereby providing data support for the reasonable distribution of the left and right wheel torques of the vehicle. Therefore, the left and right wheel torques can be reasonably distributed under different circumstances, realizing the vehicle's momentary monitoring of itself and the adaptive distribution of the left and right wheel torques, so that the vehicle itself moves in an expected yaw state, ensuring the stability and safety of the vehicle state and the maneuverability of the driver.

[0122] The control module 23 distributes torque to the left and right wheels of the vehicle respectively according to the feedback yaw torque to correct the vehicle's own yaw state. When there is a large disturbance in the driving environment, the calculation result is biased, or the driving conditions are constantly changing, the control result is corrected in real time to ensure the accuracy of the control, thereby improving the stability, safety and driver maneuverability of the vehicle state.

[0123] According to the torque feedback control device 2 of the embodiment of the present invention, the driving state of the vehicle is monitored in real time by the relevant sensors or controllers on the vehicle to obtain the driving data of the vehicle, the yaw control amount and PID control parameters of the vehicle are determined according to the relevant driving data of the vehicle, the yaw control amount and the PID control parameters are input into the PID controller, the PID controller performs PID control on the actual yaw angular velocity of the vehicle according to the yaw control amount and the PID control parameters, and outputs the feedback yaw torque, so as to distribute the torque to the left wheel and the right wheel of the vehicle respectively according to the feedback yaw torque, so as to correct the yaw state of the vehicle itself. Therefore, the present invention can perform PID feedback control on the actual yaw angular velocity of the vehicle according to the yaw control amount of the vehicle, realize the correction of the actual yaw torque, so that the control result can be closed-loop corrected when there is a large disturbance in the driving environment or the calculation result is biased, thereby improving the control accuracy and the control efficiency, thereby facilitating the improvement of the stability, safety and driver maneuverability of the vehicle driving state.

[0124] In some embodiments, when the determination module 21 determines the yaw control amount of the vehicle, it is specifically used to: obtain the target yaw angular velocity and the actual yaw angular velocity of the vehicle; and use the difference between the target yaw angular velocity and the actual yaw angular velocity as the yaw control amount.

[0125] In some embodiments, when the determination module 21 acquires the actual yaw angular velocity, it is specifically configured to: acquire the actual yaw angular velocity through an inertial sensor.

[0126] In some embodiments, when the determination module 21 obtains the target yaw rate of the vehicle, it is specifically used to: obtain the target yaw rate from the vehicle controller, wherein the target yaw rate is calculated by the vehicle controller.

[0127] In some embodiments, the PID control parameters include: proportional gain, integral gain and differential gain. When the determination module 21 determines the PID control parameters, it is specifically used to: obtain the vehicle speed and lateral acceleration of the vehicle; determine the proportional gain, integral gain and differential gain of the PID controller according to the vehicle speed and lateral acceleration.

[0128] In some embodiments, when the determination module 21 determines the proportional gain of the PID controller according to the vehicle speed and lateral acceleration, it is specifically used to: query the target vehicle speed-proportional gain correspondence calibration table according to the vehicle speed to obtain a first proportional gain corresponding to the vehicle speed; query the target lateral acceleration-proportional gain correspondence calibration table according to the lateral acceleration to obtain a second proportional gain corresponding to the lateral acceleration; and use the product of the first proportional gain and the second proportional gain as the proportional gain corresponding to the vehicle speed and lateral acceleration.

[0129] In some embodiments, before querying the target vehicle speed-proportional gain correspondence calibration table to obtain a first proportional gain corresponding to the vehicle speed, and querying the target lateral acceleration-proportional gain correspondence calibration table to obtain a second proportional gain corresponding to the lateral acceleration, the determination module 21 is specifically used to: determine the road friction coefficient level of the road surface on which the vehicle is currently traveling; select the target vehicle speed-proportional gain correspondence calibration table and the target lateral acceleration-proportional gain correspondence calibration table corresponding to the road friction coefficient level from the database, wherein different road friction coefficient levels correspond to different target vehicle speed-proportional gain correspondence calibration tables and different target lateral acceleration-proportional gain correspondence calibration tables.

[0130] In some embodiments, when the determination module 21 determines the integral gain of the PID controller according to the vehicle speed and lateral acceleration, it is specifically used to: according to the vehicle speed, query the target vehicle speed-integral gain correspondence calibration table to obtain a first integral gain corresponding to the vehicle speed; according to the lateral acceleration, query the target lateral acceleration-integral gain correspondence calibration table to obtain a second integral gain corresponding to the lateral acceleration; and use the product of the first integral gain and the second integral gain as the integral gain corresponding to the vehicle speed and lateral acceleration.

[0131] In some embodiments, before querying the target vehicle speed-integral gain correspondence calibration table to obtain a first integral gain corresponding to the vehicle speed, and querying the target lateral acceleration-integral gain correspondence calibration table to obtain a second integral gain corresponding to the lateral acceleration, the determination module 21 is specifically used to: determine the road friction coefficient level of the road surface on which the vehicle is currently traveling; select a target vehicle speed-integral gain correspondence calibration table and a target lateral acceleration-integral gain correspondence calibration table corresponding to the road friction coefficient level from a database, wherein different road friction coefficient levels correspond to different target vehicle speed-integral gain correspondence calibration tables and different target lateral acceleration-integral gain correspondence calibration tables.

[0132] In some embodiments, when the determination module 21 determines the differential gain of the PID controller according to the vehicle speed and lateral acceleration, it is specifically used to: query the target vehicle speed-differential gain correspondence calibration table according to the vehicle speed to obtain a first differential gain corresponding to the vehicle speed; query the target lateral acceleration-differential gain correspondence calibration table according to the lateral acceleration to obtain a second differential gain corresponding to the lateral acceleration; and use the product of the first differential gain and the second differential gain as the differential gain corresponding to the vehicle speed and lateral acceleration.

[0133] In some embodiments, before querying the target vehicle speed-differential gain correspondence calibration table to obtain the first differential gain corresponding to the vehicle speed, and querying the target lateral acceleration-differential gain correspondence calibration table to obtain the second differential gain corresponding to the lateral acceleration, the determination module 21 is specifically used to: determine the road friction coefficient level of the road surface on which the vehicle is currently traveling; select the target vehicle speed-differential gain correspondence calibration table and the target lateral acceleration-differential gain correspondence calibration table corresponding to the road friction coefficient level from the database, wherein different road friction coefficient levels correspond to different target vehicle speed-differential gain correspondence calibration tables and different target lateral acceleration-differential gain correspondence calibration tables.

[0134] In some embodiments, after outputting the feedback yaw torque, the control module 23 is specifically used to: obtain an anti-saturation control quantity; input the output feedback yaw torque and the anti-saturation control quantity into a PID controller to perform anti-saturation feedback control on the feedback yaw torque, and output a corrected feedback yaw torque; and distribute torque to the left and right wheels of the vehicle according to the corrected feedback yaw torque.

[0135] In some embodiments, when the control module 23 obtains the anti-saturation control amount, it is specifically used to: obtain the actual yaw torque and the target yaw torque of the vehicle; and use the difference between the actual yaw torque and the target yaw torque as the anti-saturation control amount.

[0136] In some embodiments, the control module 23 is specifically used to obtain the actual yaw torque of the vehicle through the following calculation formula, which includes:

[0137]

[0138] Among them, M z，ss is the actual yaw torque, T rr is the output torque of the right rear motor of the vehicle, T rl is the output torque of the left rear motor of the vehicle, i rr is the speed ratio of the right rear axle of the vehicle, i rl is the speed ratio of the left rear axle of the vehicle, R rr is the dynamic radius of the right rear wheel of the vehicle, R rl is the dynamic radius of the left rear wheel of the vehicle, t w The track width of the vehicle's rear axle.

[0139] In some embodiments, before performing anti-saturation feedback control on the feedback yaw torque, the control module 23 is specifically used to: determine an anti-saturation factor and an anti-saturation mode according to a target yaw angular velocity and a preset calibration quantity; and perform anti-saturation feedback control on the feedback yaw torque based on the anti-saturation factor and the anti-saturation mode.

[0140] According to the torque feedback control device 2 of the embodiment of the present invention, the driving state of the vehicle is monitored in real time by the relevant sensors or controllers on the vehicle to obtain the driving data of the vehicle, the yaw control amount and PID control parameters of the vehicle are determined according to the relevant driving data of the vehicle, the yaw control amount and the PID control parameters are input into the PID controller, the PID controller performs PID control on the actual yaw angular velocity of the vehicle according to the yaw control amount and the PID control parameters, and outputs the feedback yaw torque, so as to distribute the torque to the left wheel and the right wheel of the vehicle respectively according to the feedback yaw torque, so as to correct the yaw state of the vehicle itself. Therefore, the present invention can perform PID feedback control on the actual yaw angular velocity of the vehicle according to the yaw control amount of the vehicle, realize the correction of the actual yaw torque, so that the control result can be closed-loop corrected when there is a large disturbance in the driving environment or the calculation result is biased, thereby improving the control accuracy and the control efficiency, thereby facilitating the improvement of the stability, safety and driver maneuverability of the vehicle driving state.

[0141] Reference below Figure 5 and Figure 6 A vehicle 3 according to an embodiment of the present invention will be described.

[0142] In some embodiments, Figure 5 As shown, the vehicle 3 of the embodiment of the present invention includes the torque feedback control device 2 as described in any one of the above embodiments of the present invention.

[0143] In other embodiments, Figure 6 As shown, the vehicle 3 of the embodiment of the present invention includes a processor 100, a memory 101, and a torque feedback control program 102 stored in the memory 101 and executable on the processor 100. When the torque feedback control program 102 is executed by the processor 100, the torque feedback control method of the above embodiment is implemented.

[0144] According to the vehicle 3 of the embodiment of the present invention, the driving state of the vehicle is monitored in real time by the relevant sensors or controllers on the vehicle to obtain the driving data of the vehicle, the yaw control amount and PID control parameters of the vehicle are determined according to the relevant driving data of the vehicle, the yaw control amount and the PID control parameters are input into the PID controller, the PID controller performs PID control on the actual yaw angular velocity of the vehicle according to the yaw control amount and the PID control parameters, and outputs the feedback yaw torque, so as to distribute the torque to the left wheel and the right wheel of the vehicle respectively according to the feedback yaw torque, so as to correct the yaw state of the vehicle itself. Therefore, the present invention can perform PID feedback control on the actual yaw angular velocity of the vehicle according to the yaw control amount of the vehicle, realize the correction of the actual yaw torque, so that the control result can be closed-loop corrected in the case of large disturbance in the driving environment or deviation in the calculation result, thereby improving the control accuracy and the control efficiency, thereby facilitating the improvement of the stability, safety and driver maneuverability of the driving state of the vehicle.

[0145] The following describes a computer-readable storage medium according to an embodiment of the present invention.

[0146] A torque feedback control program is stored on a computer-readable storage medium in an embodiment of the present invention. When the torque feedback control program is executed by a processor, the torque feedback control method described in any one of the above embodiments of the present invention is implemented.

[0147] According to the computer-readable storage medium of the embodiment of the present invention, when the torque feedback control program stored thereon is executed by the processor, the driving state of the vehicle can be monitored in real time to obtain the driving data of the vehicle, the yaw control amount and PID control parameters of the vehicle are determined according to the relevant driving data of the vehicle, the yaw control amount and the PID control parameters are input into the PID controller, the PID controller performs PID control on the actual yaw angular velocity of the vehicle according to the yaw control amount and the PID control parameters, and outputs the feedback yaw torque, so as to distribute the torque to the left wheel and the right wheel of the vehicle respectively according to the feedback yaw torque, so as to correct the yaw state of the vehicle itself. Therefore, the present invention can perform PID feedback control on the actual yaw angular velocity of the vehicle according to the yaw control amount of the vehicle, realize the correction of the actual yaw torque, so that the control result can be closed-loop corrected when there is a large disturbance in the driving environment or the calculation result is biased, thereby improving the control accuracy and the control efficiency, thereby facilitating the improvement of the stability, safety and driver maneuverability of the vehicle driving state.

[0148] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0149] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A torque feedback control method, characterized in that: The following steps are involved: Determine the vehicle's yaw control amount and PID control parameters; Inputting the yaw control amount and the PID control parameter into a PID controller to perform PID control on the actual yaw angular velocity of the vehicle and output a feedback yaw torque; Torque is distributed between the left and right wheels of the vehicle according to the feedback yaw torque.

2. The torque feedback control method according to claim 1, characterized in that: Determining a yaw control amount of the vehicle includes: Obtain the target yaw rate and actual yaw rate of the vehicle; The difference between the target yaw angular velocity and the actual yaw angular velocity is used as the yaw control amount.

3. The torque feedback control method according to claim 2, characterized in that: The actual yaw angular velocity is obtained, comprising: The actual yaw angular velocity is acquired through an inertial sensor.

4. The torque feedback control method according to claim 2, characterized in that: Get the target yaw rate of the vehicle, including: The target yaw angular velocity is obtained from a vehicle controller, wherein the target yaw angular velocity is calculated by the vehicle controller.

5. The torque feedback control method according to claim 1, characterized in that: The PID control parameters include: proportional gain, integral gain and differential gain. Determining the PID control parameters includes: Obtaining the vehicle speed and lateral acceleration of the vehicle; The proportional gain, integral gain and differential gain of the PID controller are determined according to the vehicle speed and lateral acceleration of the vehicle.

6. The torque feedback control method according to claim 5, characterized in that: Determining the proportional gain of the PID controller according to the vehicle speed and lateral acceleration of the vehicle includes: According to the vehicle speed, querying a target vehicle speed-proportional gain correspondence calibration table to obtain a first proportional gain corresponding to the vehicle speed; According to the lateral acceleration, querying a target lateral acceleration-proportional gain correspondence calibration table to obtain a second proportional gain corresponding to the lateral acceleration; The product of the first proportional gain and the second proportional gain is used as the proportional gain corresponding to the vehicle speed and the lateral acceleration.

7. The torque feedback control method according to claim 6, characterized in that: Before querying the target vehicle speed-proportional gain correspondence calibration table to obtain the first proportional gain corresponding to the vehicle speed, and querying the target lateral acceleration-proportional gain correspondence calibration table to obtain the second proportional gain corresponding to the lateral acceleration, the method further includes: Determine the road friction coefficient level of the road the vehicle is currently traveling on; The target vehicle speed-proportional gain correspondence calibration table and the target lateral acceleration-proportional gain correspondence calibration table corresponding to the road friction coefficient level are selected from the database, wherein different road friction coefficient levels correspond to different target vehicle speed-proportional gain correspondence calibration tables and different target lateral acceleration-proportional gain correspondence calibration tables.

8. The torque feedback control method according to claim 5, characterized in that: Determining the integral gain of the PID controller according to the vehicle speed and lateral acceleration of the vehicle includes: According to the vehicle speed, querying a target vehicle speed-integral gain correspondence calibration table to obtain a first integral gain corresponding to the vehicle speed; According to the lateral acceleration, querying a target lateral acceleration-integral gain correspondence calibration table to obtain a second integral gain corresponding to the lateral acceleration; The product of the first integral gain and the second integral gain is used as the integral gain corresponding to the vehicle speed and the lateral acceleration.

9. The torque feedback control method according to claim 8, characterized in that: Before querying the target vehicle speed-integral gain correspondence calibration table to obtain the first integral gain corresponding to the vehicle speed, and querying the target lateral acceleration-integral gain correspondence calibration table to obtain the second integral gain corresponding to the lateral acceleration, the method further includes: Determine the road friction coefficient level of the road the vehicle is currently traveling on; The target vehicle speed-integral gain correspondence calibration table and the target lateral acceleration-integral gain correspondence calibration table corresponding to the road friction coefficient level are selected from the database, wherein different road friction coefficient levels correspond to different target vehicle speed-integral gain correspondence calibration tables and different target lateral acceleration-integral gain correspondence calibration tables.

10. The torque feedback control method according to claim 5, characterized in that: Determining the differential gain of the PID controller according to the vehicle speed and lateral acceleration of the vehicle includes: According to the vehicle speed, querying a target vehicle speed-differential gain correspondence calibration table to obtain a first differential gain corresponding to the vehicle speed; According to the lateral acceleration, querying a target lateral acceleration-differential gain correspondence calibration table to obtain a second differential gain corresponding to the lateral acceleration; The product of the first differential gain and the second differential gain is used as the differential gain corresponding to the vehicle speed and the lateral acceleration.

11. The torque feedback control method according to claim 10, characterized in that: Before querying the target vehicle speed-differential gain correspondence calibration table to obtain the first differential gain corresponding to the vehicle speed, and querying the target lateral acceleration-differential gain correspondence calibration table to obtain the second differential gain corresponding to the lateral acceleration, the method further includes: Determine the road friction coefficient level of the road the vehicle is currently traveling on; The target vehicle speed-differential gain correspondence calibration table and the target lateral acceleration-differential gain correspondence calibration table corresponding to the road friction coefficient level are selected from the database, wherein different road friction coefficient levels correspond to different target vehicle speed-differential gain correspondence calibration tables and different target lateral acceleration-differential gain correspondence calibration tables.

12. The torque feedback control method according to claim 1, characterized in that: After the output feedback yaw torque, it also includes: Obtain anti-saturation control amount; Inputting the output feedback yaw torque and the anti-saturation control amount into the PID controller to perform anti-saturation feedback control on the feedback yaw torque and output a corrected feedback yaw torque; Torque is distributed between the left and right wheels of the vehicle according to the corrected feedback yaw torque.

13. The torque feedback control method according to claim 12, characterized in that: Obtain anti-saturation control parameters, including: Obtaining the actual yaw torque and target yaw torque of the vehicle; The difference between the actual yaw torque and the target yaw torque is used as the anti-saturation control variable.

14. The torque feedback control method according to claim 13, characterized in that: The actual yaw torque of the vehicle is obtained by the following calculation formula, which includes: Among them, M z，ss is the actual yaw torque, T rr is the output torque of the right rear motor of the vehicle, T rl is the output torque of the left rear motor of the vehicle, i rr is the speed ratio of the right rear axle of the vehicle, i rl is the speed ratio of the left rear axle of the vehicle, R rr is the dynamic radius of the right rear wheel of the vehicle, R rl is the dynamic radius of the left rear wheel of the vehicle, t w The track width of the vehicle's rear axle.

15. A vehicle, characterized in that: include: A processor, a memory, and a torque feedback control program stored in the memory and executable on the processor, wherein the torque feedback control program, when executed by the processor, implements the torque feedback control method as described in any one of claims 1 to 14.

16. A computer-readable storage medium, characterized in that: A torque feedback control program is stored on a computer-readable storage medium, and when the torque feedback control program is executed by a processor, the torque feedback control method according to any one of claims 1 to 14 is implemented.

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