Vehicle torque steering compensation method and device, vehicle controller, and storage medium

Abstract

The present invention discloses a torque steering compensation method and device for a vehicle, a vehicle controller, and a storage medium, wherein the torque steering compensation method for a vehicle comprises: obtaining driving information of the vehicle; when determining that the vehicle meets the torque steering compensation learning condition according to the driving information of the vehicle, performing torque compensation learning according to the driving information of the vehicle, obtaining the torque compensation value of the steering power motor of the vehicle; and performing torque steering compensation control on the vehicle according to the torque compensation value. Thus, the torque steering compensation method for a vehicle of this embodiment can accurately determine whether the vehicle has torque steering, and eliminate the torque steering of the vehicle in a timely manner, thereby improving the adaptability of vehicle driving and ensuring driving safety.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and in particular to a vehicle torque steering compensation method, a vehicle torque steering compensation device, a vehicle controller and a computer-readable storage medium. Background Art

[0002] During the vehicle's starting and acceleration process, due to the asymmetry of the drive shaft, the different output torques of the left and right drive motors, or the inconsistent wear of the left and right tires, the left and right wheel drive torques may be inconsistent, leading to torque steer in the vehicle.

[0003] In the related art, after determining that torque steer has occurred in the vehicle, the method adopted is to apply a specified braking force to the non-driven wheel on the side of the vehicle that is not being steered to eliminate or reduce torque steer. For example, if torque steer causes the vehicle to turn to the right, a specified braking force is applied to the left non-driven wheel of the vehicle; if torque steer causes the vehicle to turn to the left, a specified braking force is applied to the right non-driven wheel of the vehicle.

[0004] This method solves the torque steer problem only by applying braking force, which affects the normal driving of the vehicle and reduces the driver's driving experience. In addition, the related technology only determines whether the vehicle has torque steer by using the accelerator pedal and steering signal, which has a major defect. Summary of the invention

[0005] The present invention aims to solve one of the technical problems in the related art to at least a certain extent. To this end, one purpose of the present invention is to provide a torque steering compensation method for a vehicle, which can accurately determine whether the vehicle has torque steering and eliminate the torque steering of the vehicle in a timely manner, thereby improving the adaptability of vehicle driving and ensuring driving safety.

[0006] A second objective of the present invention is to provide a torque steering compensation device for a vehicle.

[0007] A third object of the present invention is to provide a vehicle controller.

[0008] A fourth object of the present invention is to provide a computer-readable storage medium.

[0009] To achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a vehicle torque steering compensation method, the method comprising: obtaining driving information of the vehicle; when determining that the vehicle meets the torque steering compensation learning conditions based on the driving information of the vehicle, performing torque compensation learning based on the driving information of the vehicle to obtain the torque compensation value of the steering assist motor of the vehicle; and performing torque steering compensation control on the vehicle based on the torque compensation value.

[0010] The torque steering compensation method of the embodiment of the present invention first obtains the driving information of the vehicle, and then determines whether the vehicle meets the torque steering compensation learning condition based on the driving information, and when the vehicle meets the condition, performs torque compensation learning based on the driving information of the vehicle to obtain the torque compensation value of the steering power motor of the vehicle, and then performs torque steering compensation on the controlled vehicle based on the torque compensation value. Therefore, the torque steering compensation method of the vehicle of the embodiment of the present invention can accurately determine whether the vehicle has torque steering, and eliminate the torque steering of the vehicle in a timely manner, thereby improving the adaptability of vehicle driving and ensuring driving safety.

[0011] In some embodiments of the present invention, the driving information of the vehicle includes the left wheel speed, right wheel speed, yaw angular velocity, lateral acceleration, steering wheel angle and steering wheel torque of the vehicle, wherein determining that the vehicle meets the torque steering compensation learning condition based on the driving information of the vehicle includes: when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than or equal to a first wheel speed difference threshold, or the lateral acceleration is greater than a preset acceleration threshold and greater than zero, or the yaw angular velocity is greater than a preset angular velocity threshold and the steering wheel angle is greater than a preset angle threshold and the direction of the yaw angular velocity is the same as the direction of the steering wheel angle, or the steering wheel torque is greater than a preset torque threshold and the direction of the steering wheel torque is opposite to the output torque direction of the steering power motor, determining that the vehicle meets the torque steering compensation learning condition.

[0012] In some embodiments of the present invention, torque compensation learning is performed according to the driving information of the vehicle, including: determining a first speed signal according to the left wheel speed and the right wheel speed of the vehicle, and determining a second speed signal according to the steering wheel angle, and determining a torque learning value according to the first speed signal and the second speed signal; obtaining the vehicle speed signal of the vehicle, and determining a compensation coefficient according to the vehicle speed signal of the vehicle; determining the torque compensation value according to the torque learning value and the compensation coefficient.

[0013] In some embodiments of the present invention, determining a first speed signal based on the left wheel speed and the right wheel speed of the vehicle includes: determining the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle, and using the absolute value of the wheel speed difference as the first speed signal.

[0014] In some embodiments of the present invention, determining the second speed signal based on the steering wheel angle includes: performing a derivative calculation on the steering wheel angle to obtain the steering wheel speed of the vehicle, and using the absolute value of the steering wheel speed as the second speed signal.

[0015] In some embodiments of the present invention, when the vehicle is subjected to torque steering compensation control according to the torque compensation value, the method further includes: when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is less than a first wheel speed difference threshold, determining that the vehicle has completed torque steering compensation; and when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than or equal to the first wheel speed difference threshold, returning to continue torque compensation learning according to the driving information of the vehicle.

[0016] In some embodiments of the present invention, when the vehicle is subjected to torque steering compensation control according to the torque compensation value, the method further includes: when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than a preset maximum speed difference, determining that an abnormality occurs in the torque steering compensation, and returning to reacquire the driving information of the vehicle.

[0017] To achieve the above-mentioned purpose, the second aspect of the present invention proposes a torque steering compensation device for a vehicle, which includes: an acquisition module for acquiring driving information of the vehicle; a control module for determining that the vehicle meets the torque steering compensation learning conditions based on the driving information of the vehicle, performing torque compensation learning according to the driving information of the vehicle, obtaining the torque compensation value of the steering power motor of the vehicle, and performing torque steering compensation control on the vehicle according to the torque compensation value.

[0018] The torque steering compensation device of the vehicle of the embodiment of the present invention comprises an acquisition module and a control module, wherein the driving information of the vehicle is first acquired by the acquisition module, and then the control module is used to determine whether the vehicle meets the torque steering compensation learning conditions, and torque compensation learning is performed when the conditions are met, so as to obtain the torque compensation value of the steering power motor of the vehicle, and then the vehicle is controlled to perform torque steering compensation control according to the torque compensation value. Therefore, the torque steering compensation device of the vehicle of the embodiment of the present invention can accurately determine whether the vehicle has torque steering, and eliminate the torque steering of the vehicle in a timely manner, thereby improving the adaptability of vehicle driving and ensuring driving safety.

[0019] To achieve the above-mentioned purpose, an embodiment of the third aspect of the present invention proposes a vehicle controller, which includes a memory, a processor, and a vehicle torque steering compensation program stored in the memory and executable on the processor. When the processor executes the vehicle torque steering compensation program, the vehicle torque steering compensation method described in the above embodiment is implemented.

[0020] The vehicle controller of the embodiment of the present invention includes a memory and a processor. The processor executes the vehicle torque steering compensation program stored in the memory, can accurately determine whether the vehicle has torque steering, and promptly eliminate the vehicle's torque steering, thereby improving the adaptability of vehicle driving and ensuring driving safety.

[0021] 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 vehicle torque steering compensation program is stored. When the vehicle torque steering compensation program is executed by a processor, the vehicle torque steering compensation method described in the above-mentioned embodiment is implemented.

[0022] The embodiment of the present invention can accurately determine whether the vehicle has torque steering and eliminate the vehicle's torque steering in a timely manner by executing a vehicle torque steering compensation program on a computer-readable storage medium through a processor, thereby improving the adaptability of vehicle driving and ensuring driving safety.

[0023] 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

[0024] Figure 1 is a flow chart of a torque steering compensation method for a vehicle according to an embodiment of the present invention;

[0025] Figure 2 is a flow chart of a torque steering compensation method for a vehicle according to an embodiment of the present invention;

[0026] Figure 3 is a schematic diagram of a torque steering compensation method for a vehicle according to an embodiment of the present invention;

[0027] Figure 4 is a schematic diagram of a torque learning value relationship according to an embodiment of the present invention;

[0028] Figure 5 is a schematic diagram of compensation coefficient relationships according to an embodiment of the present invention;

[0029] Figure 6 is a flow chart of a torque steering compensation method for a vehicle according to an embodiment of the present invention;

[0030] Figure 7 is a flow chart of a torque steering compensation method for a vehicle according to a specific embodiment of the present invention;

[0031] Figure 8 is a structural block diagram of a torque steering compensation device for a vehicle according to an embodiment of the present invention;

[0032] Fig. 9 is a structural block diagram of a vehicle controller according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0034] The following describes a vehicle torque steering compensation method and device, a vehicle controller, and a storage medium according to an embodiment of the present invention with reference to the accompanying drawings.

[0035] Figure 1 is a flow chart of a torque steering compensation method for a vehicle according to an embodiment of the present invention.

[0036] like Figure 1 As shown, the present invention proposes a torque steering compensation method for a vehicle, the method comprising the following steps:

[0037] S10, obtaining vehicle driving information.

[0038] Specifically, the driving information of the vehicle in this embodiment may include the left wheel speed, right wheel speed, yaw angular velocity, lateral acceleration, steering wheel angle and steering wheel torque of the vehicle.

[0039] It should be noted that the left wheel speed and the right wheel speed of the vehicle in the driving information can be determined as the left front wheel speed and the right front wheel speed of the vehicle, or the left rear wheel speed and the right rear wheel speed of the vehicle according to the driving mode of the vehicle.

[0040] Taking a front-axle-driven vehicle as an example, the left wheel speed and the right wheel speed in the driving information refer to the left front wheel speed and the right front wheel speed. When calculating the wheel speed difference between the left wheel speed and the right wheel speed, the wheel speed difference between the left front wheel speed and the right front wheel speed is calculated.

[0041] It is understandable that the specific method for obtaining the vehicle's driving information in this embodiment is not limited, for example, it can be directly obtained by setting corresponding sensors, or it can be indirectly calculated and obtained through other driving information of the vehicle. For example, the left wheel speed and the right wheel speed of the vehicle can be directly obtained through a CAN (Controller Area Network) network.

[0042] S20, when it is determined according to the driving information of the vehicle that the vehicle meets the torque steering compensation learning condition, torque compensation learning is performed according to the driving information of the vehicle to obtain a torque compensation value of the steering power motor of the vehicle.

[0043] Specifically, after obtaining the driving information of the vehicle, it can be further determined whether the vehicle meets the torque steering compensation learning conditions based on the driving information of the vehicle. More specifically, when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than or equal to a first wheel speed difference threshold, or the lateral acceleration is greater than a preset acceleration threshold and greater than zero, or the yaw angular velocity is greater than a preset angular velocity threshold and the steering wheel angle is greater than a preset angle threshold and the direction of the yaw angular velocity is the same as the direction of the steering wheel angle, or the steering wheel torque is greater than a preset torque threshold and the direction of the steering wheel torque is opposite to the output torque direction of the power steering motor, it is determined that the vehicle meets the torque steering compensation learning conditions.

[0044] More specifically, when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than or equal to the first wheel speed difference threshold, it means that the difference between the left and right wheels of the vehicle is large. If the vehicle is traveling at the current wheel speed, it will cause the vehicle to be unable to move forward in a straight line normally, and it is necessary to compensate for its torque steering phenomenon. When the lateral acceleration of the vehicle is greater than the preset acceleration threshold and greater than zero, it means that the vehicle is deviating from the current driving route and it is necessary to compensate for its torque steering phenomenon. When the yaw angular velocity of the vehicle is greater than the preset angular velocity threshold, the steering wheel angle of the vehicle is greater than the preset angle threshold, and the direction of the yaw angular velocity is the same as the direction of the steering wheel angle, it means that the current vehicle is deviating from the normal driving route, so it is also compensated for torque steering.

[0045] It should be noted that all the thresholds mentioned in this embodiment can be adjusted according to the model, type, etc. of the vehicle. Of course, the thresholds can be obtained by collecting in advance.

[0046] After determining that the vehicle meets the torque steering compensation learning condition, this embodiment can perform torque compensation learning according to the vehicle information to obtain the torque compensation value of the steering power motor of the vehicle.

[0047] It should be noted that, since the vehicle in this embodiment is an electric vehicle, when solving the vehicle torque steering problem, torque compensation can be performed on the vehicle's power steering motor.

[0048] S30, performing torque steering compensation control on the vehicle according to the torque compensation value.

[0049] Specifically, after the torque compensation value of the vehicle's power steering motor is calculated, the vehicle can be subjected to torque steering compensation control according to the torque compensation value, thereby completing the vehicle's torque steering compensation. It should be noted that the torque compensation value in this embodiment can be adjusted in real time according to the vehicle's torque steering mitigation process, specifically, the torque difference between the left and right wheels of the vehicle can be continuously monitored, and then the motor torque compensation value can be calculated and adjusted in real time.

[0050] In some embodiments of the present invention, Figure 2 As shown, torque compensation learning is performed according to the vehicle's driving information, including:

[0051] S201, determining a first speed signal according to the left wheel speed and the right wheel speed of the vehicle, determining a second speed signal according to the steering wheel angle, and determining a torque learning value according to the first speed signal and the second speed signal.

[0052] Specifically, when calculating the torque compensation value of the power assist motor, the present embodiment may first calculate the torque learning value, and then adjust the torque learning value to obtain the torque compensation value. More specifically, the torque learning value of the embodiment of the present invention is determined by the first speed signal and the second speed signal, wherein the first speed signal may be determined according to the left wheel speed and the right wheel speed, and the second speed signal may be determined according to the steering wheel angle signal of the vehicle.

[0053] More specifically, if Figure 3 As shown, in this embodiment, the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle can be determined first, and the absolute value of the wheel speed difference can be used as the first speed signal. The steering wheel angle can also be derived to obtain the steering wheel speed of the vehicle, and the absolute value of the steering wheel speed can be used as the second speed signal.

[0054] After obtaining the first speed signal and the second speed signal, the torque learning value can be obtained by looking up the table. The relationship between the first speed signal, the second speed signal and the torque learning value can be found in Figure 4 As shown, the horizontal axis represents the first speed signal, the vertical axis represents the torque learning value, and different curves represent different second speed signals. After the first speed signal and the second speed signal are determined, the torque learning value can be determined based on them.

[0055] S202, obtaining a vehicle speed signal, and determining a compensation coefficient according to the vehicle speed signal.

[0056] Specifically, the vehicle speed signal of this embodiment can be directly obtained from the sensor, and of course, can also be indirectly calculated and obtained based on other signals such as wheel speed. In this embodiment, the method for obtaining the vehicle speed signal is not limited.

[0057] After obtaining the vehicle speed signal, the compensation coefficient can be determined according to the vehicle speed signal, such as Figure 5 As shown, different vehicle speeds correspond to different torque learning value compensation coefficients, and the corresponding relationship is related to the vehicle type, model, etc., and can be obtained through experiments in advance. It should be noted that the compensation coefficient in this embodiment is less than 1.

[0058] S203, determining a torque compensation value according to the torque learning value and the compensation coefficient.

[0059] After the torque learning value and the compensation coefficient are obtained, the torque compensation value may be determined according to the torque learning value and the compensation coefficient. Specifically, the torque compensation value may be obtained by multiplying the torque learning value by the compensation coefficient.

[0060] It should be noted that if Figure 3 As shown, when the torque learning value is multiplied by the compensation coefficient, an adjustment constant may be added to participate in the calculation, that is, the torque learning value, the compensation coefficient and the adjustment constant are multiplied to obtain the torque compensation value. It should be noted that the adjustment constant in this embodiment may be -1, which is used to adjust the direction of the torque compensation value. The direction of the torque compensation value in this embodiment is always opposite to the direction of the current output torque of the power assist motor.

[0061] After the torque compensation value is calculated, the torque compensation value can be added to the output torque of the normal steering system power-assisting motor to compensate for the vehicle torque steering.

[0062] In some embodiments of the present invention, Figure 6 As shown, when the vehicle is subjected to torque steering compensation control according to the torque compensation value, the method further includes:

[0063] S601: When the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is less than a first wheel speed difference threshold, determine that the vehicle completes torque steering compensation.

[0064] Specifically, in this embodiment, the torque compensation for the power-assisted motor can be adjusted in real time according to the torque steering mitigation process. During the adjustment process, it can be determined whether the torque steering compensation is completed based on the wheel speed difference between the left and right wheels. When the wheel speed difference between the left and right wheels is less than the first wheel speed difference threshold, it means that the current vehicle has solved the torque steering problem, and it can be determined that the vehicle has completed the torque steering compensation.

[0065] S602: When the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than or equal to the first wheel speed difference threshold, return to continue torque compensation learning according to the vehicle driving information.

[0066] Specifically, when it is determined that the wheel speed difference between the left and right wheels is greater than or equal to the first wheel speed difference threshold, it means that the current vehicle still has a torque steering problem, then the vehicle continues to be subjected to torque compensation learning, that is, the vehicle's driving information is reacquired, and torque compensation learning is performed on the vehicle based on the vehicle's driving information.

[0067] In some embodiments of the present invention, when performing torque steering compensation control on a vehicle according to a torque compensation value, the method also includes: when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than a preset maximum speed difference, determining that an abnormality occurs in the torque steering compensation, and returning to reacquire the vehicle's driving information.

[0068] Specifically, if during the process of torque compensation of the vehicle, the calculated wheel speed difference between the left and right wheels of the vehicle is greater than the preset maximum speed difference, it is possible that the vehicle's driving information was acquired incorrectly, or there is an abnormality in the vehicle's driving, which has exceeded the range that torque compensation can solve. Therefore, it can be determined that there is an abnormality in the torque steering compensation, and then return to re-acquire the vehicle's driving information and recalculate the torque compensation value.

[0069] See also Figure 7 First, the EPS (Electric Power Steering) controller is used to obtain the vehicle's lateral acceleration, yaw rate, left and right wheel speeds, steering wheel torque and steering wheel angle, and then the vehicle is judged whether it meets the torque steering condition based on the information obtained, and the front wheel speed difference of the vehicle is calculated when the torque steering condition is met, and the EPS power assist motor torque compensation value is calculated, and then the EPS power assist motor output torque compensation value is used to compensate for the vehicle's torque steering, and then it is judged whether the vehicle meets the torque steering compensation requirements. If not, the motor torque compensation value is compensated again, and if it is satisfied, the process ends. In addition, after compensating for the vehicle's torque steering, it is also judged whether the front wheel speed difference is greater than the set maximum difference. If it is greater, it means that the compensation learning is wrong. At this time, the compensation torque value is set to zero, and then the vehicle's driving information is re-acquired.

[0070] In summary, the torque steering compensation method for a vehicle in the embodiment of the present invention can accurately determine whether the vehicle has torque steering and eliminate the torque steering of the vehicle in a timely manner, thereby improving the adaptability of vehicle driving and ensuring driving safety.

[0071] Figure 8 4 is a structural block diagram of a torque steering compensation device for a vehicle according to an embodiment of the present invention.

[0072] like Figure 8 As shown, the present invention proposes a torque steering compensation device 100 for a vehicle. The torque steering compensation device 100 includes an acquisition module 101 and a control module 102 .

[0073] Among them, the acquisition module 101 is used to obtain the driving information of the vehicle; the control module 102 is used to determine that the vehicle meets the torque steering compensation learning conditions according to the driving information of the vehicle, perform torque compensation learning according to the driving information of the vehicle, obtain the torque compensation value of the vehicle's power steering motor, and perform torque steering compensation control on the vehicle according to the torque compensation value.

[0074] In some embodiments of the present invention, the driving information of the vehicle includes the left wheel speed, right wheel speed, yaw angular velocity, lateral acceleration, steering wheel angle and steering wheel torque of the vehicle, wherein determining that the vehicle meets the torque steering compensation learning conditions based on the driving information of the vehicle includes: when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than or equal to a first wheel speed difference threshold, or the lateral acceleration is greater than a preset acceleration threshold and greater than zero, or the yaw angular velocity is greater than a preset angular velocity threshold and the steering wheel angle is greater than a preset angle threshold and the direction of the yaw angular velocity is the same as the direction of the steering wheel angle, or the steering wheel torque is greater than the preset torque threshold and the direction of the steering wheel torque is opposite to the output torque direction of the steering power motor, determining that the vehicle meets the torque steering compensation learning conditions.

[0075] In some embodiments of the present invention, the control module is also used to: determine a first speed signal based on the left wheel speed and the right wheel speed of the vehicle, and determine a second speed signal based on the steering wheel angle, and determine a torque learning value based on the first speed signal and the second speed signal; obtain a vehicle speed signal, and determine a compensation coefficient based on the vehicle speed signal; determine a torque compensation value based on the torque learning value and the compensation coefficient.

[0076] In some embodiments of the present invention, the control module is further used to: determine the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle, and use the absolute value of the wheel speed difference as the first speed signal.

[0077] In some embodiments of the present invention, the control module is further used to: perform derivative calculation on the steering wheel angle to obtain the steering wheel speed of the vehicle, and use the absolute value of the steering wheel speed as the second speed signal.

[0078] In some embodiments of the present invention, the control module is also used to: determine that the vehicle has completed torque steering compensation when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is less than a first wheel speed difference threshold; and return to continue torque compensation learning based on the vehicle's driving information when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than or equal to the first wheel speed difference threshold.

[0079] In some embodiments of the present invention, the control module is also used to: when the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than a preset maximum speed difference, determine that the torque steering compensation is abnormal, and return to reacquire the vehicle's driving information.

[0080] It should be noted that the specific implementation manner of the torque steering compensation device for a vehicle in the embodiment of the present invention can refer to the specific implementation manner of the torque steering compensation method for a vehicle in the above embodiment, which will not be described in detail here.

[0081] In summary, the torque steering compensation device for a vehicle in the embodiment of the present invention can accurately determine whether the vehicle has torque steering and eliminate the torque steering of the vehicle in a timely manner, thereby improving the adaptability of vehicle driving and ensuring driving safety.

[0082] Fig. 9 is a structural block diagram of a vehicle controller according to an embodiment of the present invention.

[0083] Furthermore, if Fig. 9 As shown, the present invention proposes a vehicle controller 200, which includes a memory 201, a processor 202, and a vehicle torque steering compensation program stored in the memory 201 and executable on the processor 202. When the processor 202 executes the vehicle torque steering compensation program, the vehicle torque steering compensation method in the above embodiment is implemented.

[0084] The vehicle controller of the embodiment of the present invention executes the vehicle torque steering compensation program stored in the memory through the processor, which can accurately determine whether the vehicle has torque steering and eliminate the vehicle's torque steering in time, thereby improving the adaptability of vehicle driving and ensuring driving safety.

[0085] Furthermore, the present invention proposes a computer-readable storage medium on which a vehicle torque steering compensation program is stored. When the vehicle torque steering compensation program is executed by a processor, the vehicle torque steering compensation method in the above embodiment is implemented.

[0086] The computer-readable storage medium of the embodiment of the present invention executes the vehicle torque steering compensation program stored thereon through a processor, which can accurately determine whether the vehicle has torque steering and eliminate the vehicle's torque steering in a timely manner, thereby improving the adaptability of vehicle driving and ensuring driving safety.

[0087] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0088] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0089] In the description of this specification, the description with reference to the terms "one embodiment", "some 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. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0090] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0091] In addition, the terms "first", "second", etc. used in the embodiments of the present invention are only used for descriptive purposes and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in the present embodiment. Therefore, the features defined by the terms "first", "second", etc. in the embodiments of the present invention can explicitly or implicitly indicate that the embodiment includes at least one of the features. In the description of the present invention, the word "multiple" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0092] In the present invention, unless otherwise clearly specified or limited in the embodiments, the terms "installed", "connected", "connected" and "fixed" etc. in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integrated connection. It can be understood that it can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements, or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific implementation situation.

[0093] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0094] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A torque steering compensation method for a vehicle, characterized in that: include: Acquiring driving information of the vehicle; When it is determined according to the driving information of the vehicle that the vehicle meets the torque steering compensation learning condition, torque compensation learning is performed according to the driving information of the vehicle to obtain a torque compensation value of the steering power motor of the vehicle; performing torque steering compensation control on the vehicle according to the torque compensation value, wherein the torque compensation value is adjusted in real time according to the torque steering of the vehicle; The driving information of the vehicle includes a left wheel speed, a right wheel speed, a yaw angular velocity, a lateral acceleration, a steering wheel angle, and a steering wheel torque of the vehicle. Determining whether the vehicle meets the torque steering compensation learning condition according to the driving information of the vehicle includes: When the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than or equal to a first wheel speed difference threshold, or the lateral acceleration is greater than a preset acceleration threshold and greater than zero, or the yaw angular velocity is greater than a preset angular velocity threshold and the steering wheel angle is greater than a preset angle threshold and the direction of the yaw angular velocity is the same as the direction of the steering wheel angle, or the steering wheel torque is greater than a preset torque threshold and the direction of the steering wheel torque is opposite to the output torque direction of the steering assist motor, it is determined that the vehicle meets the torque steering compensation learning condition; The torque compensation learning is performed according to the driving information of the vehicle, including: Determining a first speed signal according to the left wheel speed and the right wheel speed of the vehicle, determining a second speed signal according to the steering wheel angle, and determining a torque learning value according to the first speed signal and the second speed signal; Acquiring a vehicle speed signal and an adjustment constant of the vehicle, and determining a compensation coefficient according to the vehicle speed signal of the vehicle; The torque compensation value is determined according to the adjustment constant, the torque learning value and the compensation coefficient, wherein the adjustment constant is used to adjust the magnitude and direction of the torque compensation value.

2. The vehicle torque steering compensation method according to claim 1, characterized in that: Determining a first speed signal according to the left wheel speed and the right wheel speed of the vehicle includes: A wheel speed difference between a left wheel speed and a right wheel speed of the vehicle is determined, and an absolute value of the wheel speed difference is used as the first speed signal.

3. The vehicle torque steering compensation method according to claim 1, characterized in that: Determining a second speed signal according to the steering wheel angle includes: The steering wheel angle is derived to obtain the steering wheel speed of the vehicle, and the absolute value of the steering wheel speed is used as the second speed signal.

4. The vehicle torque steering compensation method according to claim 1, characterized in that: When performing torque steering compensation control on the vehicle according to the torque compensation value, the method further includes: When a wheel speed difference between a left wheel speed and a right wheel speed of the vehicle is less than a first wheel speed difference threshold, determining that the vehicle completes torque steering compensation; When the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than or equal to a first wheel speed difference threshold, the method returns to continue torque compensation learning according to the driving information of the vehicle.

5. The vehicle torque steering compensation method according to claim 1, characterized in that: When performing torque steering compensation control on the vehicle according to the torque compensation value, the method further includes: When the wheel speed difference between the left wheel speed and the right wheel speed of the vehicle is greater than a preset maximum speed difference, it is determined that the torque steering compensation is abnormal, and the driving information of the vehicle is returned to be reacquired.

6. A torque steering compensation device for a vehicle, characterized in that: include: an acquisition module, used for acquiring the driving information of the vehicle, wherein the driving information of the vehicle includes the left wheel speed, the right wheel speed, the yaw angular velocity, the lateral acceleration, the steering wheel angle and the steering wheel torque of the vehicle; a control module, configured to, when determining that the vehicle satisfies a torque steering compensation learning condition according to the driving information of the vehicle, perform torque compensation learning according to the driving information of the vehicle, obtain a torque compensation value of a steering power motor of the vehicle, and perform torque steering compensation control on the vehicle according to the torque compensation value, wherein the torque compensation value is adjusted in real time according to the torque steering of the vehicle, and when a wheel speed difference between a left wheel speed and a right wheel speed of the vehicle is greater than or equal to a first wheel speed difference threshold, or the lateral acceleration is greater than a preset acceleration threshold and greater than zero, or the yaw angular velocity is greater than a preset angular velocity threshold and the steering wheel angle is greater than a preset angle threshold and the direction of the yaw angular velocity is the same as the direction of the steering wheel angle, or the steering wheel torque is greater than a preset torque threshold and the direction of the steering wheel torque is opposite to the output torque direction of the steering power motor, determine that the vehicle satisfies the torque steering compensation learning condition; Torque compensation learning is performed according to the driving information of the vehicle, including: determining a first speed signal according to the left wheel speed and the right wheel speed of the vehicle, determining a second speed signal according to the steering wheel angle, and determining a torque learning value according to the first speed signal and the second speed signal; obtaining a vehicle speed signal and an adjustment constant of the vehicle, and determining a compensation coefficient according to the vehicle speed signal of the vehicle; determining the torque compensation value according to the adjustment constant, the torque learning value and the compensation coefficient, wherein the adjustment constant is used to adjust the size and direction of the torque compensation value.

7. A vehicle controller, characterized in that: The invention comprises a memory, a processor and a torque steering compensation program of a vehicle which is stored in the memory and can be run on the processor. When the processor executes the torque steering compensation program of the vehicle, the torque steering compensation method of the vehicle according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium, characterized in that: A vehicle torque steering compensation program is stored thereon, and when the vehicle torque steering compensation program is executed by a processor, a vehicle torque steering compensation method according to any one of claims 1-5 is implemented.

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